You can use ANY hardware with ros2_control

In this video we see how to create our own custom hardware interface/hardware component for ros2_control.

📃 Companion blog post coming

00:00 - Intro
01:02 - Recap of concepts
03:23 - Running the demo code
06:17 - Stepping through the demo code
18:33 - PCBWay
19:10 - Modifying the demo code
41:05 - Renaming & Improvements
46:30 - Outro

[sport]

You call yourself a hobbyist while acting more like a professor to most of us. Hope you get the recognition you deserve and continue to grow.

[evanlane]

These tutorials are making ROS accessible for a ton of people, including me. I'm a hobbyist, and I don't always have the time to do deep dives into documentation and codebases. Being able to use these tutorials to get a good foundation has been extremely helpful.

[atticusrussell]

Josh this is literally the task I have to do for my project today. I haven't watched the video yet but I was dreading the task due to the lack of documentation. Have been putting it off for a bit. You're an absolute legend and a hero. Can't even express how excited I was to see the title.

[remiscarrlet]

I wrote most of my thesis project using your videos. In a sense, i should list you as a supervisor :D Thank you so much for these videos, I know how much time it takes to make them and I want you to know these are so so very appreciated.

[DavidNewmon]

Performance here is critical, and especially on the Arduino side. Make sure you read the Serial I/O data one byte at a time, and make sure you loop through the bytes: while(Serial.available()) { char ch = Serial.read(); } ... calculate, and control the motors as quickly as possible in loop() and keep everything straightforward (no classes, data structures, etc). All simple functions and global variables. I learned the hard way and my robot was jerky, twitchy, and not good at driving around.

[pranavshevkar]

Your videos have helped me tremendously in my career as a robotics engineer. Could you please make a series on Movit2

[weeklyrobotics]

Awesome work Josh! Many thanks for sharing and going into the nitty gritty details!

[adamwatts]

This video couldn't have come at a better time! I stared building my first robot last weekend and this weekends job is building the hardware internet for my motor controller. Great tutorial

[jonathanr]

fantastic. thank you, Josh. I should also mention that example_2 was updated on the repo a couple of weeks ago to use TwistStamped messages, which means it might not work with the teleop_twist_keyboard. I tried to map the cmd_vel to cmd_vel_stamped, but it didn't work. I ended up sending messages from the cli. Maybe try to insert this line into the file (under ros parameters).
use_stamped_vel: false

[bit]

Cheers Josh! I know how im spending my Sat night.

[leonardogarberoglio]

I saw all of your videos about ros2_control and they are really good material. I think that you should make a video using microROS on your microcontroller and so you will have everithing under ROS2

[techcracker]

Great job! Thanks for all of your eye opening videos, keep it going🎉

[martijnmartijn]

This video is truly a lifesaver, thanks!

[dmranganath]

HI,
It was a great lecture, thanks for sharing with us. I was able to follow most part of it, but i was unable to understand where input and output ports to arduino are connected in the hardware interface plugin.

thanks a lot for sharing with us.

[patrykgrzywnowicz]

With your channel I started taking my first steps with ros2, thanks! I have a question, do you know what is the correct procedure for closing an application using ros2_control so that, for example, the hardware interface calls the on_deactivate function? Currently, I am making a ros2 srv call from the controller level to request a change of state in the hardware interface, but I don't like this approach. Unfortunately, after changing the state to inactive in the controller, the hardware interfaces remain in the active state..

[slimshdy]

is the process similar for ros1_control too ??
glad to see that you are getting sponsors ( meaning you will keep uploading ), you deserve it.

[simonlop]

First of all, congratulations on this great video. I have been working on something for several days now. I am trying to create a hardware interface that reads data from a topic (I am using micro-ROS and cannot find another way to do it). The only idea I had was to implement a socket to another node acting as a server. Do you have any ideas if it is possible to use topics directly in the hardware interface?

[tscosef]

Best tutorial about hardware interfaces. Was craving for this👍

[isrg]

Hi Josh, can you clarify how you are getting the connection string to the robot " <param my serial connection is failing when connecting to the arduino, also is there a way to simulate serial connection so I can see it on a terminal instead of receiving the string in an actual device. Great Tutorial by the way

[nunobartolo]

the cpp code that is processing the encoder counts is running in the py or in the arduino? didn't see you flash the arduino