【ros2 control 机器人驱动开发】双关节多控制器机器人学习-example 3

【ros2 control 机器人驱动开发】双关节多控制器机器人学习-example 3

前言

本篇文章在上篇文章的基础上主要讲解多个控制器interface的双轴机器人驱动怎么编写配置¹，同时方便大家理解下边几种controller:

• position_controllers: hardware_interface::HW_IF_POSITION
• velocity_controller: hardware_interface::HW_IF_VELOCITY
• acceleration_controllers: hardware_interface::HW_IF_ACCELERATION
• effort_controllers: hardware_interface::HW_IF_EFFORT

分别是位置、速度、加速度、扭矩控制。

一、创建controller相关

cd ~/ros2_control_demos

ros2 pkg create --build-type ament_cmake ros2_control_demo_example_3

# 文件结构
$ tree ros2_control_demo_example_3
ros2_control_demo_example_3
├── CMakeLists.txt
├── bringup
│   ├── config
│   │   └── rrbot_multi_interface_forward_controllers.yaml
│   └── launch
│       └── rrbot_system_multi_interface.launch.py
├── description
│   ├── launch
│   │   └── view_robot.launch.py
│   ├── ros2_control
│   │   └── rrbot_system_multi_interface.ros2_control.xacro
│   └── urdf
│       └── rrbot_system_multi_interface.urdf.xacro
├── hardware
│   ├── include
│   │   └── ros2_control_demo_example_3
│   │       ├── rrbot_system_multi_interface.hpp
│   │       └── visibility_control.h
│   └── rrbot_system_multi_interface.cpp
├── package.xml
└── ros2_control_demo_example_3.xml

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# packages.xml



<package format="3">
  <name>ros2_control_demo_example_3name>
  <version>0.0.0version>
  <description>TODO: Package descriptiondescription>
  
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