BehaviorTree.CPP VS ros2_control_demos

Have a look at Behavior Trees, especially the BehaviorTreeCpp library https://www.behaviortree.dev The method is simple to understand, scales better than State Machines and if you implement the actions well they’re inherently modular. Nav2 uses them, and also BostonDynamics in their Spot SDK.

Unrelated to javascript, but in the robotics industry there is a trend towards Behaviour Trees. https://www.behaviortree.dev/ is a C++ library that was originally designed for controlling robots via ROS, but it appears to be decoupled from the ROS ecosystem so it could be used for other projects.

There is a basic UI available for editing the tree https://github.com/BehaviorTree/Groot

Hello, I am learning ROS2_control by trying to wrtie a custom hardware interface to control 2 servo motors via Arduino. I am referencing these two repository ros2_control_demo_hardware and diffdrive_arduino when trying to write my code. I can successfully move my pan-tilt robot in simulation (Gazebo) and fake hardware mode. However, I failed to move it in the real hardware after a week of trying. below is the error i got when i ran the launch file. Can anyone tell me where i did wrong and how should i modify my code to correct it? Many thanks. Here is my code here

There is no guarantee that limits in your URDF will affect the actual robot hardware. You need to make sure the hardware driver is applying those limits by either parsing the URDF or using parameters specified via the ros2_control xacro file, which is typically included in the robot's description (e.g., https://github.com/ros-controls/ros2_control_demos/blob/master/ros2_control_demo_description/rrbot_description/ros2_control/rrbot_system_position_only.ros2_control.xacro).

I've been messing with the ROS2 Control Demos, trying to adapt it to a physical differential drive robot I've been working on. I've had limited success communicating hardware commands from a Raspberry Pi 4 running the ROS2 differential drive controller to a microcontroller (currently a Teensy 4.1) that is in charge of interfacing with the robot hardware. Techniques I've gotten "working" for communication between the Pi and are serial (via USB) and ethernet (UDP).

Exposing controller nodes explicitly involves a number of steps. Loosely following the official documentation, ros control demo repository and my own experience, these are:

The launch file can also transform the Xacro files during startup, as shown in the diff_bot example. For example, to load the Gazebo configuration, you need to execute this: