Actuator

Simulation using Gazebo Fortress

To launch the simulation in Gazebo, launch the simu_actuator.launch.py file from the ros2_control_actuator package.

ros2 launch ros2_control_actuator simu_actuator.launch.py

This script launches RViz, Gazebo, the robot controller, and all necessary files to send commands to the controller.

Tip

If you don’t want to launch RVIZ, add gui:=false when launching the simulation

To control the actuator, you can use the GUI

, or the RB and LB triggers of an xbox one controller.

Use an actuator with VESC

sudo ./setcan0_1M.sh

This script configures the can0 interface with a bitrate of 1 Mbps and sets the queue length to 100 packets.

Before lauching anything, go change the vesc_joints_can_ids parameter with the VESC can ids of your actuator. This parameter is in the config file actuator_vesc_hw.yaml of the ros2_control_explorer package.

Position control

In the container, launch the real_actuator.launch.py file from the ros2_control_actuator package to start the robot controller and RVIZ.

ros2 launch ros2_control_actuator real_actuator.launch.py can_port:='can0'

Tip

If you don’t want to launch RVIZ, add gui:=false when launching the simulation

To control the actuator, you can use the GUI

, or the RB and LB triggers of an xbox one controller.

Velocity control

In the container, launch the real_actuator.launch.py file from the ros2_control_actuator package to start the robot controller and RVIZ.

ros2 launch ros2_control_actuator real_actuator_velocity.launch.py can_port:='can0'

Tip

If you don’t want to launch RVIZ, add gui:=false when launching the simulation

Torque control

In the container, launch the real_actuator.launch.py file from the ros2_control_actuator package to start the robot controller and RVIZ.

ros2 launch ros2_control_actuator real_actuator_torque.launch.py can_port:='can0'

Tip

If you don’t want to launch RVIZ, add gui:=false when launching the simulation