build my car(3) ros2_control

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ros2 flow

stateDiagram-v2
    Command_Velocity --> Diff_Dirve_Controller
    state ros2_control {
        Diff_Dirve_Controller --> Hardware_interface: Req. Motor Velocities Velocity Cmd Interfaces
        Controller_Manager
        Hardware_interface --> Joint_State_Broadcaster: Encoder position state
    }
    Hardware_interface --> Car
    Joint_State_Broadcaster --> /joint_states
    /joint_states --> Off_to_robot_state_publisher

install packages

install ros2 controll

要注意的是如果ubuntu20.04都是源码编译ros，需要跳过这一步，因为会失败。总之我是通过源码编译的，因为树莓派在20.04系统64位的暂时没法烧录成功。

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sudo apt install ros-foxy-ros2-control ros-foxy-ros2-controllers ros-foxy-xacro

需要从这里开始源码编译。 

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git clone https://github.com/ros/angles.git -b foxy-devel
git clone -b ros2 https://github.com/ros-drivers/ackermann_msgs.git
git clone https://github.com/ros-controls/control_toolbox.git -b foxy
git clone https://github.com/ros-controls/realtime_tools.git -b foxy-devel
git clone https://github.com/ros-controls/control_msgs.git -b foxy-devel
git clone https://github.com/ros-controls/ros2_controllers.git -b foxy
git clone https://github.com/ros-controls/ros2_control.git -b foxy
git clone https://github.com/ros/xacro.git
git checkout 2.0.7

~/.bashrc

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source ~/ros2_foxy/ros2-linux/setup.bash
source /opt/ros/foxy/setup.bash

install joystick test

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sudo apt install ros-foxy-joy joystick jstest-gtk evtest
evtest
jstest-gtk

install libserial

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sudo apt install libserial-dev

joystick flow

stateDiagram-v2
    [*] --> Linux_Joystick_Driver
    Linux_Joystick_Driver --> Joy_Node
    Joy_Node --> /Joy
    /Joy --> /Other_Nodes
    /Other_Nodes --> /whatever
    /Joy --> e.g.teleop_twist_joy
    e.g.teleop_twist_joy --> /cmd_vel

ros2 joy

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ros2 run joy joy_enumerate_devices
ros2 run joy joy_node
ros2 topic echo /joy

dev_ws

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mkdir ~/code/dev_ws
mkdir src && cd src
git clone https://github.com/joshnewans/joy_tester
git clone https://github.com/joshnewans/diffdrive_arduino
git clone https://github.com/joshnewans/articubot_one
git checkout 174b3f31
git clone https://github.com/joshnewans/serial
git clone https://github.com/joshnewans/teleop_twist_joy
colcon build --symlink-install
source install/setup.bash
ros2 run joy_tester test_joy

config/my_controllers.yaml

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wheel_separation: 0.177
    wheel_radius: 0.042

description/ros2_control.xacro

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<param name="enc_counts_per_rev">1321</param>