ROS2 TUTORIAL. HOW TO RUN ROS2 ON YOUR ROBOT. IMPLEMENTING CUSTOM HARDWARE INTERFACE

Do you want to know how to use the ros2_control framework to control your robot’s actuators and sensors?
In this video, I will show you how to create a new hardware interface for your robot. By the end of this video, you will be able to create your own hardware interface for any type of robot, and use the existing controllers in ros2_control to control it. You will get to know how to establish serial communication with robot's hardware from your custom hardware interface. You will also gain a deeper understanding of the ros2_control architecture and its benefits.

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[roboage]

If you like my content, you can support my channel. I will greatly help me to develop more interesting projects 😀
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[keepfighting]

З цікавістю спостерігаю за вашим проектом, добре, що в такий важкий час для нашої країни цей напрямок розвивається

[likefoodua]

I like your channel. I'll support you.

[dhanrajzaveri]

Hi, thanks for the tutorial! I am actually a beginner and trying to make a 6DOF robotic arm which will have ROS2+ Arduino interface, so if I copy your steps, will I be able to achieve the same results as of you? I have Humble and 22.04

[bartvanderhaagen]

Hey very nice video! thanks for sharing and taking your time to explain all this. Where can I see into your robot core? The code or sketch that drive your motors.

[andreypopov]

Thank you for the tutorial. I am wondering what is the most necessary math to understand is needeed for robotics? Thanks.

[peteradel]

can i take link form this information?

[Robert]

Is it possible to have ros2_control work together on foxy (jetson nano) and humble (workstation)?

[freddyli]

Can I package the game as an IPA / apk game then running it on my phone in order to control the robot?

[bodevedhamsh]

what is custom_hardware.launch.py is launching? @12.26 min

[kevinmurphy]

Is the source code available by any chance?

[AzharKhan-cykt]

Hi i am working on a robotic arm in ros2 .... In this project i am making a controller arm with 5 potentiometers installed at every joint (5th potentiometer is for gripper), the angles data will be transferred through micro_ros publisher node in esp32 wirelessly to ros2 in the pc, a subscriber node will receive the data have the arduino code of a robotic arm from a tutorial but don't know how to convert it to use in micro_ros also i am struggling with ros2_control how to connect my subscriber node to the 3d model in gazebo.... basically the simulation arm in gazebo has to mimic the movements of the controller arm....

[uiinlee]

How can I use rose pkg in this video 17:00?

[sanjeevhegderobotics]

Thanks for the wonderful tutorial!!
Quick question: now that you have hardware interface to send position for each joints, how is this implemented on Arduino/driver side?
Is there pid to do position control on arduino side and trajectory controller takes the responsibility of just sending different positions?
I am confused since the trajectory controller is already sending positions by taking encoder feedback, do you still need to implement pid for each joints on Arduino, because the encoder feedback(current position ) would be sent back and you can only apply forward or reverse voltage pwm. Else wouldnt there would be 2 pid loop, one at ros controller level and one at driver level ?

I am building a bipedal robot myself and currently i am able to control all joints using just esp32 and now looking into how i canwrite motion planning. I am very new to ros2