【ros2 control 机器人驱动开发】双关节多控制器机器人学习-example 5

【ros2 control 机器人驱动开发】双关节多控制器机器人学习-example 5

前言

本篇文章在上篇文章的基础上主要讲解双轴机器人驱动怎么编写机器人完整包含所有方向的外部/内部（扭矩、压力）传感器数据反馈¹，如何在硬件接口中集成传感器。

对于Hardware Interfaces常见接口可见《ROS2 Control hardware_interface说明》。

一、创建controller相关

cd ~/ros2_control_demos

ros2 pkg create --build-type ament_cmake ros2_control_demo_example_5

# 文件结构
$ tree ros2_control_demo_example_5
ros2_control_demo_example_5
├── CMakeLists.txt
├── bringup
│   ├── config
│   │   └── rrbot_with_external_sensor_controllers.yaml
│   └── launch
│       └── rrbot_system_with_external_sensor.launch.py
├── description
│   ├── launch
│   │   └── view_robot.launch.py
│   ├── ros2_control
│   │   ├── external_rrbot_force_torque_sensor.ros2_control.xacro
│   │   └── rrbot_system_position_only.ros2_control.xacro
│   ├── rviz
│   │   └── rrbot.rviz
│   └── urdf
│       └── rrbot_system_with_external_sensor.urdf.xacro
├── hardware
│   ├── external_rrbot_force_torque_sensor.cpp
│   ├── include
│   │   └── ros2_control_demo_example_5
│   │       ├── external_rrbot_force_torque_sensor.hpp
│   │       ├── rrbot.hpp
│   │       └── visibility_control.h
│   └── rrbot.cpp
├── package.xml
└── ros2_control_demo_example_5.xml

11 directories, 15 files

# packages.xml

<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
  <name>ros2_control_demo_example_5</name>
  <version>0.0.0</version>
  <description>TODO: Package description</description>
  <maintainer email="lilinxin75@gmail.com">Bing Lee