tita_hardware

语言：English / 中文

Description

Tita hardware ros2 control.

Prerequisites

• Operating System: Ubuntu 22.04
• ROS 2: Humble

Dependencies

sudo apt install ros-humble-ros2-control
sudo apt install ros-humble-ros2-controllers

Build Package

ssh [email protected]
mkdir tita_ws/src && cd tita_ws/src
git clone https://github.com/DDTRobot/TITA_Description.git
git clone https://github.com/DDTRobot/tita_hardware_ros2_control.git
colcon build --packages-up-to hw_bringup 
source install/setup.bash
ros2 launch hw_bringup hw_bringup.launch.py

In the launch file, the default controller to start is effort_controllers/JointGroupEffortController. Create a new terminal and enter the following command to confirm if the controller is working properly.

ros2 topic pub -1 /tita_hw/effort_controller/commands std_msgs/msg/Float64MultiArray "{data: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.5]}"

If you want to write your own controller, you can modify it according to template_ros2_controller.