Building a ros2_control System | ROS2 Control with the JetBot Part 2

This is the second part of the ROS2 Control with the JetBot series, where we use the Motor and I2CDevice classes from the previous video to build a ros2_control System. We then describe the robot and set controller configuration to launch ros2_control to move the JetBot around, and take a brief look at changing configuration for maximum acceleration and velocity. See the blog version of the post at https://mikelikesrobots.github.io/blog/jetbot-motors-pt2 #robotics #jetbot #ros2 #ros2_control ============================================ Chapter times: 00:00 Introduction 00:42 ros_control and ros2_control Concepts 02:40 ros2_control Demos 03:27 JetBot ros2_control Repository Setup 04:51 Understanding the Plugin Library Source Code 10:06 Describing the JetBot (URDF) 13:04 Defining the Controller Manager and Controller 15:31 Launching ros2_control 16:55 Testing the Controller 19:22 Live Robot Demo 19:48 Summary and Next Steps ============================================ Video links: JetBot Gamepad Control with ROS2!: https://youtu.be/pozA2Fc9kj4How to Build Gamepad Control in ROS2 for the JetBot!: https://youtu.be/pozA2Fc9kj4 Using I2C to control PWM | ROS Control with the JetBot Part 1: https://www.youtube.com/watch?v=MdHeETllDN8 ============================================ Links: ros_control docs: http://wiki.ros.org/ros_control ros2_control docs: https://control.ros.org/master/index.html WaveShare JetBot AI Kit: https://www.nvidia.com/en-us/autonomous-machines/embedded-systems/jetbot-ai-robot-kit/ Turtlebot 3 Burger: https://www.robotis.us/turtlebot-3-burger-us/ ros2_controllers docs: https://control.ros.org/master/doc/ros2_controllers/doc/controllers_index.html ros2_control_demos docs: https://control.ros.org/master/doc/ros2_control_demos/doc/index.html Example 2 repository location: https://github.com/ros-controls/ros2_control_demos/tree/master/example_2 Source Code for this video: https://github.com/mikelikesrobots/jetbot-ros-control/tree/jetbot-motors-pt2 Lifecycle methods docs: https://github.com/ros2/demos/blob/humble/lifecycle/README.rst ============================================ Socials: Reddit: https://www.reddit.com/user/mikelikesrobots/ X: https://twitter.com/mikesrobots LinkedIn: https://www.linkedin.com/in/michael-hart-a7614262/ AWS Community: https://community.aws/@mikelikesrobots My Blog: https://mikelikesrobots.github.io