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Description
Description
Replace our own control code with ros2_control since that's the recommended way to do it, runs fast in c++ and enables using the same interface for simulation systems such as Gazebo. This is no small effort.
Depends on #170 or other means to get a robot_description package.
Resources
- ros 2 control documentation for a general intro to ros2_control
- Ackermann steering controller: this controller would have to be modified (and contributed back?) to support a 6-wheeled version.
- roscon '22 workshop on ros2_control: tutorial
- ros2_control boilerplate pkg: starting point