ROS Control Course - Python
To finally understand ROS_Control and how to use it on your robot.
ROS_Control allows you to send commands to the actuators of a robot, in order to control it. For instance, you need ROS Control to move the wheels of a mobile robot, or to move the different joints of a robotic arm in an industrial plant. If you don't master ROS Control, you won't be able to make your robots take actions.
What you will learn
- Essential concepts of ROS Control
- How to configure ROS Control on a robot simulation
- How to create a custom controller
- How to create a hardware interface for your robot
Introduction to the Course
A brief introduction to the course, containing a demo.
Some Basic Concepts regarding the ros_control packages.
Configuring the Controllers
How to configure the ROS controllers to work with your simulation.
Create a Controller
How to create a very basic ROS controller.
Configuring the Controllers (Clarkson Manipulator)
An extra example of how to configure the ROS controllers to work with a 6DOF manipulator robot.
Hardware Abstraction Layer
Learn about the Hardware Abstraction Layer, which is in charge of connecting ros_control with the hardware of the robot.
QUIZ: Add ros_control to a UR5 manipulator robot
A small project to put everything you've learned together.
Making easier the way the people learn how to program robots.
Clarkson Open Manipulator robot
IRI Wam robot
Pi robot robot
ROS For Beginners