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The ros2_control is a framework for (real-time) control of robots using ROS 2. ros2_control’s goal is to simplify integrating new hardware and overcome some drawbacks.
High-level tasks:
Differential drive:
Modify the firmware on the motion PCB. We can issue wheel velocity commands instead of position commands. Also, we want to read encoder data.
Write a ros2_control node that communicates with the board and integrates the diffdriver_controller.
Other joints:
Ideally, each joint (e.g. AX-12) should be controlled through the ros2_control
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High-level tasks:
diffdriver_controller
.Resources:
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