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README.md

URC Control

This is the central bring-up package for the whole ros2_control system used in URC. The related packages are:

  • urc_hw: contains hardware resource managers, hardware interfaces, and utilities.
  • urc_hw_description: provides .urdf and .xacro files that describes the hardware on the rover.
  • urc_controllers: contains all the controllers for communicating with the hardware interfaces.
  • urc_control: contains a node to start the control manager, initialize all the hardware interfaces, and finally start the publishers & subscribers for receiving and sending control signals.

Usage

Make sure you have installed the relevant packages:

sudo apt install ros-humble-ros2-control ros-humble-ros2-controllers ros-humble-controller-manager

Simply type in command line:

ros2 launch urc_control allbringup.launch.py

Everything will go live. The script will start controll manager, and then the controll manager wil load the controllers via spanwers. If you want to change the controllers being launched, just change the allbringup.launch.py under launch directory.