diff --git a/doc/resources/resources.rst b/doc/resources/resources.rst index 07cca4c739e..9af662da31c 100644 --- a/doc/resources/resources.rst +++ b/doc/resources/resources.rst @@ -33,7 +33,7 @@ Summary: 2023-02 ROS Meetup Munich #5 ,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,, -`Presentation: Tricycle Controller with ros2_control `_ +:download:`Presentation: Tricycle Controller with ros2_control ` `Meetup event link `_ @@ -49,7 +49,7 @@ Summary: 2022-12 ROS-Industrial Conference 2022 ,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,, -`Presentation: ros2_control - Kernel for ROS 2 controlled robots `_ +:download:`Presentation: ros2_control - Kernel for ROS 2 controlled robots ` Summary: ros2_control is a hardware-agnostic control framework focusing on the modular composition of control systems for robots, sharing of controllers as well as real-time performance. The framework provides “kernel” functionality for robots by abstracting the hardware and doing heavy low-level management, for example, hardware lifecycle, communication and access control. @@ -62,7 +62,7 @@ Summary: 2022-10 ROSCon 2022 ,,,,,,,,,,,,,,,,,,, -`Presentation: A practitioner's guide to ros2_control `_ +:download:`Presentation: A practitioner's guide to ros2_control ` Summary: ros2_control is a hardware-agnostic control framework focusing on the modular composition of control systems for robots, sharing of controllers as well as real-time performance. The framework provides controller-lifecycle and hardware management on top of abstractions of real or virtual hardware interfaces. @@ -80,7 +80,7 @@ Summary: 2022-06 ROSCon Fr 2022 ,,,,,,,,,,,,,,,,,,,,,,, -`Presentation: What is new in the best (and only) control framework for ROS2 - ros2_control `_ +:download:`Presentation: What is new in the best (and only) control framework for ROS2 - ros2_control ` Summary: ros2_control is a hardware-agnostic control framework with a focus on both real-time performance and sharing of controllers. The framework has become one of the main utilities for abstracting hardware and low-level control for 3rd party solutions like `MoveIt2` and `Nav2` systems. @@ -97,7 +97,7 @@ Summary: 2021-10 ROS World 2021 ,,,,,,,,,,,,,,,,,,,,,,,, -`Presentation: ros2_control - The future of ros_control `_ +:download:`Presentation: ros2_control - The future of ros_control ` Summary: ros2_control is a robot-agnostic control framework with a focus on both real-time performance and sharing of controllers. The framework offers controller lifecycle and hardware resource management, as well as abstractions on hardware interfaces. @@ -113,7 +113,7 @@ Summary: - Denis Stogl (Stogl Robotics Consulting) -`Presentation: Making a robot ROS 2 powered - a case study using the UR manipulators `_ +:download:`Presentation: Making a robot ROS 2 powered - a case study using the UR manipulators ` Summary: With the release of ros2_control and MoveIt 2, ROS 2 Foxy finally has all the “ingredients” needed to power a robot with similar features as in ROS 1. We present the driver for Universal Robot’s manipulators as a real-world example of how robots can be run using ROS 2. We show how to realize multi-interface support for position and velocity commands in the driver and how to support scaling controllers while respecting factors set on the teach pendant. Finally, we show how this real-world example influences development of ros2_control to support non-joint related inputs and outputs in its real-time control loop. @@ -129,8 +129,7 @@ Summary: - Dr. Andy Zelenak (PickNik Inc.) - Rune Søe-Knudsen (Universal Robots) - -`Presentation: Online Trajectory Generation and Admittance Control in ROS2 `_ +:download:`Presentation: Online Trajectory Generation and Admittance Control in ROS2 ` Summary: One of the top reasons to upgrade from ROS1 to ROS2 is better suitability for realtime tasks. We discuss the development of a new ROS2 controller to handle realtime contact tasks such as tool insertion with industrial robots. The admittance controller handles trajectories and single-waypoint streaming commands, making it compatible with MoveIt and many teleoperation frameworks. Part of the work involved ensuring kinematic limits (position/velocity/acceleration/jerk) are obeyed while limiting interaction forces with the environment. Finally, we give practical recommendations and examples of the admittance controller. A live demo will be shown at our booth. @@ -146,7 +145,7 @@ Summary: 2021-10-07 Weekly Robotics Meetup #13 ,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,, -`Meetup presentation: Getting started with ros2_control `_ +:download:`Meetup presentation: Getting started with ros2_control ` Summary: ros2_control is a robot-agnostic control framework with a focus on both real-time performance and sharing of controllers. The framework offers controller lifecycle and hardware-resource management, as well as abstractions on hardware interfaces. @@ -178,7 +177,7 @@ Summary: 2021-05 ROSCon Fr 2021 ,,,,,,,,,,,,,,,,,,,,,,, -`Presentation: Getting started with ros2_control `_ +:download:`Presentation: Getting started with ros2_control ` Summary: The presentation gives a quick overview on the basic concepts and some simple implementation examples. We show implementing a simple Hardware Abstraction Layer (aka SystemComponent) and a forwarding controller. Once done, we also look into modifying the controller with the example goal of changing the type of the command topic. diff --git a/doc/resources/roscon2023_workshop.rst b/doc/resources/roscon2023_workshop.rst index e219bfeaeee..12da7479342 100644 --- a/doc/resources/roscon2023_workshop.rst +++ b/doc/resources/roscon2023_workshop.rst @@ -23,7 +23,7 @@ You will get a practical overview of concepts like controller chaining, hardware Slides ------ -`Presentation: ros2_control - ros2_control on Steroids `_ +:download:`Presentation: ros2_control - ros2_control on Steroids ` Before coming to the conference -------------------------------