This new device has been create in order to add the possibility to control a yarp based (like R1 or iCub) robot with ROS2 commands. It doesn't comply with ros2_control but it provide a set of custom ROS2 interfaces (services and messages) to modify the joints control mode and to publish through topics the new data for the joints (i.e. postions, velocities).
The device is already working and has been tested on gazebo but this has to be considered a work in progress.
To try it out checkout cer-sim to this branch: test/ros2_based_control
randaz81
commented
2 years ago
This new device has been create in order to add the possibility to control a
yarp based(like R1 or iCub) robot with ROS2 commands. It doesn't comply withros2_controlbut it provide a set of custom ROS2 interfaces (services and messages) to modify the joints control mode and to publish through topics the new data for the joints (i.e. postions, velocities). The device is already working and has been tested on gazebo but this has to be considered a work in progress. To try it out checkout cer-sim to this branch: test/ros2_based_control