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Are there examples of robots using diff_drive_controller in ros2_control?

asked 2021-03-03 10:41:57 -0600

We are working on the development of a custom differential drive robot using ROS 2 Foxy. Until now, our development was in simulation only and we are now transferring our code to the actual physical robot. I was looking into ros2_control to describe our hardware components and I thought it would be logical to use the diff_drive_controller. So, I have been looking for examples using this approach. However, I have not found any repositories that use ros2_control with the diff_drive_controller. Is anyone aware of physical robots that uses ros2_control with the diff_drive_controller controller in ROS 2 Foxy?

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Hello Wilco, we are in the same situation and looking for a ros2_control diff_drive_controller example.

Matous Pokorny gravatar image Matous Pokorny  ( 2021-04-22 10:33:02 -0600 )edit

Hey, I also started with ros2_control stuff. I'm atm trying to get it running but I encounter a wired bug. Just posted the question here https://answers.ros.org/question/3778...

Do you have it already running on your robot?

Webadone gravatar image Webadone  ( 2021-05-06 05:58:12 -0600 )edit

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answered 2022-02-16 15:53:58 -0600

Hi all,

There is an example for a simple diff-drive robot in ros2_control_demos repository.

See here for the explanation how the example works.

Is this what you have searched for?

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That was not available at the time of writing the question, but that is indeed what we were looking for.

Wilco Bonestroo gravatar image Wilco Bonestroo  ( 2022-02-17 10:19:43 -0600 )edit
2

answered 2022-02-16 16:21:56 -0600

lukicdarkoo gravatar image

We are using diff_drive_controller with a physical (and simulated) robot here:
https://github.com/memristor/mep3/

Firmware:
https://github.com/memristor/mep3/tre...

ros2_control hardware interface implementation:
https://github.com/memristor/mep3/blo...

Launch file:
https://github.com/memristor/mep3/blo...

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Asked: 2021-03-03 10:41:57 -0600

Seen: 1,634 times

Last updated: Feb 16 '22