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ros-controls / ros2_control

Generic and simple controls framework for ROS 2
https://control.ros.org
Apache License 2.0
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Can I use Python to fully write the Ros2 control package? #1615

Open zouzhe1 opened 4 months ago

zouzhe1 commented 4 months ago

Can I use Python to fully write the Ros2 control package?

Because I am not familiar with CPP, and I am used to using Python libraries such as can, canopen, and so on.

And my Python program for controlling hardware has already been written

christophfroehlich commented 4 months ago

No, currently this is not possible. There were some attempts for python bindings for controllers afair, maybe @olivier-stasse can give an update on this topic.

If you don't have hard realtime requiremtents, you can use a topic based system with existing python hardware drivers.

olivier-stasse commented 4 months ago

Dear @zouzhe1 , There is no solution which fits all the problems.

The ros2_controllers are already covering a large part of real life robotics problem.

But if you are designing your own controller and it is quite complex, I would strongly advice to decouple the mathematics from the encapsulation. You can view the ros2_controller interface as a standard interface to encapsulate controllers.

If you are quite good at python you can try: https://github.com/ICube-Robotics/pytroller generating a ros2_controller from python.

For complex controller, such as inverse dynamics on humanoid robot, and quick prototyping it is usually recommended to check the math with python following examples such as: https://github.com/stack-of-tasks/tsid/tree/master/exercizes if you want to do Task Space Inverse Dynamics.

Then you can deploy it in a custom ros2_controller.

We wrote some python bindings to ros2_control, but they need more work.