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| .. _ros2_control_demos: | ||
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| ################# | ||
| Demos | ||
| ################# | ||
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| This `GitHub Repository <https://github.com/ros-controls/ros2_control_demos>`_ | ||
| provides templates for the development of ros2_control-enabled robots and a simple simulations to demonstrate and prove ros2_control concepts. | ||
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| If you want to have a rather step by step manual how to do things with ``ros2_control`` checkout `ros-control/roscon2022_workshop <https://github.com/ros-controls/roscon2022_workshop>`_ repository. | ||
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| ========================================== | ||
| What you can find in this repository | ||
| ========================================== | ||
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| This repository demonstrates the following ``ros2_control`` concepts: | ||
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| * Creating a ``HardwareInterface`` for a System, Sensor, and Actuator. | ||
| * Creating a robot description in the form of URDF files. | ||
| * Loading the configuration and starting a robot using launch files. | ||
| * Control of a differential mobile base *DiffBot*. | ||
| * Control of two joints of *RRBot*. | ||
| * Implementing a controller switching strategy for a robot. | ||
| * Using joint limits and transmission concepts in ``ros2_control``. | ||
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| ===================== | ||
| Goals | ||
| ===================== | ||
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| The repository has two other goals: | ||
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| 1. Implements the example configuration described in the ``ros-controls/roadmap`` repository file `components_architecture_and_urdf_examples <https://github.com/ros-controls/roadmap/blob/master/design_drafts/components_architecture_and_urdf_examples.md>`_. | ||
| 2. The repository is a validation environment for ``ros2_control`` concepts, which can only be tested during run-time (e.g., execution of controllers by the controller manager, communication between robot hardware and controllers). | ||
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| ===================== | ||
| Example Overview | ||
| ===================== | ||
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| * Example 1: RRBot | ||
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| *RRBot* - or ''Revolute-Revolute Manipulator Robot'' - a simple position controlled robot with one hardware interface. This example also demonstrates the switching between different controllers. | ||
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| * Example 2: DiffBot | ||
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| *DiffBot*, or ''Differential Mobile Robot'', is a simple mobile base with differential drive. | ||
| The robot is basically a box moving according to differential drive kinematics. | ||
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| * Example 3: "RRBot with multiple interfaces" | ||
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| *RRBot* with multiple interfaces. | ||
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| * Example 4: "Industrial robot with integrated sensor" | ||
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| *RRBot* with an integrated sensor. | ||
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| * Example 5: "Industrial Robots with externally connected sensor" | ||
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| *RRBot* with an externally connected sensor. | ||
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| * Example 6: "Modular Robots with separate communication to each actuator" | ||
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| The example shows how to implement robot hardware with separate communication to each actuator. | ||
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| * Example 8: Using transmissions | ||
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| *RRBot* with an exposed transmission interface. | ||
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| ===================== | ||
| Quick Hints | ||
| ===================== | ||
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| These are some quick hints, especially for those coming from a ROS1 control background: | ||
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| * There are now three categories of hardware components: *Sensor*, *Actuator*, and *System*. | ||
| *Sensor* is for individual sensors; *Actuator* is for individual actuators; *System* is for any combination of multiple sensors/actuators. | ||
| You could think of a Sensor as read-only. | ||
| All components are used as plugins and therefore exported using ``PLUGINLIB_EXPORT_CLASS`` macro. | ||
| * *ros(1)_control* only allowed three hardware interface types: position, velocity, and effort. | ||
| *ros2_control* allows you to create any interface type by defining a custom string. For example, you might define a ``position_in_degrees`` or a ``temperature`` interface. | ||
| The most common (position, velocity, acceleration, effort) are already defined as constants in hardware_interface/types/hardware_interface_type_values.hpp. | ||
| * Joint names in <ros2_control> tags in the URDF must be compatible with the controller's configuration. | ||
| * In ros2_control, all parameters for the driver are specified in the URDF. | ||
| The ros2_control framework uses the **<ros2_control>** tag in the URDF. | ||
| * Joint names in <ros2_control> tags in the URDF must be compatible with the controller's configuration. | ||
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| ===================== | ||
| Examples | ||
| ===================== | ||
| .. toctree:: | ||
| :titlesonly: | ||
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| Example 1: RRBot <../example_1/doc/userdoc.rst> | ||
| Example 2: DiffBot <../example_2/doc/userdoc.rst> | ||
| Example 3: RRBot with multiple interfaces <../example_3/doc/userdoc.rst> | ||
| Example 4: Industrial robot with integrated sensor <../example_4/doc/userdoc.rst> | ||
| Example 5: Industrial Robots with externally connected sensor <../example_5/doc/userdoc.rst> | ||
| Example 6: Modular Robots with separate communication to each actuator <../example_6/doc/userdoc.rst> | ||
| Example 8: Using transmissions <../example_8/doc/userdoc.rst> |
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