- gazebo ros2 control ex
ros2 launch gz_rrbot_ros2 empty_world.launch.py
ros2 topic pub /forward_position_controller/commands std_msgs/msg/Float64MultiArray "data:
- 1.57
- -1.57" -1
- ros2 control basic
ros2 control set_controller_state forward_position_controller stop
ros2 control unload_controller forward_position_controller
ros2 control load_controller joint_state_broadcaster
ros2 control load_controller forward_position_controller
ros2 control set_controller_state joint_state_broadcaster configure
ros2 control set_controller_state forward_position_controller configure
ros2 control set_controller_state joint_state_broadcaster start
ros2 control set_controller_state forward_position_controller start
ros2 control list_controllers
- custom hw interface
cbp my_robot_hardware_interface && source install/local_setup.bash
ros2 launch my_robot_hardware_interface bring_up_on_hardware.launch.py
ros2 topic pub /forward_position_controller/commands std_msgs/msg/Float64MultiArray "data:
- 1.57
- 1.57" -1