ros2_control学习笔记

参考内容https://www.bilibili.com/video/BV1ku411G7UR/?spm_id_from333.337.search-card.all.click1.导入urdf小车ros2_control多作用在关节上面所以必须需要一个urdf模型 简单的差速轮小车即可2.写.yaml文件1.注册插件文件?xml version1.0? robot xmlns:xacrohttp://www.ros.org/wiki/xacro xacro:macro namebbot_ros2_control !--注册插件-- ros2_control namebbot_hardware_interface typesystem hardware plugingazebo_ros2_control/GazeboSystem/plugin /hardware joint nameleft_wheel_joint command_interface namevelocity !--控制轮子速度-- param namemin-10/param param namemax10/param /command_interface state_interface nameposition/ !--控制轮子位置-- state_interface namevelocity/ !--控制轮子速度-- /joint joint nameright_wheel_joint command_interface namevelocity !--控制轮子速度-- param namemin-10/param param namemax10/param /command_interface state_interface nameposition/ !--控制轮子位置-- state_interface namevelocity/ !--控制轮子速度-- /joint /ros2_control gazebo plugin filenamelibgazebo_ros2_control.so name gazebo_ros2_control parameters$(find bbot_bringup)/config/bbot_controllers.yaml/parameters /plugin /gazebo /xacro:macro /robot2.写插件所需要的参数 参考官方文档controller_manager: ros__parameters: update_rate: 30 using_sim_time: true diff_drive: type: diff_drive_controller/DiffDriveController joint_state: type: joint_state_broadcaster/JointStateBroadcaster diff_drive: ros__parameters: upadate_rate: 30.0 base_frame_id: base_link left_wheel_names: [left_wheel_joint] right_wheel_names: [right_wheel_joint] wheel_separation: 0.35 wheel_radius: 0.05 use_stamped_vel: false3.写launch文件