Table of contents
Background
Lets review ROS 2 control to understand the core concepts behind how the library manages controllers.
Please consult the official ROS 2 control documentation for further information.
Configuring Controllers
There are two files we care to configure to control which controllers we launch as part of our application:
- The launch file which launches the controller manager and controllers.
- ROS 2 controller configuration files which control the configuration of controllers (e.g. the controller update frequency).
Running Controllers via Docker (Recommended)
A built docker container is shipped as part of this repository, feel free to pull the latest version of the container with:
docker pull ghcr.io/peterdavidfagan/panda_control:rolling
Once you have pulled the built container you can run the container via the docker compose script present under .docker/control
from the root directory of the repository.
docker compose -f docker-compose-control-server.launch.py up
You can expect to see output similar to the following: