ROS Control Course - Python

To finally understand ROS_Control and how to use it on your robot.

Course Summary

ROS_Control allows you to send commands to the actuators of a robot, in order to control it. For instance, you need ROS Control to move the wheels of a mobile robot, or to move the different joints of a robotic arm in an industrial plant. If you don't master ROS Control, you won't be able to make your robots take actions.

What you will learn

Essential concepts of ROS Control
How to configure ROS Control on a robot simulation
How to create a custom controller
How to create a hardware interface for your robot

Course Overview

Introduction to the Course

A brief introduction to the course, containing a demo.

ROS_Controls Essentials

Some Basic Concepts regarding the ros_control packages.

Configuring the Controllers

How to configure the ROS controllers to work with your simulation.

Create a Controller

How to create a very basic ROS controller.

Configuring the Controllers (Clarkson Manipulator)

An extra example of how to configure the ROS controllers to work with a 6DOF manipulator robot.

Hardware Abstraction Layer

Learn about the Hardware Abstraction Layer, which is in charge of connecting ros_control with the hardware of the robot.

QUIZ: Add ros_control to a UR5 manipulator robot

A small project to put everything you've learned together.

Teachers

Alberto Ezquerro

Making easier the way the people learn how to program robots.

Robots used

Clarkson Open Manipulator robot

IRI Wam robot

Pi robot robot

RRBot robot

Learning Path

ROS For Beginners