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ros2_control_demos
This repository aims at providing examples to illustrate ros2_control and ros2_controllers
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Exposing controller nodes explicitly involves a number of steps. Loosely following the official documentation, ros control demo repository and my own experience, these are:
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.
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