I created a first version of a ros control/ hardware interface driver template, with a demo robot and Moveit Functionallity.
A high level component diagram of the driver can be seen below
The example implemented is aimed for Diy robot arms with simple servos. For that i also provide demo ros drivers for the pwm9685 board and configurable mapping process of ros command to servo command.
You can run the driver in fake execution mode for testing without the need of a real robot. This is done by passing to the state the command, thus fooling the agnostic ros controllers. This is how we should connect robot’s without feedback
easily configurable to put your api in the read() and write() methods with the help of a generic_driver object/library which is responsible for writting and reading to you robot, there you need to put your custom Api. This object then get’s used from the Hardware interface
I would love the feedback to improve the Driver!!!