Building a ros2_control System | ROS2 Control with the JetBot Part 2

This is the second part of the ROS2 Control with the JetBot series, where we use the Motor and I2CDevice classes from the previous video to build a ros2_control System. We then describe the robot and set controller configuration to launch ros2_control to move the JetBot around, and take a brief look at changing configuration for maximum acceleration and velocity.

See the blog version of the post at https://mikelikesrobots.github.io/blo...

#robotics #jetbot #ros2 #ros2_control

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Chapter times:
00:00 Introduction
00:42 ros_control and ros2_control Concepts
02:40 ros2_control Demos
03:27 JetBot ros2_control Repository Setup
04:51 Understanding the Plugin Library Source Code
10:06 Describing the JetBot (URDF)
13:04 Defining the Controller Manager and Controller
15:31 Launching ros2_control
16:55 Testing the Controller
19:22 Live Robot Demo
19:48 Summary and Next Steps

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Video links:
JetBot Gamepad Control with ROS2!:    • How to Build Gamepad Control in ROS2 ...  How to Build Gamepad Control in ROS2 for the JetBot!:    • How to Build Gamepad Control in ROS2 ...  
Using I2C to control PWM | ROS Control with the JetBot Part 1:    • Using I2C to control PWM | ROS Contro...  

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Links:
ros_control docs: http://wiki.ros.org/ros_control
ros2_control docs: https://control.ros.org/master/index....
WaveShare JetBot AI Kit: https://www.nvidia.com/en-us/autonomo...
Turtlebot 3 Burger: https://www.robotis.us/turtlebot-3-bu...
ros2_controllers docs: https://control.ros.org/master/doc/ro...
ros2_control_demos docs: https://control.ros.org/master/doc/ro...
Example 2 repository location: https://github.com/ros-controls/ros2_...
Source Code for this video: https://github.com/mikelikesrobots/je...
Lifecycle methods docs: https://github.com/ros2/demos/blob/hu...

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