ROS2 Control

This folder will contain all the information necessary for getting ROS2 Control up and running (both on a real robot and in Gazebo). These guides will not explain the URDF aspect of implementing ROS2 Control, there is a dedicated folder to that. These guides will mention when to do something with URDF. These guides assume you are writing custom everything unless otherwise specified.

TODO:

  1. Overview
    1. Control flow
    2. Individual components how they fit together
    3. Controllers vs hardware components vs interfaces
    4. Best practices for file structure
  2. Base controllers
  3. Custom controllers
  4. Interfaces (might not need its own file)
  5. Hardware components
  6. Hardware component + serial comms to microcontroller

Table of contents