ROS2 Control Framework Course - Python

Understand ROS2 Control to add feedback control to your robot

Course Summary

Understand ROS2 Control to add feedback control to your robot

What you will learn

How to configure a ros2_control pipeline
How to write a minimal custom interface for a hardware device
Real-life implementation of a custom hardware interface
Different controller types included with ros2_control
Application of the course content to solve a robotics project based on a quadruped robot

Course Overview

Course Introduction

First practical exercises and courses learning goals.

ROS2_control basics

Guided steps on configuring a ros2_control pipeline.

The controller manager

Hardware Interface Implementation Template

Write a minimal custom interface for a hardware device.

Hardware Interface Implementation for Dynamixel Servos

A real-life implementation of a custom hardware interface.

The ros2_controllers repository

Explore the different controller types included by ros2_control

Create a custom controller

Course Project

Apply the course content to solve the course project

Teachers

Roberto Zegers

PMP, B.Sc in Business Management. He loves all things robotics and is constantly exploring technology advancements evolving and shaping up the future of business.