ros2_control_demos
gazebo_ros2_control
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ros2_control_demos | gazebo_ros2_control | |
---|---|---|
5 | 2 | |
332 | 175 | |
9.9% | 5.1% | |
8.4 | 7.7 | |
14 days ago | 6 days ago | |
C++ | C++ | |
Apache License 2.0 | Apache License 2.0 |
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ros2_control_demos
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Fail to load library when trying to write a custom hardware interface for Arduino to control servo motors
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
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Will the joint limits in my URDF file limit the real components or just the simulation? (ROS2: Foxy)
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).
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ROS2_Controllers Hardware Interface to uROS communication via topics?
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).
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Robot Operating System: Expose Control Nodes for an Interactive Simulation in Gazebo
Exposing controller nodes explicitly involves a number of steps. Loosely following the official documentation, ros control demo repository and my own experience, these are:
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Robot Operating System: Getting Started with Simulation in ROS2
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:
gazebo_ros2_control
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How to control a joint in Gazebo with ROS2 Galactic?
gazebo_ros2_control is there for ROS 2 and not a part of gazebo_ros.
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Robot Operating System: Expose Control Nodes for an Interactive Simulation in Gazebo
Order is important - Gazebo, controller, robot description need to interact in a precise order. Getting this right was quite difficult. Therefore, I used the ros2 demo repository for a comparison. This project provides a Docker container that includes a complete Ubuntu runtime with ROS2 foxy, all required plugins, and the robot’s description and Gazebo simulation configuration. When this container is started, I see the following log message.
What are some alternatives?
ardupilot - ArduPlane, ArduCopter, ArduRover, ArduSub source
gz_ros2_control - Connect the latest version of Gazebo with ros2_control.
gazebo-classic - Gazebo classic. For the latest version, see https://github.com/gazebosim/gz-sim
gazebo-ros-actor-plugin - Gazebo ROS plugin to move actors using velocity or path messages
BehaviorTree.CPP - Behavior Trees Library in C++. Batteries included.
sjtu_drone - ROS/ ROS 2 Gazebo quadcopter simulator.
webots - Webots Robot Simulator
ros_gz - Integration between ROS (1 and 2) and Gazebo simulation
odrive_ros2_control - ODrive driver for ros2_control
dolly - 🤖🐑 It's a sheep, it's a dolly, it's a following robot. Dolly was born to be cloned.
ros2_controllers - Generic robotic controllers to accompany ros2_control