Using ros2_control to drive our robot (off the edge of the bench...)

In this video we continue working with ros2_control, and use it to drive a real robot.

📃 Blog post https://articulatedrobotics.xyz/mobil...
👨‍💻️ GitHub code https://github.com/joshnewans/articub... (as of the end of this video)
💬 Join the discussion at the Articulated Robotics Community https://discourse.articulatedrobotics...
❤️ Support me on Patreon! https://www.patreon.com/bePatron?u=55...

My hardware interface (diffdrive_arduino, currently only for foxy) https://github.com/joshnewans/diffdri...
Dynamixel hardware interface (not mine, foxy link but newer distros available)
https://github.com/youtalk/dynamixel_...


For more info check out the ros2_control docs https://control.ros.org/master/index....
And also this helpful document
https://github.com/ros-controls/roadm...

00:00 - Intro and recap
02:32 - Getting a hardware interface
05:38 - Configuring our hardware interface
08:36 - Setting up the launch file
16:13 - Testing it
20:15 - Fixing odometry issues
23:31 - Unbreaking Gazebo
30:38 - Outro