Hi,
I’m happy to share with you that I just released a new ROS 2 course focused on ros2_control!
I know that a lot of people struggle with ros2_control. When I got started it was very hard to learn, and yet this is such a powerful and modular tool to have when working with ROS 2 and hardware.
So… I made a course! The goal: to save you countless hours and make you learn ros2_control in the easiest way possible.
At the end of the course you will be able to adapt your own robot to ros2_control.
We will start from an existing URDF (which I will provide) and:
- Set up a ros2_control pipeline using a mock component and existing controllers. You will adapt the URDF to ros2_control, provide controller parameters in a YAML file, and write a launch file to start everything.
- Get best practices to write a clean C++ driver for any hardware, and learn how to integrate this driver inside a ROS 2 node.
- Write a hardware interface for ros2_control.
- Practice more with an additional project, in which you will combine a mobile base and a robotic arm.
- Write a custom controller.
Each lesson is built on the previous ones to make learning easier.
We will focus on writing clean and minimal code all along the course, so you can download the code for each part and use it as a template for your own projects.
Check out the course here: https://rbcknd.com/ros2_control
Hope you find it useful!