ROS2_Control
ros2_control is a framework for robot hardware abstraction and controller management
Hardware interface Abstracts real or simulated robot hardware and expose hardware functionality in a standard way:
- state interface (read-only) feedback from hardware
- command interface (Read/Write) : command to the hardware
Install
ROS2_control abstract controller from hardware interfaces Hardware interface expose hardware functionality in a standard way: - state interface (read-only) feedback from hardware - command interface (Read/Write) : command to the hardware
ros2_control Concepts & Simulation
Controller Manager
Resource Manager
Hardware interface
Lifecycle State
stateDiagram-v2
[*] --> Unconfigured: on_init
Unconfigured --> Inactive: on_configure
Inactive --> Active: on_activate()
Active --> Inactive: on_deactivate()
Inactive --> Unconfigured: on_cleanup()
Unconfigured --> [*]: on_shutdown()
Active --> Active: read() write()
on_init: read parameters
on_configure: establish comms
on_activate: engage actuators
on_deactivate: disengage actuators
on_cleanup: disconnect comms
on_shutdown: graceful shutdown