Project Idea: Tutorials and Demos for ros2_control

[christophfroehlich]

This project is about extending our tutorials and examples on how to use the ros2_control framework.
Also, existing demos should be integrated with our documentation at control.ros.org.

In general, the following tasks are envisioned:

• Examples on simulators' integration (Gazebo and Ignition) and their use;
• Showcase multi-robot and multi-controller manager use-case with examples and by using simulators
• Showcase: How to do Error Management with ros2_control (graceful error handling and degradation)
• Implementing different example robot-hardware architectures for industrial and service robotics
• Implementing use-cases from roadmap repository

Related design drafts:

• Robot-Hardware Architectures
• GPIO Interfaces
• Showcase mode-switching and conflict check
• Movement-/Safety-critical Interfaces

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| Skills required/preferred:

• Good C++ skills
• Basic understanding of ROS and/or ROS 2
• Familiarity with the Gazebo simulator

| Possible mentors: Denis Štogl
| Expected size of project: 350 hours
| Difficulty: medium