From 024d9dbd9f62adcf54f66a8a5643deb2ed1c7797 Mon Sep 17 00:00:00 2001 From: christophfroehlich Date: Mon, 25 Nov 2024 13:42:33 +0000 Subject: [PATCH] deploy: 112751065cde9e1587a706e61747a79690b39cfa --- foxy/.buildinfo | 2 +- .../acknowledgements/acknowledgements.doctree | Bin 7434 -> 7434 bytes .../doc/contributing/contributing.doctree | Bin 24361 -> 24361 bytes .../differences_to_ros1.doctree | Bin 34748 -> 34748 bytes .../getting_started/getting_started.doctree | Bin 50559 -> 50559 bytes foxy/.doctrees/doc/project_ideas.doctree | Bin 38260 -> 38260 bytes .../.doctrees/doc/resources/resources.doctree | Bin 67145 -> 67145 bytes .../controller_manager/doc/userdoc.doctree | Bin 9211 -> 9211 bytes .../doc/ros2_control/doc/index.doctree | Bin 5962 -> 5962 bytes .../doc/fake_components_userdoc.doctree | Bin 13533 -> 13533 bytes .../ros2controlcli/doc/userdoc.doctree | Bin 24766 -> 24766 bytes .../doc/ros2_control_demos/doc/index.doctree | Bin 12763 -> 12763 bytes 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Development Organisation and Communication -

Built on 2024-11-25 at 12:56 GMT

+

Built on 2024-11-25 at 13:40 GMT

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Built on 2024-11-25 at 12:56 GMT

+

Built on 2024-11-25 at 13:40 GMT

diff --git a/galactic/searchindex.js b/galactic/searchindex.js index 72eb43185fd..3b6ee32afe9 100644 --- a/galactic/searchindex.js +++ b/galactic/searchindex.js @@ -1 +1 @@ -Search.setIndex({"alltitles": {"2021-05 ROSCon Fr 2021": [[5, "roscon-fr-2021"]], "2021-06 ROSDevDay 2021": [[5, "rosdevday-2021"]], "2021-10 ROS World 2021": [[5, "ros-world-2021"]], "2021-10-07 Weekly Robotics Meetup #13": [[5, "weekly-robotics-meetup-13"]], "2022-06 ROSCon Fr 2022": [[5, "roscon-fr-2022"]], "2022-10 ROSCon 2022": [[5, "roscon-2022"]], "2022-12 ROS-Industrial Conference 2022": [[5, "ros-industrial-conference-2022"]], "2023-02 ROS Meetup Munich #5": [[5, "ros-meetup-munich-5"]], "API Documentation": [[7, "api-documentation"]], "Acknowledgements": [[0, "acknowledgements"]], "Add support for hardware semantic components": [[4, "add-support-for-hardware-semantic-components"]], "Architecture": [[3, "architecture"]], "Asynchronous Control Components": [[4, "asynchronous-control-components"]], "Available Broadcasters": [[13, "available-broadcasters"]], "Available Controllers": [[13, "available-controllers"]], "CI configuration": [[1, "ci-configuration"]], "Command Line Interface": [[10, "command-line-interface"]], "Commands": [[19, "commands"]], "Compiling": [[3, "compiling"]], "Concepts": [[7, "concepts"]], "Controller Manager": [[3, "controller-manager"], [6, "controller-manager"]], "Controller Migration": [[2, "controller-migration"]], "Controllers": [[3, "controllers"], [13, "id1"]], "Controller\u2019s Access to Hardware": [[2, "controller-s-access-to-hardware"]], "Core functionalities": [[7, "core-functionalities"]], "Demos": [[11, "demos"]], "Details about parameters": [[20, "details-about-parameters"]], "Determinism": [[6, "determinism"]], "Development Organisation and Communication": [[23, "development-organisation-and-communication"]], "Diagrams": [[5, "diagrams"]], "Differences to ros_control (ROS1)": [[2, "differences-to-ros-control-ros1"]], "Fake Components": [[8, "fake-components"]], "Feature-parity for controllers from ROS1": [[4, "feature-parity-for-controllers-from-ros1"]], "Features": [[7, "features"]], "Force Torque Sensor Broadcaster": [[16, "force-torque-sensor-broadcaster"]], "Generic System": [[8, "generic-system"]], "Getting Started": [[3, "getting-started"]], "Guidelines and Best Practices": [[13, "guidelines-and-best-practices"]], "Handling of errors that happen during read() and write() calls": [[9, "handling-of-errors-that-happen-during-read-and-write-calls"]], "Hardware Components": [[3, "hardware-components"], [9, "hardware-components"]], "Hardware Description in URDF": [[3, "hardware-description-in-urdf"]], "Hardware Interfaces": [[2, "hardware-interfaces"]], "Hardware Structures - classes": [[2, "hardware-structures-classes"]], "Hardware interface type": [[12, "hardware-interface-type"], [15, "hardware-interface-type"], [17, "hardware-interface-type"], [19, "hardware-interface-type"], [20, "hardware-interface-type"], [21, "hardware-interface-type"], [22, "hardware-interface-type"]], "Helper scripts": [[6, "helper-scripts"]], "IMU Sensor Broadcaster": [[18, "imu-sensor-broadcaster"]], "Images": [[5, "images"]], "Migration Guide to ros2_control": [[2, "migration-guide-to-ros2-control"]], "Migration from Foxy to Galactic": [[9, "migration-from-foxy-to-galactic"]], "Mission-Control for ros2_control": [[4, "mission-control-for-ros2-control"]], "Mode switching demo": [[11, "mode-switching-demo"]], "Nomenclature": [[13, "nomenclature"]], "Other features": [[12, "other-features"], [20, "other-features"]], "Overview": [[23, "overview"]], "Parameters": [[8, "parameters"], [16, "parameters"], [18, "parameters"], [19, "parameters"]], "Per-joint Parameters": [[8, "per-joint-parameters"]], "Presentations": [[5, "presentations"]], "Project Ideas for GSoC 2022": [[4, "project-ideas-for-gsoc-2022"]], "Pull Requests": [[1, "pull-requests"]], "ROS2 interface of the controller": [[20, "ros2-interface-of-the-controller"]], "Repository organization": [[11, "repository-organization"]], "Repository structure and CI configuration": [[1, "repository-structure-and-ci-configuration"]], "Resource Manager": [[3, "resource-manager"]], "Resources": [[5, "resources"]], "RobotHardware to Components": [[2, "robothardware-to-components"]], "Rules for the repositories and process of merging pull requests": [[1, "rules-for-the-repositories-and-process-of-merging-pull-requests"]], "Running the Framework for Your Robot": [[3, "running-the-framework-for-your-robot"]], "Specialized versions of JointTrajectoryController (TBD in \u2026)": [[20, "specialized-versions-of-jointtrajectorycontroller-tbd-in"]], "Trajectory representation": [[20, "trajectory-representation"]], "Tutorials and Demos for ros2_control": [[4, "tutorials-and-demos-for-ros2-control"]], "Useful External References": [[14, "useful-external-references"]], "User Interfaces": [[3, "user-interfaces"]], "Using Joint Trajectory Controller(s)": [[20, 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zV5)mr#3~%0JJG>hKl$rM9^%*9cLDu2@6drae&T6L;18pRUoa8(PR(cjJ3nuJSt4at YP$Pg-DSx-WBk*?w{=Y{c{x8Nq0XwKEe*gdg literal 0 HcmV?d00001 diff --git a/humble/_sources/doc/acknowledgements/acknowledgements.rst b/humble/_sources/doc/acknowledgements/acknowledgements.rst index 34c69328728..537df2c3ad5 100644 --- a/humble/_sources/doc/acknowledgements/acknowledgements.rst +++ b/humble/_sources/doc/acknowledgements/acknowledgements.rst @@ -76,6 +76,19 @@ Companies and Institutions -------------------------- The project has received major contributions from the following companies and institutions. +|stoglroboticslogo| + +.. |stoglroboticslogo| image:: images/stoglroboticslogo.png + :width: 300 + :alt: "Stogl Robotics Consulting" + +|aitlogo| + +.. |aitlogo| image:: images/ait_logo.jpg + :width: 300 + :alt: "Austrian Institute of Technology" + + |palroboticslogo| .. |palroboticslogo| image:: images/palroboticslogo.png @@ -88,12 +101,6 @@ The project has received major contributions from the following companies and in :width: 300 :alt: "PickNik Robotics" -|stoglroboticslogo| - -.. |stoglroboticslogo| image:: images/stoglroboticslogo.png - :width: 300 - :alt: "Stogl Robotics Consulting" - |rosin_ack_logo_wide| Supported by ROSIN - ROS-Industrial Quality-Assured Robot Software Components. diff --git a/humble/doc/acknowledgements/acknowledgements.html b/humble/doc/acknowledgements/acknowledgements.html index 1d608dc7d83..710b2d9fe68 100644 --- a/humble/doc/acknowledgements/acknowledgements.html +++ b/humble/doc/acknowledgements/acknowledgements.html @@ -13825,9 +13825,10 @@

Contributors

Companies and Institutions

The project has received major contributions from the following companies and institutions.

+

"Stogl Robotics Consulting"

+

"Austrian Institute of Technology"

"PAL Robotics"

"PickNik Robotics"

-

"Stogl Robotics Consulting"

"ROSIN"

Supported by ROSIN - ROS-Industrial Quality-Assured Robot Software Components. More information: https://www.rosin-project.eu

diff --git a/humble/index.html b/humble/index.html index 2f429fc83e3..449caeaa9cd 100644 --- a/humble/index.html +++ b/humble/index.html @@ -149,7 +149,7 @@

Development Organisation and Communication -

Built on 2024-11-25 at 12:56 GMT

+

Built on 2024-11-25 at 13:40 GMT

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"caveats-on-hardware-lifecycling"]], "Closing remarks": [[11, "closing-remarks"]], "Coming from ros_control (ROS 1)": [[7, "coming-from-ros-control-ros-1"]], "Command Line Interface": [[23, "command-line-interface"]], "Command interfaces": [[64, "command-interfaces"]], "Commands": [[42, "commands"], [55, "commands"], [58, "commands"], [59, "commands"]], "Communication protocols": [[69, "communication-protocols"]], "Community": [[68, "community"]], "Companies and Institutions": [[0, "companies-and-institutions"]], "Component Parameters": [[21, "component-parameters"]], "Concepts": [[12, "concepts"], [14, "concepts"]], "Contributing": [[2, "contributing"]], "Contributors": [[0, "contributors"]], "Controller Chaining / Cascade Control": [[11, "controller-chaining-cascade-control"]], "Controller Manager": [[4, "controller-manager"], [12, "controller-manager"]], "Controller Migration": [[6, "controller-migration"]], "Controllers": [[4, "controllers"]], "Controllers for Manipulators and Other Robots": [[45, "controllers-for-manipulators-and-other-robots"]], "Controllers for Wheeled Mobile Robots": [[45, "controllers-for-wheeled-mobile-robots"]], "Controllers from this demo": [[26, "controllers-from-this-demo"], [27, "controllers-from-this-demo"], [28, "controllers-from-this-demo"], [29, "controllers-from-this-demo"], [30, "controllers-from-this-demo"], [31, "controllers-from-this-demo"], [32, "controllers-from-this-demo"], [33, "controllers-from-this-demo"], [34, "controllers-from-this-demo"], [35, "controllers-from-this-demo"], [36, "controllers-from-this-demo"], [37, "controllers-from-this-demo"], [39, "controllers-from-this-demo"], [40, "controllers-from-this-demo"]], "Controller\u2019s Access to Hardware": [[6, "controller-s-access-to-hardware"]], "Currently implemented kinematics": [[64, "currently-implemented-kinematics"]], "Debugging": [[13, "debugging"]], "Debugging outputs": [[11, "debugging-outputs"]], "Default gazebo_ros2_control Behavior": [[3, "default-gazebo-ros2-control-behavior"]], "Default ign_ros2_control Behavior": [[5, "default-ign-ros2-control-behavior"]], "Demos": [[24, "demos"]], "Description of controller\u2019s interfaces": [[44, "description-of-controller-s-interfaces"], [58, "description-of-controller-s-interfaces"], [59, "description-of-controller-s-interfaces"], [64, "description-of-controller-s-interfaces"]], "Details about parameters": [[56, "details-about-parameters"]], "Determinism": [[12, "determinism"]], "Development Organisation and Communication": [[70, "development-organisation-and-communication"]], "Diagrams": [[10, "diagrams"]], "DiffBot": [[33, "diffbot"]], "Differences to ros_control (ROS 1)": [[6, "differences-to-ros-control-ros-1"]], "Different update rates for Hardware Components": [[17, "different-update-rates-for-hardware-components"]], "Differential Drive Robot": [[47, "differential-drive-robot"]], "Documentation Usage": [[2, "documentation-usage"]], "Double-Traction Axle": [[47, "double-traction-axle"]], "End-effectors": [[69, "end-effectors"]], "Example 10: Industrial robot with GPIO interfaces": [[27, "example-10-industrial-robot-with-gpio-interfaces"]], "Example 12: Controller chaining with RRBot": [[29, "example-12-controller-chaining-with-rrbot"]], "Example 13: Multi-robot system with lifecycle management": [[30, "example-13-multi-robot-system-with-lifecycle-management"]], "Example 14: Modular robot with actuators not providing states": [[31, "example-14-modular-robot-with-actuators-not-providing-states"]], "Example 15: Using multiple controller managers": [[32, "example-15-using-multiple-controller-managers"]], "Example 1: RRBot": [[26, "example-1-rrbot"]], "Example 3: Robots with multiple interfaces": [[34, "example-3-robots-with-multiple-interfaces"]], "Example 4: Industrial robot with integrated sensor": [[35, "example-4-industrial-robot-with-integrated-sensor"]], "Example 5: Industrial robot with externally connected sensor": [[36, "example-5-industrial-robot-with-externally-connected-sensor"]], "Example 6: Modular Robots with separate communication to each actuator": [[37, "example-6-modular-robots-with-separate-communication-to-each-actuator"]], "Example 7: Full tutorial with a 6DOF robot": [[38, "example-7-full-tutorial-with-a-6dof-robot"]], "Example 8: Industrial Robots with an exposed transmission interface": [[39, "example-8-industrial-robots-with-an-exposed-transmission-interface"]], "Example 9: Simulation with RRBot": [[40, "example-9-simulation-with-rrbot"]], "Examples": [[19, "examples"], [24, "examples"]], "Examples Overview": [[24, "examples-overview"]], "Execution logic of the controller": [[59, "execution-logic-of-the-controller"], [64, "execution-logic-of-the-controller"]], "Feature-parity for controllers from ROS1": [[8, "feature-parity-for-controllers-from-ros1"]], "Feedback": [[44, "feedback"]], "Files used for this demo": [[35, "files-used-for-this-demo"]], "Files used for this demos": [[26, 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errors that happen during read() and write() calls": [[18, "handling-of-errors-that-happen-during-read-and-write-calls"]], "Hardware Components": [[4, "hardware-components"], [18, "hardware-components"]], "Hardware Description in URDF": [[4, "hardware-description-in-urdf"]], "Hardware Interfaces": [[6, "hardware-interfaces"]], "Hardware Structures - classes": [[6, "hardware-structures-classes"]], "Hardware and interfaces": [[30, "hardware-and-interfaces"]], "Hardware interface type": [[52, "hardware-interface-type"], [55, "hardware-interface-type"]], "Hardware interface types": [[58, "hardware-interface-types"]], "Helper scripts": [[12, "helper-scripts"]], "Hosted by ros-controls": [[68, "hosted-by-ros-controls"]], "How-To": [[13, "how-to"]], "IMU Sensor Broadcaster": [[54, "imu-sensor-broadcaster"]], "Images": [[10, "images"]], "Implementation": [[11, "implementation"]], "Inner Resource Management": [[11, "inner-resource-management"]], "Installation": [[4, "installation"], [24, "installation"]], "Interpolation Method none": [[57, "interpolation-method-none"]], "Interpolation Method spline": [[57, "interpolation-method-spline"]], "Joint Kinematics for ros2_control": [[20, "joint-kinematics-for-ros2-control"]], "Joints": [[19, "joints"]], "Launching the example": [[38, "launching-the-example"]], "List of parameters": [[53, "list-of-parameters"], [54, "list-of-parameters"], [55, "list-of-parameters"], [56, "list-of-parameters"], [59, "list-of-parameters"], [60, "list-of-parameters"], [62, "list-of-parameters"]], "Local installation": [[24, "local-installation"]], "Maintainers": [[0, "maintainers"]], "Migration Guide to ros2_control": [[6, "migration-guide-to-ros2-control"]], "Migration Guides": [[7, "migration-guides"]], "Migration Guides: Galactic to Humble": [[15, "migration-guides-galactic-to-humble"], [46, "migration-guides-galactic-to-humble"]], "Mission-Control for ros2_control": [[8, "mission-control-for-ros2-control"]], "Mobile robots": [[3, "mobile-robots"], [5, "mobile-robots"]], "Mock Components": [[21, "mock-components"]], "Modifying or building your own": [[3, "modifying-or-building-your-own"], [5, "modifying-or-building-your-own"]], "Motivation, Purpose and Use": [[11, "motivation-purpose-and-use"]], "Nomenclature": [[20, "nomenclature"]], "Non robot-devices": [[69, "non-robot-devices"]], "Nonholonomic Wheeled Mobile Robots": [[47, "nonholonomic-wheeled-mobile-robots"]], "Official (supported by robot manufacturer)": [[69, "official-supported-by-robot-manufacturer"]], "Omnidirectional Wheeled Mobile Robots": [[47, "omnidirectional-wheeled-mobile-robots"]], "Other features": [[44, "other-features"], [58, "other-features"], [65, "other-features"]], "Output": [[44, "output"]], "PID Controller": [[59, "pid-controller"]], "PID control joints": [[3, "pid-control-joints"]], "Parameters": [[12, "parameters"], [21, "parameters"], [41, "parameters"], [42, "parameters"], [43, "parameters"], [44, "parameters"], [50, 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"Publishers": [[44, "publishers"], [58, "publishers"], [59, "publishers"], [64, "publishers"]], "Pull Requests": [[2, "pull-requests"]], "Quick Hints": [[24, "quick-hints"]], "ROS 2 Interfaces": [[44, "ros-2-interfaces"], [65, "ros-2-interfaces"]], "ROS 2 interface of the controller": [[42, "ros-2-interface-of-the-controller"], [50, "ros-2-interface-of-the-controller"], [52, "ros-2-interface-of-the-controller"], [61, "ros-2-interface-of-the-controller"], [67, "ros-2-interface-of-the-controller"]], "Range Sensor Broadcaster": [[62, "range-sensor-broadcaster"]], "References": [[13, "references"], [42, "references"], [44, "references"], [58, "references"]], "References (from a preceding controller)": [[59, "references-from-a-preceding-controller"], [64, "references-from-a-preceding-controller"]], "Release Notes": [[9, "release-notes"]], "Release Notes: Galactic to Humble": [[16, "release-notes-galactic-to-humble"], [48, "release-notes-galactic-to-humble"]], "Repository structure and CI configuration": [[2, "repository-structure-and-ci-configuration"]], "Resource Manager": [[4, "resource-manager"]], "Resources": [[10, "resources"]], "Restarting all controllers": [[12, "restarting-all-controllers"]], "Restarting hardware": [[12, "restarting-hardware"]], "RobotHardware to Components": [[6, "robothardware-to-components"]], "Rules for the repositories and process of merging pull requests": [[2, "rules-for-the-repositories-and-process-of-merging-pull-requests"]], "Running the Framework for Your Robot": [[4, "running-the-framework-for-your-robot"]], "Scenario: Using multiple controller managers on the same machine": [[32, "scenario-using-multiple-controller-managers-on-the-same-machine"]], "Scenario: Using ros2_control within a local namespace": [[32, "scenario-using-ros2-control-within-a-local-namespace"]], "Scope of the Document and Background Knowledge": [[11, "scope-of-the-document-and-background-knowledge"]], "Sensors": [[19, "sensors"]], "Services": [[58, "services"], [59, "services"]], "Set up controllers": [[3, "set-up-controllers"], [5, "set-up-controllers"]], "Simple setup": [[3, "simple-setup"], [5, "simple-setup"]], "Simulating Closed-Loop Kinematic Chains": [[20, "simulating-closed-loop-kinematic-chains"]], "Simulator Integrations": [[68, "simulator-integrations"]], "State interfaces": [[64, "state-interfaces"]], "States": [[42, "states"], [58, "states"], [59, "states"]], "Subscriber 1": [[58, "subscriber"]], "Subscribers": [[44, "subscribers"], [59, "subscribers"], [64, "subscribers"], [65, "subscribers"]], "Supported Robots": [[69, "supported-robots"]], "To run the demo": [[3, "to-run-the-demo"], [5, "to-run-the-demo"]], "To run the ros2_control demos": [[24, "to-run-the-ros2-control-demos"]], "To view the robot": [[24, "to-view-the-robot"]], "Topics": [[42, "topics"], [50, "topics"], [52, "topics"], [61, "topics"], [67, "topics"]], "Trajectory Replacement": [[57, "trajectory-replacement"]], "Trajectory Representation": [[57, 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"API Documentation", "Contributing", "gazebo_ros2_control", "Getting Started", "ign_ros2_control", "Differences to ros_control (ROS 1)", "Migration Guides", "Project Ideas for GSoC 2024", "Release Notes", "Resources", "Controller Chaining / Cascade Control", "Controller Manager", "Debugging", "ros2_control", "Migration Guides: Galactic to Humble", "Release Notes: Galactic to Humble", "Different update rates for Hardware Components", "Hardware Components", "ros2_control hardware interface types", "Joint Kinematics for ros2_control", "Mock Components", "Writing a Hardware Component", "Command Line Interface", "Demos", "<no title>", "Example 1: RRBot", "Example 10: Industrial robot with GPIO interfaces", "CarlikeBot", "Example 12: Controller chaining with RRBot", "Example 13: Multi-robot system with lifecycle management", "Example 14: Modular robot with actuators not providing states", "Example 15: Using multiple controller managers", "DiffBot", "Example 3: Robots with multiple interfaces", "Example 4: Industrial robot with integrated sensor", "Example 5: Industrial robot with externally connected sensor", "Example 6: Modular Robots with separate communication to each actuator", "Example 7: Full tutorial with a 6DOF robot", "Example 8: Industrial Robots with an exposed transmission interface", "Example 9: Simulation with RRBot", "ackermann_steering_controller", "Admittance Controller", "bicycle_steering_controller", "diff_drive_controller", "ros2_controllers", "Migration Guides: Galactic to Humble", "Wheeled Mobile Robot Kinematics", "Release Notes: Galactic to Humble", "Writing a new controller", "effort_controllers", "Force Torque Sensor Broadcaster", "forward_command_controller", "Gripper Action Controller", "IMU Sensor Broadcaster", "joint_state_broadcaster", "Details about parameters", "Trajectory Representation", "joint_trajectory_controller", "PID Controller", "Pose Broadcaster", "position_controllers", "Range Sensor Broadcaster", 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zV5)mr#3~%0JJG>hKl$rM9^%*9cLDu2@6drae&T6L;18pRUoa8(PR(cjJ3nuJSt4at YP$Pg-DSx-WBk*?w{=Y{c{x8Nq0XwKEe*gdg literal 0 HcmV?d00001 diff --git a/iron/_sources/doc/acknowledgements/acknowledgements.rst b/iron/_sources/doc/acknowledgements/acknowledgements.rst index 34c69328728..537df2c3ad5 100644 --- a/iron/_sources/doc/acknowledgements/acknowledgements.rst +++ b/iron/_sources/doc/acknowledgements/acknowledgements.rst @@ -76,6 +76,19 @@ Companies and Institutions -------------------------- The project has received major contributions from the following companies and institutions. +|stoglroboticslogo| + +.. |stoglroboticslogo| image:: images/stoglroboticslogo.png + :width: 300 + :alt: "Stogl Robotics Consulting" + +|aitlogo| + +.. |aitlogo| image:: images/ait_logo.jpg + :width: 300 + :alt: "Austrian Institute of Technology" + + |palroboticslogo| .. |palroboticslogo| image:: images/palroboticslogo.png @@ -88,12 +101,6 @@ The project has received major contributions from the following companies and in :width: 300 :alt: "PickNik Robotics" -|stoglroboticslogo| - -.. |stoglroboticslogo| image:: images/stoglroboticslogo.png - :width: 300 - :alt: "Stogl Robotics Consulting" - |rosin_ack_logo_wide| Supported by ROSIN - ROS-Industrial Quality-Assured Robot Software Components. diff --git a/iron/doc/acknowledgements/acknowledgements.html b/iron/doc/acknowledgements/acknowledgements.html index 31c595376ed..3468604c260 100644 --- a/iron/doc/acknowledgements/acknowledgements.html +++ b/iron/doc/acknowledgements/acknowledgements.html @@ -13825,9 +13825,10 @@

Contributors

Companies and Institutions

The project has received major contributions from the following companies and institutions.

+

"Stogl Robotics Consulting"

+

"Austrian Institute of Technology"

"PAL Robotics"

"PickNik Robotics"

-

"Stogl Robotics Consulting"

"ROSIN"

Supported by ROSIN - ROS-Industrial Quality-Assured Robot Software Components. More information: https://www.rosin-project.eu

diff --git a/iron/index.html b/iron/index.html index 6df05569d8c..34fd8f7de09 100644 --- a/iron/index.html +++ b/iron/index.html @@ -149,7 +149,7 @@

Development Organisation and Communication -

Built on 2024-11-25 at 12:56 GMT

+

Built on 2024-11-25 at 13:41 GMT

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"2022-12 ROS-Industrial Conference 2022": [[10, "ros-industrial-conference-2022"]], "2023-02 ROS Meetup Munich #5": [[10, "ros-meetup-munich-5"]], "2023-09-19 ROSCon Spain Talk: Introduction to ros2_control": [[10, "roscon-spain-talk-introduction-to-ros2-control"]], "A Controller Base-Class: ChainableController": [[11, "a-controller-base-class-chainablecontroller"]], "API Documentation": [[1, "api-documentation"], [14, "api-documentation"]], "Ackermann Steering": [[47, "ackermann-steering"]], "Ackermann Steering with Traction": [[47, "ackermann-steering-with-traction"]], "Acknowledgements": [[0, "acknowledgements"]], "Actions 1": [[58, "actions"]], "Activation and Deactivation Chained Controllers": [[11, "activation-and-deactivation-chained-controllers"]], "Add ros2_control tag to a URDF": [[3, "add-ros2-control-tag-to-a-urdf"], [5, "add-ros2-control-tag-to-a-urdf"]], "Add support for hardware semantic components": [[8, "add-support-for-hardware-semantic-components"]], "Add the gazebo_ros2_control plugin": [[3, "add-the-gazebo-ros2-control-plugin"]], "Add the gz_ros2_control plugin": [[5, "add-the-gz-ros2-control-plugin"]], "Additional notes": [[13, "additional-notes"]], "Admittance Controller": [[42, "admittance-controller"]], "Advanced: custom gazebo_ros2_control Simulation Plugins": [[3, "advanced-custom-gazebo-ros2-control-simulation-plugins"]], "Advanced: custom gz_ros2_control Simulation Plugins": [[5, "advanced-custom-gz-ros2-control-simulation-plugins"]], "An example parameter file": [[53, "an-example-parameter-file"], [54, "an-example-parameter-file"], [55, "an-example-parameter-file"], [56, "an-example-parameter-file"], [59, "an-example-parameter-file"], [60, "an-example-parameter-file"], [62, "an-example-parameter-file"]], "Architecture": [[4, "architecture"]], "Available controllers": [[30, "available-controllers"]], "Between different ROS 2 distributions": [[7, "between-different-ros-2-distributions"]], "Binary packages": [[4, "binary-packages"]], "Broadcasters": [[45, "broadcasters"]], "Build from debian packages": [[24, "build-from-debian-packages"]], "Build from source": [[24, "build-from-source"]], "Building from Source": [[4, "building-from-source"]], "By counting loops": [[17, "by-counting-loops"]], "By measuring elapsed time": [[17, "by-measuring-elapsed-time"]], "CI configuration": [[2, "ci-configuration"]], "CMake library (controller)": [[38, "cmake-library-controller"]], "CMake library (hardware)": [[38, "cmake-library-hardware"]], "Car-Like (Bicycle) Model": [[47, "car-like-bicycle-model"]], "CarlikeBot": [[28, "carlikebot"]], "Cart on rail": [[3, "cart-on-rail"], [5, "cart-on-rail"]], "Caveats on hardware lifecycling": [[30, "caveats-on-hardware-lifecycling"]], "Closing remarks": [[11, "closing-remarks"]], "Coming from ros_control (ROS 1)": [[7, "coming-from-ros-control-ros-1"]], "Command Line Interface": [[23, "command-line-interface"]], "Command interfaces": [[64, "command-interfaces"]], 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  • 2023-09-19 ROSCon Spain Talk: Introduction to ros2_control
    • +
  • 2023-07-07 ROS Developers Day 2023: Configure a Mobile Manipulator with ros2_control
  • 2023-02 ROS Meetup Munich #5
  • 2022-12 ROS-Industrial Conference 2022
  • 2022-10 ROSCon 2022
    • @@ -169,6 +170,28 @@

    2023-09-19 ROSCon Spain Talk: Introduction to ros2_control +

    2023-07-07 ROS Developers Day 2023: Configure a Mobile Manipulator with ros2_control

    +

    Recording

    +

    Github repo with code

    +

    TBD add Construct rosject link

    +
    +
    Summary:

    In this hands-on presentation, we demonstrate how to set up a mobile manipulator with ros2_control in steps. First, we take a robot mobile base and demonstrate setting up ros2_control simulation for it in the URDF. Once done, a robot arm will be added to the mobile base, turning it into a mobile manipulator robot. The existing ros2_control configuration will be adjusted to accommodate for the new robot parts. Finally, the rosject concludes with a demonstration in Gazebo moving the robot using some off-the-shelf ros2_control controllers.

    +

    Attendees will learn

    +
      +

    • how to prototype a mobile manipulator with URDF and ros2_control

      • +

    • how to configure a gazebo simulation with a given URDF and ros2_control

      • +
    +

    Presenter: Bence Magyar

    +
    +
    Authors:
      +

    • Dr. Bence Magyar (FiveAI / Bosch)

      • +
    +
    +
    +
    +
    +

    2023-02 ROS Meetup Munich #5

    Presentation: Tricycle Controller with ros2_control

    diff --git a/master/doc/resources/roscon2023_workshop.html b/master/doc/resources/roscon2023_workshop.html index 7c89e6912d9..843e1ee6034 100644 --- a/master/doc/resources/roscon2023_workshop.html +++ b/master/doc/resources/roscon2023_workshop.html @@ -79,6 +79,7 @@
  • 2023-09-19 ROSCon Spain Talk: Introduction to ros2_control
    • +
  • 2023-07-07 ROS Developers Day 2023: Configure a Mobile Manipulator with ros2_control
  • 2023-02 ROS Meetup Munich #5
  • 2022-12 ROS-Industrial Conference 2022
  • 2022-10 ROSCon 2022
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GPIO interfaces", "CarlikeBot", "Example 12: Controller chaining with RRBot", "Example 13: Multi-robot system with lifecycle management", "Example 14: Modular robot with actuators not providing states", "Example 15: Using multiple controller managers", "DiffBot", "Example 3: Robots with multiple interfaces", "Example 4: Industrial robot with integrated sensor", "Example 5: Industrial robot with externally connected sensor", "Example 6: Modular Robots with separate communication to each actuator", "Example 7: Full tutorial with a 6DOF robot", "Example 8: Industrial Robots with an exposed transmission interface", "Example 9: Simulation with RRBot", "ackermann_steering_controller", "Admittance Controller", "bicycle_steering_controller", "diff_drive_controller", "ros2_controllers", "Migration Guides: Iron to Jazzy", "Wheeled Mobile Robot Kinematics", "Release Notes: Iron to Jazzy", "Writing a new controller", "effort_controllers", "Force Torque Sensor Broadcaster", 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29, 30, 31, 32, 34, 35, 36, 37, 38, 39, 40, 41], "type": [20, 53, 57, 60], "unicycl": 48, "unlist": 16, "unload_control": 24, "unoffici": 74, "unspawn": 13, "up": [3, 5], "updat": 18, "urdf": [3, 4, 5, 21, 39], "us": [3, 5, 12, 13, 23, 25, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 40, 41, 50, 60, 63], "usag": [2, 3, 5], "user": 4, "velocity_control": 71, "view": 25, "view_controller_chain": 24, "visual": 59, "weekli": 10, "welcom": 75, "what": 25, "wheel": [46, 48], "within": 33, "workshop": [10, 11, 72], "world": 10, "write": [2, 19, 23, 39, 50], "xml": 16, "you": 25, "your": [3, 4, 5]}}) \ No newline at end of file +Search.setIndex({"alltitles": {"2021-05 ROSCon Fr 2021": [[10, "roscon-fr-2021"]], "2021-06 ROSDevDay 2021": [[10, "rosdevday-2021"]], "2021-10 ROS World 2021": [[10, "ros-world-2021"]], "2021-10-07 Weekly Robotics Meetup #13": [[10, "weekly-robotics-meetup-13"]], "2022-06 ROSCon Fr 2022": [[10, "roscon-fr-2022"]], "2022-10 ROSCon 2022": [[10, "roscon-2022"]], "2022-12 ROS-Industrial Conference 2022": [[10, "ros-industrial-conference-2022"]], "2023-02 ROS Meetup Munich #5": [[10, "ros-meetup-munich-5"]], "2023-07-07 ROS Developers Day 2023: Configure a Mobile Manipulator with ros2_control": [[10, "ros-developers-day-2023-configure-a-mobile-manipulator-with-ros2-control"]], "2023-09-19 ROSCon Spain Talk: Introduction to ros2_control": [[10, "roscon-spain-talk-introduction-to-ros2-control"]], "2023-10-18 ROSCon Workshop: ros2_control on Steroids": [[10, "roscon-workshop-ros2-control-on-steroids"]], "A Controller Base-Class: ChainableController": [[12, "a-controller-base-class-chainablecontroller"]], "API Documentation": [[1, "api-documentation"], [15, "api-documentation"]], "Ackermann Steering": [[48, "ackermann-steering"]], "Ackermann Steering with Traction": [[48, "ackermann-steering-with-traction"]], "Acknowledgements": [[0, "acknowledgements"]], "Actions 1": [[60, "actions"]], "Activation and Deactivation Chained Controllers": [[12, "activation-and-deactivation-chained-controllers"]], "Adaption of Command-/StateInterfaces": [[16, "adaption-of-command-stateinterfaces"], [17, "adaption-of-command-stateinterfaces"]], "Add ros2_control tag to a URDF": [[3, "add-ros2-control-tag-to-a-urdf"], [5, "add-ros2-control-tag-to-a-urdf"]], "Add support for hardware semantic components": [[8, "add-support-for-hardware-semantic-components"]], "Add the gazebo_ros2_control plugin": [[3, "add-the-gazebo-ros2-control-plugin"]], "Add the gz_ros2_control plugin": [[5, "add-the-gz-ros2-control-plugin"]], "Additional notes": [[14, "additional-notes"]], "Admittance Controller": [[43, "admittance-controller"]], "Advanced: custom gazebo_ros2_control Simulation Plugins": [[3, "advanced-custom-gazebo-ros2-control-simulation-plugins"]], "Advanced: custom gz_ros2_control Simulation Plugins": [[5, "advanced-custom-gz-ros2-control-simulation-plugins"]], "An example parameter file": [[55, "an-example-parameter-file"], [56, "an-example-parameter-file"], [57, "an-example-parameter-file"], [58, "an-example-parameter-file"], [63, "an-example-parameter-file"], [64, "an-example-parameter-file"], [66, "an-example-parameter-file"]], "Architecture": [[4, "architecture"]], "Available controllers": [[31, "available-controllers"]], "Before coming to the conference": [[11, "before-coming-to-the-conference"], [72, "before-coming-to-the-conference"]], "Between different ROS 2 distributions": [[7, "between-different-ros-2-distributions"]], "Binary packages": [[4, "binary-packages"]], "Broadcasters": [[46, "broadcasters"]], "Build from debian packages": [[25, "build-from-debian-packages"]], "Build from source": [[25, "build-from-source"]], "Building from Source": [[4, "building-from-source"]], "By counting loops": [[18, "by-counting-loops"]], "By measuring elapsed time": [[18, "by-measuring-elapsed-time"]], "CI configuration": [[2, "ci-configuration"]], "CMake library (controller)": [[39, "cmake-library-controller"]], "CMake library (hardware)": [[39, "cmake-library-hardware"]], "Car-Like (Bicycle) Model": [[48, "car-like-bicycle-model"]], "CarlikeBot": [[29, "carlikebot"]], "Cart on rail": [[3, "cart-on-rail"], [5, "cart-on-rail"]], "Caveats on hardware lifecycling": [[31, "caveats-on-hardware-lifecycling"]], "Closing remarks": [[12, "closing-remarks"]], "Coming from ros_control (ROS 1)": [[7, "coming-from-ros-control-ros-1"]], "Command Line Interface": [[24, "command-line-interface"]], "Command interfaces": [[68, "command-interfaces"]], "Commands": [[43, "commands"], [57, "commands"], [60, "commands"], [61, "commands"], [63, "commands"]], "Common Controller Parameters": [[46, "common-controller-parameters"]], "Communication protocols": [[74, "communication-protocols"]], "Community": [[73, "community"]], "Companies and Institutions": [[0, "companies-and-institutions"]], "Component Parameters": [[22, "component-parameters"]], "Concepts": [[13, "concepts"], [15, "concepts"]], "Contributing": [[2, "contributing"]], "Contributors": [[0, "contributors"]], "Controller Chaining / Cascade Control": [[12, "controller-chaining-cascade-control"]], "Controller Manager": [[4, "controller-manager"], [13, "controller-manager"]], "Controller Migration": [[6, "controller-migration"]], "Controllers": [[4, "controllers"]], "Controllers for Manipulators and Other Robots": [[46, "controllers-for-manipulators-and-other-robots"]], "Controllers for Wheeled Mobile Robots": [[46, "controllers-for-wheeled-mobile-robots"]], "Controllers from this demo": [[27, "controllers-from-this-demo"], [28, "controllers-from-this-demo"], [29, "controllers-from-this-demo"], [30, "controllers-from-this-demo"], [31, "controllers-from-this-demo"], [32, "controllers-from-this-demo"], [33, "controllers-from-this-demo"], [34, "controllers-from-this-demo"], [35, "controllers-from-this-demo"], [36, "controllers-from-this-demo"], [37, "controllers-from-this-demo"], [38, "controllers-from-this-demo"], [40, "controllers-from-this-demo"], [41, "controllers-from-this-demo"]], "Controller\u2019s Access to Hardware": [[6, "controller-s-access-to-hardware"]], "Currently implemented kinematics": [[68, "currently-implemented-kinematics"]], "Custom export of Command-/StateInterfaces": [[16, "custom-export-of-command-stateinterfaces"]], "Debugging": [[14, "debugging"]], "Debugging outputs": [[12, "debugging-outputs"]], "Default gazebo_ros2_control Behavior": [[3, "default-gazebo-ros2-control-behavior"]], "Default gz_ros2_control Behavior": [[5, "default-gz-ros2-control-behavior"]], "Demos": [[25, "demos"]], "Description of controller\u2019s interfaces": [[45, "description-of-controller-s-interfaces"], [54, "description-of-controller-s-interfaces"], [60, "description-of-controller-s-interfaces"], [61, "description-of-controller-s-interfaces"], [63, "description-of-controller-s-interfaces"], [68, "description-of-controller-s-interfaces"]], "Details about parameters": [[58, "details-about-parameters"]], "Determinism": [[13, "determinism"]], "Development Organisation and Communication": [[75, "development-organisation-and-communication"]], "Diagrams": [[10, "diagrams"]], "DiffBot": [[34, "diffbot"]], "Differences to ros_control (ROS 1)": [[6, "differences-to-ros-control-ros-1"]], "Different update rates for Hardware Components": [[18, "different-update-rates-for-hardware-components"]], "Differential Drive Robot": [[48, "differential-drive-robot"]], "Documentation Usage": [[2, "documentation-usage"]], "Double-Traction Axle": [[48, "double-traction-axle"]], "End-effectors": [[74, "end-effectors"]], "Example 10: Industrial robot with GPIO interfaces": [[28, "example-10-industrial-robot-with-gpio-interfaces"]], "Example 12: Controller chaining with RRBot": [[30, "example-12-controller-chaining-with-rrbot"]], "Example 13: Multi-robot system with lifecycle management": [[31, "example-13-multi-robot-system-with-lifecycle-management"]], "Example 14: Modular robot with actuators not providing states": [[32, "example-14-modular-robot-with-actuators-not-providing-states"]], "Example 15: Using multiple controller managers": [[33, "example-15-using-multiple-controller-managers"]], "Example 1: RRBot": [[27, "example-1-rrbot"]], "Example 3: Robots with multiple interfaces": [[35, "example-3-robots-with-multiple-interfaces"]], "Example 4: Industrial robot with integrated sensor": [[36, "example-4-industrial-robot-with-integrated-sensor"]], "Example 5: Industrial robot with externally connected sensor": [[37, "example-5-industrial-robot-with-externally-connected-sensor"]], "Example 6: Modular Robots with separate communication to each actuator": [[38, "example-6-modular-robots-with-separate-communication-to-each-actuator"]], "Example 7: Full tutorial with a 6DOF robot": [[39, "example-7-full-tutorial-with-a-6dof-robot"]], "Example 8: Industrial Robots with an exposed transmission interface": [[40, "example-8-industrial-robots-with-an-exposed-transmission-interface"]], "Example 9: Simulation with RRBot": [[41, "example-9-simulation-with-rrbot"]], "Examples": [[20, "examples"], [25, "examples"]], "Examples Overview": [[25, "examples-overview"]], "Execution logic of the controller": [[61, "execution-logic-of-the-controller"], [63, "execution-logic-of-the-controller"], [68, "execution-logic-of-the-controller"]], "Feature-parity for controllers from ROS1": [[8, "feature-parity-for-controllers-from-ros1"]], "Feedback": [[45, "feedback"]], "Files used for this demo": [[36, "files-used-for-this-demo"]], "Files used for this demos": [[27, "files-used-for-this-demos"], [28, "files-used-for-this-demos"], [29, "files-used-for-this-demos"], [30, "files-used-for-this-demos"], [31, "files-used-for-this-demos"], [32, "files-used-for-this-demos"], [34, "files-used-for-this-demos"], [35, "files-used-for-this-demos"], [37, "files-used-for-this-demos"], [38, "files-used-for-this-demos"], [40, "files-used-for-this-demos"], [41, "files-used-for-this-demos"]], "Force Torque Sensor Broadcaster": [[52, "force-torque-sensor-broadcaster"]], "Further information": [[60, "further-information"]], "GPIOs": [[20, "gpios"]], "General": [[17, "general"]], "Generic System": [[22, "generic-system"]], "Geometry": [[39, "geometry"]], "Getting Started": [[4, "getting-started"]], "Goals": [[25, "goals"]], "Gripper": [[3, "gripper"], [5, "gripper"]], "Gripper Action Controller": [[55, "gripper-action-controller"]], "Guidelines and Best Practices": [[15, "guidelines-and-best-practices"], [19, "guidelines-and-best-practices"], [46, "guidelines-and-best-practices"]], "Handling Multiple Controller Managers": [[13, "handling-multiple-controller-managers"]], "Handling of errors that happen during read() and write() calls": [[19, "handling-of-errors-that-happen-during-read-and-write-calls"]], "Hardware Components": [[4, "hardware-components"], [19, "hardware-components"]], "Hardware Description in URDF": [[4, "hardware-description-in-urdf"]], "Hardware Groups": [[20, "hardware-groups"]], "Hardware Interfaces": [[6, "hardware-interfaces"]], "Hardware Structures - classes": [[6, "hardware-structures-classes"]], "Hardware and Controller Errors": [[13, "hardware-and-controller-errors"]], "Hardware and interfaces": [[31, "hardware-and-interfaces"]], "Hardware interface type": [[53, "hardware-interface-type"], [57, "hardware-interface-type"]], "Hardware interface types": [[60, "hardware-interface-types"]], "Helper scripts": [[13, "helper-scripts"]], "Hosted by ros-controls": [[73, "hosted-by-ros-controls"]], "How-To": [[14, "how-to"]], "IMU Sensor Broadcaster": [[56, "imu-sensor-broadcaster"]], "Images": [[10, "images"]], "Implementation": [[12, "implementation"]], "Inner Resource Management": [[12, "inner-resource-management"]], "Installation": [[4, "installation"], [25, "installation"]], "Interpolation Method none": [[59, "interpolation-method-none"]], "Interpolation Method spline": 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multiple interfaces", "Example 4: Industrial robot with integrated sensor", "Example 5: Industrial robot with externally connected sensor", "Example 6: Modular Robots with separate communication to each actuator", "Example 7: Full tutorial with a 6DOF robot", "Example 8: Industrial Robots with an exposed transmission interface", "Example 9: Simulation with RRBot", "ackermann_steering_controller", "Admittance Controller", "bicycle_steering_controller", "diff_drive_controller", "ros2_controllers", "Migration Guides: Iron to Jazzy", "Wheeled Mobile Robot Kinematics", "Release Notes: Iron to Jazzy", "Writing a new controller", "effort_controllers", "Force Torque Sensor Broadcaster", "forward_command_controller", "gpio_controllers", "Gripper Action Controller", "IMU Sensor Broadcaster", "joint_state_broadcaster", "Details about parameters", "Trajectory Representation", "joint_trajectory_controller", "mecanum_drive_controller", "Parallel Gripper Action Controller", "PID Controller", "Pose 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zReFl%UO$-8OW>vfespPXq1*i6FMR~Q?*|LNAaIW#Y|&5Pw-)4xv^>}D!JB`XVrB*X Ee-V9g?EnA( diff --git a/rolling/.doctrees/index.doctree b/rolling/.doctrees/index.doctree index 3462f60c4b5f3a755a8be4b339ac7eb655ae23d9..88f22ed5efef880c278e6c5a5255e539bc169188 100644 GIT binary patch delta 87 zcmeCY$Jlv~af2D7VVX%ne0ok na-xxip>dK~O4{ah#`~cx##SbVlfA;fLl}w?a+{MQmWcrXw!Irl delta 87 zcmeCY$Jlv~af2D7p;>-jd7f#ig?_3*im8!hvYA_qNPcyQKG4tVXCpENusfN nvT1UfsX?k~isj~X#`~cxMpmX~lfA;fLl}w?a+{MQmWcrX)h-*r diff --git a/rolling/_sources/doc/resources/resources.rst b/rolling/_sources/doc/resources/resources.rst index 174ae6c14ce..4eb9a7bee19 100644 --- a/rolling/_sources/doc/resources/resources.rst +++ b/rolling/_sources/doc/resources/resources.rst @@ -45,6 +45,28 @@ Summary: Authors: - Sai Kishor Kothakota (PAL Robotics) +2023-07-07 ROS Developers Day 2023: Configure a Mobile Manipulator with ros2_control +,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,, + +`Recording `__ + +`Github repo with code `__ + +TBD add Construct rosject link + + +Summary: + In this hands-on presentation, we demonstrate how to set up a mobile manipulator with ros2_control in steps. First, we take a robot mobile base and demonstrate setting up ros2_control simulation for it in the URDF. Once done, a robot arm will be added to the mobile base, turning it into a mobile manipulator robot. The existing ros2_control configuration will be adjusted to accommodate for the new robot parts. Finally, the rosject concludes with a demonstration in Gazebo moving the robot using some off-the-shelf ros2_control controllers. + + Attendees will learn + + * how to prototype a mobile manipulator with URDF and ros2_control + * how to configure a gazebo simulation with a given URDF and ros2_control + + *Presenter: Bence Magyar* + + Authors: + - Dr. Bence Magyar (FiveAI / Bosch) 2023-02 ROS Meetup Munich #5 ,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,, diff --git a/rolling/doc/resources/resources.html b/rolling/doc/resources/resources.html index 6cfc9d7e9dc..e7476ec7e53 100644 --- a/rolling/doc/resources/resources.html +++ b/rolling/doc/resources/resources.html @@ -70,6 +70,7 @@

  • 2023-09-19 ROSCon Spain Talk: Introduction to ros2_control
    • +
  • 2023-07-07 ROS Developers Day 2023: Configure a Mobile Manipulator with ros2_control
  • 2023-02 ROS Meetup Munich #5
  • 2022-12 ROS-Industrial Conference 2022
  • 2022-10 ROSCon 2022
    • @@ -169,6 +170,28 @@

    2023-09-19 ROSCon Spain Talk: Introduction to ros2_control +

    2023-07-07 ROS Developers Day 2023: Configure a Mobile Manipulator with ros2_control

    +

    Recording

    +

    Github repo with code

    +

    TBD add Construct rosject link

    +
    +
    Summary:

    In this hands-on presentation, we demonstrate how to set up a mobile manipulator with ros2_control in steps. First, we take a robot mobile base and demonstrate setting up ros2_control simulation for it in the URDF. Once done, a robot arm will be added to the mobile base, turning it into a mobile manipulator robot. The existing ros2_control configuration will be adjusted to accommodate for the new robot parts. Finally, the rosject concludes with a demonstration in Gazebo moving the robot using some off-the-shelf ros2_control controllers.

    +

    Attendees will learn

    +
      +

    • how to prototype a mobile manipulator with URDF and ros2_control

      • +

    • how to configure a gazebo simulation with a given URDF and ros2_control

      • +
    +

    Presenter: Bence Magyar

    +
    +
    Authors:
      +

    • Dr. Bence Magyar (FiveAI / Bosch)

      • +
    +
    +
    +
    +
    +

    2023-02 ROS Meetup Munich #5

    Presentation: Tricycle Controller with ros2_control

    diff --git a/rolling/doc/resources/roscon2023_workshop.html b/rolling/doc/resources/roscon2023_workshop.html index 7c89e6912d9..843e1ee6034 100644 --- a/rolling/doc/resources/roscon2023_workshop.html +++ b/rolling/doc/resources/roscon2023_workshop.html @@ -79,6 +79,7 @@
  • 2023-09-19 ROSCon Spain Talk: Introduction to ros2_control
    • +
  • 2023-07-07 ROS Developers Day 2023: Configure a Mobile Manipulator with ros2_control
  • 2023-02 ROS Meetup Munich #5
  • 2022-12 ROS-Industrial Conference 2022
  • 2022-10 ROSCon 2022
    • diff --git a/rolling/index.html b/rolling/index.html index f250b7d78fe..9e4bd7fca7a 100644 --- a/rolling/index.html +++ b/rolling/index.html @@ -150,7 +150,7 @@

    Development Organisation and Communication -

    Built on 2024-11-25 at 12:56 GMT

    +

    Built on 2024-11-25 at 13:41 GMT

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ros2_control": [[10, "roscon-spain-talk-introduction-to-ros2-control"]], "2023-10-18 ROSCon Workshop: ros2_control on Steroids": [[10, "roscon-workshop-ros2-control-on-steroids"]], "A Controller Base-Class: ChainableController": [[12, "a-controller-base-class-chainablecontroller"]], "API Documentation": [[1, "api-documentation"], [15, "api-documentation"]], "Ackermann Steering": [[48, "ackermann-steering"]], "Ackermann Steering with Traction": [[48, "ackermann-steering-with-traction"]], "Acknowledgements": [[0, "acknowledgements"]], "Actions 1": [[60, "actions"]], "Activation and Deactivation Chained Controllers": [[12, "activation-and-deactivation-chained-controllers"]], "Adaption of Command-/StateInterfaces": [[16, "adaption-of-command-stateinterfaces"], [17, "adaption-of-command-stateinterfaces"]], "Add ros2_control tag to a URDF": [[3, "add-ros2-control-tag-to-a-urdf"], [5, "add-ros2-control-tag-to-a-urdf"]], "Add support for hardware semantic components": [[8, "add-support-for-hardware-semantic-components"]], "Add the gazebo_ros2_control plugin": [[3, "add-the-gazebo-ros2-control-plugin"]], "Add the gz_ros2_control plugin": [[5, "add-the-gz-ros2-control-plugin"]], "Additional notes": [[14, "additional-notes"]], "Admittance Controller": [[43, "admittance-controller"]], "Advanced: custom gazebo_ros2_control Simulation Plugins": [[3, "advanced-custom-gazebo-ros2-control-simulation-plugins"]], "Advanced: custom gz_ros2_control Simulation Plugins": [[5, "advanced-custom-gz-ros2-control-simulation-plugins"]], "An example parameter file": [[55, "an-example-parameter-file"], [56, "an-example-parameter-file"], [57, "an-example-parameter-file"], [58, "an-example-parameter-file"], [63, "an-example-parameter-file"], [64, "an-example-parameter-file"], [66, "an-example-parameter-file"]], "Architecture": [[4, "architecture"]], "Available controllers": [[31, "available-controllers"]], "Before coming to the conference": [[11, "before-coming-to-the-conference"], [72, "before-coming-to-the-conference"]], "Between different ROS 2 distributions": [[7, "between-different-ros-2-distributions"]], "Binary packages": [[4, "binary-packages"]], "Broadcasters": [[46, "broadcasters"]], "Build from debian packages": [[25, "build-from-debian-packages"]], "Build from source": [[25, "build-from-source"]], "Building from Source": [[4, "building-from-source"]], "By counting loops": [[18, "by-counting-loops"]], "By measuring elapsed time": [[18, "by-measuring-elapsed-time"]], "CI configuration": [[2, "ci-configuration"]], "CMake library (controller)": [[39, "cmake-library-controller"]], "CMake library (hardware)": [[39, "cmake-library-hardware"]], "Car-Like (Bicycle) Model": [[48, "car-like-bicycle-model"]], "CarlikeBot": [[29, "carlikebot"]], "Cart on rail": [[3, "cart-on-rail"], [5, "cart-on-rail"]], "Caveats on hardware lifecycling": [[31, "caveats-on-hardware-lifecycling"]], "Closing remarks": [[12, "closing-remarks"]], "Coming from ros_control (ROS 1)": [[7, "coming-from-ros-control-ros-1"]], "Command Line Interface": [[24, "command-line-interface"]], "Command interfaces": [[68, "command-interfaces"]], "Commands": [[43, "commands"], [57, "commands"], [60, "commands"], [61, "commands"], [63, "commands"]], "Common Controller Parameters": [[46, "common-controller-parameters"]], "Communication protocols": [[74, "communication-protocols"]], "Community": [[73, "community"]], "Companies and Institutions": [[0, "companies-and-institutions"]], "Component Parameters": [[22, "component-parameters"]], "Concepts": [[13, "concepts"], [15, "concepts"]], "Contributing": [[2, "contributing"]], "Contributors": [[0, "contributors"]], "Controller Chaining / Cascade Control": [[12, "controller-chaining-cascade-control"]], "Controller Manager": [[4, "controller-manager"], [13, "controller-manager"]], "Controller Migration": [[6, "controller-migration"]], "Controllers": [[4, "controllers"]], "Controllers for Manipulators and Other Robots": [[46, "controllers-for-manipulators-and-other-robots"]], "Controllers for Wheeled Mobile Robots": [[46, "controllers-for-wheeled-mobile-robots"]], "Controllers from this demo": [[27, "controllers-from-this-demo"], [28, "controllers-from-this-demo"], [29, "controllers-from-this-demo"], [30, "controllers-from-this-demo"], [31, "controllers-from-this-demo"], [32, "controllers-from-this-demo"], [33, "controllers-from-this-demo"], [34, "controllers-from-this-demo"], [35, "controllers-from-this-demo"], [36, "controllers-from-this-demo"], [37, "controllers-from-this-demo"], [38, "controllers-from-this-demo"], [40, "controllers-from-this-demo"], [41, "controllers-from-this-demo"]], "Controller\u2019s Access to Hardware": [[6, "controller-s-access-to-hardware"]], "Currently implemented kinematics": [[68, "currently-implemented-kinematics"]], "Custom export of Command-/StateInterfaces": [[16, "custom-export-of-command-stateinterfaces"]], "Debugging": [[14, "debugging"]], "Debugging outputs": [[12, "debugging-outputs"]], "Default gazebo_ros2_control Behavior": [[3, "default-gazebo-ros2-control-behavior"]], "Default gz_ros2_control Behavior": [[5, "default-gz-ros2-control-behavior"]], "Demos": [[25, "demos"]], "Description of controller\u2019s interfaces": [[45, "description-of-controller-s-interfaces"], [54, "description-of-controller-s-interfaces"], [60, "description-of-controller-s-interfaces"], [61, "description-of-controller-s-interfaces"], [63, "description-of-controller-s-interfaces"], [68, "description-of-controller-s-interfaces"]], "Details about parameters": [[58, "details-about-parameters"]], "Determinism": [[13, "determinism"]], "Development Organisation and Communication": [[75, "development-organisation-and-communication"]], "Diagrams": [[10, "diagrams"]], "DiffBot": [[34, "diffbot"]], "Differences to ros_control (ROS 1)": [[6, "differences-to-ros-control-ros-1"]], "Different update rates for Hardware Components": [[18, 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"Example 4: Industrial robot with integrated sensor": [[36, "example-4-industrial-robot-with-integrated-sensor"]], "Example 5: Industrial robot with externally connected sensor": [[37, "example-5-industrial-robot-with-externally-connected-sensor"]], "Example 6: Modular Robots with separate communication to each actuator": [[38, "example-6-modular-robots-with-separate-communication-to-each-actuator"]], "Example 7: Full tutorial with a 6DOF robot": [[39, "example-7-full-tutorial-with-a-6dof-robot"]], "Example 8: Industrial Robots with an exposed transmission interface": [[40, "example-8-industrial-robots-with-an-exposed-transmission-interface"]], "Example 9: Simulation with RRBot": [[41, "example-9-simulation-with-rrbot"]], "Examples": [[20, "examples"], [25, "examples"]], "Examples Overview": [[25, "examples-overview"]], "Execution logic of the controller": [[61, "execution-logic-of-the-controller"], [63, "execution-logic-of-the-controller"], [68, "execution-logic-of-the-controller"]], "Feature-parity for controllers from ROS1": [[8, "feature-parity-for-controllers-from-ros1"]], "Feedback": [[45, "feedback"]], "Files used for this demo": [[36, "files-used-for-this-demo"]], "Files used for this demos": [[27, "files-used-for-this-demos"], [28, "files-used-for-this-demos"], [29, "files-used-for-this-demos"], [30, "files-used-for-this-demos"], [31, "files-used-for-this-demos"], [32, "files-used-for-this-demos"], [34, "files-used-for-this-demos"], [35, "files-used-for-this-demos"], [37, "files-used-for-this-demos"], [38, "files-used-for-this-demos"], [40, "files-used-for-this-demos"], [41, "files-used-for-this-demos"]], "Force Torque Sensor Broadcaster": [[52, "force-torque-sensor-broadcaster"]], "Further information": [[60, "further-information"]], "GPIOs": [[20, "gpios"]], "General": [[17, "general"]], "Generic System": [[22, "generic-system"]], "Geometry": [[39, "geometry"]], "Getting Started": [[4, "getting-started"]], "Goals": [[25, "goals"]], "Gripper": [[3, 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GPIO interfaces", "CarlikeBot", "Example 12: Controller chaining with RRBot", "Example 13: Multi-robot system with lifecycle management", "Example 14: Modular robot with actuators not providing states", "Example 15: Using multiple controller managers", "DiffBot", "Example 3: Robots with multiple interfaces", "Example 4: Industrial robot with integrated sensor", "Example 5: Industrial robot with externally connected sensor", "Example 6: Modular Robots with separate communication to each actuator", "Example 7: Full tutorial with a 6DOF robot", "Example 8: Industrial Robots with an exposed transmission interface", "Example 9: Simulation with RRBot", "ackermann_steering_controller", "Admittance Controller", "bicycle_steering_controller", "diff_drive_controller", "ros2_controllers", "Migration Guides: Iron to Jazzy", "Wheeled Mobile Robot Kinematics", "Release Notes: Iron to Jazzy", "Writing a new controller", "effort_controllers", "Force Torque Sensor Broadcaster", "forward_command_controller", "gpio_controllers", "Gripper Action Controller", "IMU Sensor Broadcaster", "joint_state_broadcaster", "Details about parameters", "Trajectory Representation", "joint_trajectory_controller", "mecanum_drive_controller", "Parallel Gripper Action Controller", "PID Controller", "Pose Broadcaster", "position_controllers", "Range Sensor Broadcaster", "rqt_joint_trajectory_controller", "steering_controllers_library", "tricycle_controller", "tricycle_steering_controller", "velocity_controllers", "ROSCon 2024 Workshop", "Simulator Integrations", "Supported Robots", "Welcome to the ros2_control documentation!"], "titleterms": {"": [6, 45, 54, 60, 61, 63, 68], "02": 10, "05": 10, "06": 10, "07": 10, "09": 10, "1": [6, 7, 27, 60], "10": [10, 28], "12": [10, 30], "13": [10, 31], "14": 32, "15": 33, "18": 10, "19": 10, "2": [7, 43, 45, 51, 53, 65, 69, 71], "2021": 10, "2022": 10, "2023": [10, 11], "2024": [8, 72], "3": 35, "4": 36, "5": [10, 37], "6": 38, "6dof": 39, 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"example-8-industrial-robots-with-an-exposed-transmission-interface"]], "Example 9: Simulation with RRBot": [[41, "example-9-simulation-with-rrbot"]], "Examples": [[20, "examples"], [25, "examples"]], "Examples Overview": [[25, "examples-overview"]], "Execution logic of the controller": [[61, "execution-logic-of-the-controller"], [63, "execution-logic-of-the-controller"], [68, "execution-logic-of-the-controller"]], "Feature-parity for controllers from ROS1": [[8, "feature-parity-for-controllers-from-ros1"]], "Feedback": [[45, "feedback"]], "Files used for this demo": [[36, "files-used-for-this-demo"]], "Files used for this demos": [[27, "files-used-for-this-demos"], [28, "files-used-for-this-demos"], [29, "files-used-for-this-demos"], [30, "files-used-for-this-demos"], [31, "files-used-for-this-demos"], [32, "files-used-for-this-demos"], [34, "files-used-for-this-demos"], [35, "files-used-for-this-demos"], [37, "files-used-for-this-demos"], [38, "files-used-for-this-demos"], [40, "files-used-for-this-demos"], [41, "files-used-for-this-demos"]], "Force Torque Sensor Broadcaster": [[52, "force-torque-sensor-broadcaster"]], "Further information": [[60, "further-information"]], "GPIOs": [[20, "gpios"]], "General": [[17, "general"]], "Generic System": [[22, "generic-system"]], "Geometry": [[39, "geometry"]], "Getting Started": [[4, "getting-started"]], "Goals": [[25, "goals"]], "Gripper": [[3, "gripper"], [5, "gripper"]], "Gripper Action Controller": [[55, "gripper-action-controller"]], "Guidelines and Best Practices": [[15, "guidelines-and-best-practices"], [19, "guidelines-and-best-practices"], [46, "guidelines-and-best-practices"]], "Handling Multiple Controller Managers": [[13, "handling-multiple-controller-managers"]], "Handling of errors that happen during read() and write() calls": [[19, "handling-of-errors-that-happen-during-read-and-write-calls"]], "Hardware Components": [[4, "hardware-components"], [19, "hardware-components"]], "Hardware Description in URDF": [[4, "hardware-description-in-urdf"]], "Hardware Groups": [[20, "hardware-groups"]], "Hardware Interfaces": [[6, "hardware-interfaces"]], "Hardware Structures - classes": [[6, "hardware-structures-classes"]], "Hardware and Controller Errors": [[13, "hardware-and-controller-errors"]], "Hardware and interfaces": [[31, "hardware-and-interfaces"]], "Hardware interface type": [[53, "hardware-interface-type"], [57, "hardware-interface-type"]], "Hardware interface types": [[60, "hardware-interface-types"]], "Helper scripts": [[13, "helper-scripts"]], "Hosted by ros-controls": [[73, "hosted-by-ros-controls"]], "How-To": [[14, "how-to"]], "IMU Sensor Broadcaster": [[56, "imu-sensor-broadcaster"]], "Images": [[10, "images"]], "Implementation": [[12, "implementation"]], "Inner Resource Management": [[12, "inner-resource-management"]], "Installation": [[4, "installation"], [25, "installation"]], "Interpolation Method none": [[59, "interpolation-method-none"]], "Interpolation Method spline": 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"Plugin description file (controller)": [[39, "plugin-description-file-controller"]], "Plugin description file (hardware)": [[39, "plugin-description-file-hardware"]], "Pose Broadcaster": [[64, "pose-broadcaster"]], "Preemption policy 1": [[60, "preemption-policy"]], "Presentations": [[10, "presentations"]], "Project Ideas for GSoC 2024": [[8, "project-ideas-for-gsoc-2024"]], "Publishers": [[45, "publishers"], [60, "publishers"], [61, "publishers"], [63, "publishers"], [68, "publishers"]], "Pull Requests": [[2, "pull-requests"]], "Quick Hints": [[25, "quick-hints"]], "ROS 2 Interfaces": [[45, "ros-2-interfaces"], [69, "ros-2-interfaces"]], "ROS 2 interface of the controller": [[43, "ros-2-interface-of-the-controller"], [51, "ros-2-interface-of-the-controller"], [53, "ros-2-interface-of-the-controller"], [65, "ros-2-interface-of-the-controller"], [71, "ros-2-interface-of-the-controller"]], "ROSCon 2023 Workshop": [[11, "roscon-2023-workshop"]], "ROSCon 2024 Workshop": [[72, "roscon-2024-workshop"]], "Range Sensor Broadcaster": [[66, "range-sensor-broadcaster"]], "References": [[14, "references"], [43, "references"], [45, "references"], [60, "references"]], "References (from a preceding controller)": [[61, "references-from-a-preceding-controller"], [63, "references-from-a-preceding-controller"], [68, "references-from-a-preceding-controller"]], "Release Notes": [[9, "release-notes"]], "Release Notes: Iron to Jazzy": [[49, "release-notes-iron-to-jazzy"]], "Repository structure and CI configuration": [[2, "repository-structure-and-ci-configuration"]], "Resource Manager": [[4, "resource-manager"]], "Resources": [[10, "resources"]], "Restarting all controllers": [[13, "restarting-all-controllers"]], "Restarting hardware": [[13, "restarting-hardware"]], "RobotHardware to Components": [[6, "robothardware-to-components"]], "Rules for the repositories and process of merging pull requests": [[2, "rules-for-the-repositories-and-process-of-merging-pull-requests"]], "Running the Framework for Your Robot": [[4, "running-the-framework-for-your-robot"]], "Scenario: Using multiple controller managers on the same machine": [[33, "scenario-using-multiple-controller-managers-on-the-same-machine"]], "Scenario: Using ros2_control within a local namespace": [[33, "scenario-using-ros2-control-within-a-local-namespace"]], "Scope of the Document and Background Knowledge": [[12, "scope-of-the-document-and-background-knowledge"]], "Sensors": [[20, "sensors"]], "Services": [[60, "services"], [63, "services"]], "Set up controllers": [[3, "set-up-controllers"], [5, "set-up-controllers"]], "Simple setup": [[3, "simple-setup"], [5, "simple-setup"]], "Simulating Closed-Loop Kinematic Chains": [[21, "simulating-closed-loop-kinematic-chains"]], "Simulator Integrations": [[73, "simulator-integrations"]], "Slides": [[11, "slides"]], "State interfaces": [[68, "state-interfaces"]], "States": [[43, "states"], [60, "states"], [61, "states"], [63, "states"]], "Subscriber 1": 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10]}, "titles": ["Acknowledgements", "API Documentation", "Contributing", "gazebo_ros2_control", "Getting Started", "gz_ros2_control", "Differences to ros_control (ROS 1)", "Migration Guides", "Project Ideas for GSoC 2024", "Release Notes", "Resources", "ROSCon 2023 Workshop", "Controller Chaining / Cascade Control", "Controller Manager", "Debugging", "ros2_control", "Iron to Jazzy", "Iron to Jazzy", "Different update rates for Hardware Components", "Hardware Components", "ros2_control hardware interface types", "Joint Kinematics for ros2_control", "Mock Components", "Writing a Hardware Component", "Command Line Interface", "Demos", "<no title>", "Example 1: RRBot", "Example 10: Industrial robot with GPIO interfaces", "CarlikeBot", "Example 12: Controller chaining with RRBot", "Example 13: Multi-robot system with lifecycle management", "Example 14: Modular robot with actuators not providing states", "Example 15: Using multiple controller managers", "DiffBot", "Example 3: Robots with multiple interfaces", "Example 4: Industrial robot with integrated sensor", "Example 5: Industrial robot with externally connected sensor", "Example 6: Modular Robots with separate communication to each actuator", "Example 7: Full tutorial with a 6DOF robot", "Example 8: Industrial Robots with an exposed transmission interface", "Example 9: Simulation with RRBot", "ackermann_steering_controller", "Admittance Controller", "bicycle_steering_controller", "diff_drive_controller", "ros2_controllers", "Migration Guides: Iron to Jazzy", "Wheeled Mobile Robot Kinematics", "Release Notes: Iron to Jazzy", "Writing a new controller", "effort_controllers", "Force Torque Sensor Broadcaster", "forward_command_controller", "gpio_controllers", "Gripper Action Controller", "IMU Sensor Broadcaster", "joint_state_broadcaster", "Details about parameters", "Trajectory Representation", "joint_trajectory_controller", "mecanum_drive_controller", "Parallel Gripper Action Controller", "PID Controller", "Pose 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