In this video we continue working with ros2_control and use it to control a real robot.

Blog post https://articulatedrobotics.xyz/mobile-robot-13-ros2-control-real/
‍️ GitHub code https://github.com/joshnewans/articubot_one/tree/c75cf3360e4574ff40aa6438c07739389ad3f8ed (from the end of this video)
Join the discussion on the Articulated Robotics Community https://discourse.articulatedrobotics.xyz/t/discussion-running-ros2-control-on-a-real-robot-making-a-mobile-robot-pt-13/ 107
️ Support me on Patreon! https://www.patreon.com/bePatron?u55656343

My hardware interface (diffdrive_arduino, currently only for foxy) https://github.com/joshnewans/diffdrive_arduino
Dynamixel hardware interface (not mine, foxy link but newer distributions available)
https://github.com/youtalk/dynamixel_control/tree/foxy

For more information, see the ros2_control documentation https://control.ros.org/master/index.html
And also this useful document
https://github.com/ros-controls/roadmap/blob/master/design_drafts/hardware_access.md

00:00 – Intro and summary
02:32 – Getting a hardware interface
05:38 – Configuring our hardware interface
08:36 – Setting up the boot file
16:13 – Testing
20:15 – Troubleshooting odometry
23:31 – Unbroken Gazebo
30:38 – Outro

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