ros2_control_boilerplate.md

This file is a description of ros2_control_boilerplate repository, which implements a simple simulation of ros2_control concepts. The repository has two goals:

1. It provides templates for faster start of implementing own hardware and controllers;
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).

When finalized, this document becomes README.md of the ros2_control_boilerplate repository. Therefore is the remainder of this document structured as such.

ROS2 Control Boilerplate

This repository provides templates for the development of ros2_control-enabled robots and a simple simulation of a robot to demonstrate and prove ros2_control concepts. The repository is inspired by ros_control_boilerplate repository from Dave Coleman. The simulation has three parts/packages:

1. The first package, boilerplate_robot_headless, uses scripts to simulate communication to and movements of virtual hardware. This package does not have any dependencies except on the ros2 core packages and can, therefore, be used on SoC-hardware of headless systems.
2. The second package, boilerplate_robot_gazebo, uses a gazebo simulator to simulate the boilerplate robot and its physics. This package is useful to test the connection of ros2_control to the gazebo simulator and to detect any missing plugins.
3. The third package holds template/example files for ros2_control enabled robots and controllers. The intention of those files is to simplify start with ros2_control and to enable faster integration of new robots and controllers.

This repository demonstrates the following ros2_control concepts:

• Creating of hardware_interface for a Robot, Sensor, and Actor
• Creating a robot description in the form of YAML files
• Loading configuration and starting robot using launch files
• Control of two joints of boilerplate robot
• Using simulated robots and starting ros_control with gazebo simulator
• Implementing of controller switching strategy for a robot
• Using joint limits and transmission concepts in ros2_control
• TBD