Courses / programming

ROS 2 Control

advanced~15 hours13 lessonsEnvironment: docker

Prerequisites: ros2-advanced, robot-dynamics-control

Start: Controller manager, controllers, hardware interfacesPractice questions

Modules

Module 1 — The ros2_control architecture
  1. 1Controller manager, controllers, hardware interfaces
  2. 2Command and state interfaces
  3. 3ros2_control in URDF
Module 2 — Using standard controllers
  1. 1diff_drive_controller
  2. 2joint_trajectory_controller
  3. 3Loading, switching, and chaining controllers
Module 3 — Custom hardware and controllers
  1. 1Writing a hardware interface
  2. 2Writing a custom controller
  3. 3Real-time considerations
  4. 4Project: custom controller driving the simulated arm
Module 4 — Integration
  1. 1ros2_control with Gazebo
  2. 2ros2_control under MoveIt and Nav2
  3. 3Capstone prep: wiring the full stack together

Textbooks

Video resources

  • ros2_control explained — Articulated Robotics