ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange
Ask Your Question

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?

edit retag flag offensive close merge delete


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

Do you have it already running on your robot?

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

2 Answers

Sort by ยป oldest newest most voted

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?

edit flag offensive delete link more



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

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

lukicdarkoo gravatar image

We are using diff_drive_controller with a physical (and simulated) robot here:


ros2_control hardware interface implementation:

Launch file:

edit flag offensive delete link more

Question Tools



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

Seen: 1,634 times

Last updated: Feb 16 '22