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I am trying to understand the differences in between ros2_control based driver for an industrial robotic arm and the term ROS2 native driver. Is the second one is refering to a ROS2 node directly communicating with the hardware.
Thanks for the help in advance.
If I understand your set up correctly, they are not the same thing, though they should produce the exact same result. The first option however, requires you to write a driver while the second one does not. Obviously, the path of least resistance should be the best.
This doesn't really seem related to ros2_control to be honest, beyond the fact that it's implied that you are using it.
Asked: 2021-02-23 13:30:18 -0500
Seen: 145 times
Last updated: Aug 03 '21
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it would help if you could provide some context.
Where did you read there might be a difference, and where is the comparison made between a "ROS2 native driver" and a "ros2_control based driver"?
I've been exploring the possible options of writing ROS drivers. Lets say for an industrial robotic arm hardware interface is provided by the manufacturer and using the ros2_control I want to write a ROS2 driver on the PC side and second option is a ROS2 node on the PC side communicating with the existing ROS1 driver of the industrial robot. Are they refering to the same idea right ?
this sounds like you're describing an existing driver and/or situation.