Hello @mateusmenezes95 ,
first of all, thank you for your work in enabling us to use your controller under ros2 Humble.
A bit of context:
I am working on the creation of a 3 wheel holonomic robot. I've managed to set up the whole navigation environment with Nav2, giving me the global speed control of the robot on /cmd_vel. I'm now looking to get the speed for each of the motors (which your package seems to do).
Setup:
ROS2 Humble
Ubuntu 22.04
Classic Gazebo
The real robot
I also didn't quite understand the role of GazeboSystem or how to install it to be able to use it (I obviously tried sudo apt install ros-humble-gazebo-ros2-control).
If you could enlighten me on these matters I would be truly grateful.
Expected behaviour:
What I hope to be able to do with this package is to visualise the control of my robot under gazebo and above all, without using gazebo, launch the controller and go from my /cmd_vel to /topic_wheel_commands giving me the speed command for each of my wheels.
Note:
I've obviously already written my own node subscribing to /cmd_vel and sending me the speed of each motor by inverse kinematics on a topic, but wanting to make a project as close as possible to the state of the art, it seemed a shame not to use ros2_control despite the trouble I'm having understanding its workings in detail.
EDIT
I manage to use it. I will now dig inside to fully understand it and not only using it out of the box.
Hello @mateusmenezes95 , first of all, thank you for your work in enabling us to use your controller under ros2 Humble.
A bit of context:
I am working on the creation of a 3 wheel holonomic robot. I've managed to set up the whole navigation environment with Nav2, giving me the global speed control of the robot on
/cmd_vel.I'm now looking to get the speed for each of the motors (which your package seems to do).Setup:
ROS2 Humble Ubuntu 22.04 Classic Gazebo The real robot
Problem:
I don't really understand how to use it. Indeed, in the example you give (Axebot) I don't see the
ros2_control_nodeused in the launch file, as used in the ros2_control example launch files , nor where the parameters are used (omnidirectional_controller.yaml).I also didn't quite understand the role of GazeboSystem or how to install it to be able to use it (I obviously tried
sudo apt install ros-humble-gazebo-ros2-control).If you could enlighten me on these matters I would be truly grateful.
Expected behaviour:
What I hope to be able to do with this package is to visualise the control of my robot under gazebo and above all, without using gazebo, launch the controller and go from my
/cmd_velto/topic_wheel_commandsgiving me the speed command for each of my wheels.Note:
I've obviously already written my own node subscribing to
/cmd_veland sending me the speed of each motor by inverse kinematics on a topic, but wanting to make a project as close as possible to the state of the art, it seemed a shame not to use ros2_control despite the trouble I'm having understanding its workings in detail.EDIT
I manage to use it. I will now dig inside to fully understand it and not only using it out of the box.