The ros2_control framework is a realtime control framework designed for general robotics applications that gains more and more attention both for research and industrial purposes. An overview of the ros2_control framework can be found here.
This tutorial is made to understand the basic concepts of controlling a robot using ros2_control. In particular, it describes how to :
Required setup : Ubuntu 22.04 LTS and ROS2 Humble
ros2
packages. The current development is based of ros2 humble
. Installation steps are described here.ros2
environment:
source /opt/ros/humble/setup.bash
NOTE: The ros2 environment needs to be sources in every used terminal. If only one distribution of ros2 is used, it can be added to the ~/.bashrc
file.
colcon
and its extensions :
sudo apt install python3-colcon-common-extensions
mkdir ~/ros2_ws/src
cd ~/ros2_ws
git clone https://github.com/ICube-Robotics/scara_tutorial_ros2.git src/scara_tutorial_ros2
rosdep install --ignore-src --from-paths . -y -r
colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release --symlink-install
source install/setup.bash
This tutorial is partially inspired from pac48's tutorial and the official ros2_control website.
ICube Laboratory, University of Strasbourg, France
Maciej Bednarczyk: m.bednarczyk@unistra.fr, @github: mcbed