Solving the problem EVERY robot has (with ros2_control)

In this video we get an overview of how ros2_control works, and how to use it in a simulated Gazebo robot.

And also this helpful document

00:00 - Why we need ros2_control
02:28 - Hardware side
05:19 - Controller side
07:09 - Controller Manager
08:10 - Adding ros2_control to our Gazebo sim
12:28 - Setting up controllers
17:33 - Running sim & starting controllers
21:06 - Add spawners to launch file
22:30 - Additional comments & outro

[immanueljzv]

My friend you have best practical ROS2 videos on the internet no exaggeration. I have been wanting to learn ros2 pratically for the last year and this is just awesome. Really form the bottom of Heart thank you for this series.

[andreassakel]

i have been learning ROS, 1 year now and you have the best tutorials i found on the whole internet. Very detailed easy to follow and practical!!!KEEP MAKING THOSE VIDEOS!

[adamshaw]

This video really clearly explains the problems that motivate ROS which is context that I found sorely missing in other ROS videos or blogs that feel like they assume you're already onboard. Thank you I've been looking for this for days and YouTube finally gave it to me randomly.

[jonathanr]

Thanks Josh. Just to let you know, the "ros2 run controller_manager spawner.py ..." gave me an error (now executable found). I had to use "ros2 run controller_manager spawner ..." without the .py extension, and it worked.

Edit: just realised this is mentioned in the ready to humble video. Watch that first.

[theremin]

I watched the beginning of your video three to four times, looked into the documentary and tried the examples myself. Now after I spent multiple hours on this topic I am starting to understand this. Thank you for your help!

[mitcaro]

I wanted to add this side note here, since it was my own question as well.
In the ros2_control.xacro file:
# diff_cont is the name assigned to a controller instance (chosen by us)
# diff_drive_controller is the package that contains the controller plugin
# DiffDriveController is the specific controller class within that package

[robofoundry]

This is amazing content on ros2_control. When I started learning ros2 and ros2_control there was not much documentation on it and what you described here took me months to figure it out myself. This is a must watch for anyone trying to understand ros2_control. Thank you.

[kamathsblog]

What an excellent explanation! I went to a full day ros2_control workshop at ROSCon, and learned more from this half hour video. Looking forward to the next one!

[underwaterdol]

I have tried other tutorials on ros2 without any success but this here is amazing. Hope you do more videos and maybe for manipulation in the future also. Keep the amazing work!

[der_kaputte]

Hey Josh,
your videos are the best way to get into ros2 and of course to understand the complexity of ros2_control. Your work will be the base for my new build-up robot. But I've to implement a new motor driver code. Hopefully I'll get it running this weekend.
I'm looking forward for new great tutorials. Keep going!
Best regards Thomas from Northern Germany

[anujpatel]

tysm, Everybody makes a video on gazebo, topics, nodes, etc but nobody actually covers hardware_interface. It is really important for a real robot

[tonynajjar]

I learned ros2_control a few months back with only their documentation and I wish I had this video; the documentation is not the best. If you haven't yet, I strongly recommend submitting a PR to include this video in the documentation of ros2_control. Great job!

[ChXXL]

Thats so clear and saved me after a long time of trying to get my controllers to work

[carldraper]

Another wonderful video, I have been looking forqrd to this one!

[AliAlSaibie]

Following your tutorials as a refresher for ROS dev. Really good work on explaining ros2_control in the context. Well done, practical, and to the point, keep at it, please.

I think there is a future in abstracting hardware interface with ros2_control but it still needs tidying and a way to expand functionalities beyond simple state and cmd, to include parameter configurations, tuning, calibration actions, etc (in a universal rviz plugin gui? would be superb - imagine handling odrive, teknic or other integrated drives that way)

[Luczias]

Definitely a great introduction to ROS2_control ! Thanks !

[BAMrobotics]

Wow this is actually an incredible video!! So well explained

[obensustam]

Very good video, thanks. I also really like the visual materials in your videos.

[cangozpinar]

Thank you very much. Nothing compared to your instructions in these video series when I was trying to build a custom robot simulation. Please keep publishing ROS2 content.

[atticusrussell]

Thank you so much for this incredible series