ros2_control on real robots
In this chapter, we explored how to use standard controllers on simulated robots and how to design new ones. However, many modern robots rely on the ros2_control
framework. This framework enables the native integration of controllers to operate actuators and control the robot base. A notable example is the Take It And Go (TIAGo) platform developed by the Spanish robotics company PAL Robotics. TIAGo is a mobile manipulator robot that combines a mobile base with one or two arms and a pan-and-tilt head. It is widely used in industrial and research tasks.
TIAGo leverages the ros2_control
framework to manage its hardware interfaces for mobility, manipulation, and sensors. The specific controllers used depend on the robot’s configuration (e.g., base, arm, or sensors) and its intended use. The following are the common types of controllers typically employed by TIAGo:
- Base controllers (
diff_drive_controller
): Manages the differential drive...