Demo

这个 GitHub 仓库提供了支持 ros2_control 功能的机器人和简单模拟的模板，用于展示和验证 ros2_control 概念。

如果你想了解如何使用 ros2_control 的详细步骤，可以查看 ros-control/roscon2022_workshop 仓库。

本仓库包含以下内容

本仓库展示了以下 ros2_control 概念：

为系统、传感器和执行器创建 HardwareInterface。
以 URDF 文件形式创建机器人描述。
加载配置并使用启动文件启动机器人。
差分移动底盘 DiffBot 的控制。
RRBot 的两个关节控制。
六自由度机器人的控制。
为机器人实现控制器切换策略。
在 ros2_control 中使用关节限位和传动概念。

安装

执行rosdep install --from-paths src --ignore-src -r -y安装报错的时候，更新下 humble 相关的包
使用源码编译，ros2_control_demos 使用 humble 分支

报错信息

Fetched 5,475 B in 4s (1,533 B/s)
Reading package lists... Done
W: http://dl.winehq.org/wine-builds/ubuntu/dists/jammy/InRelease: Key is stored in legacy trusted.gpg keyring (/etc/apt/trusted.gpg), see the DEPRECATION section in apt-key(8) for details.
W: http://packages.osrfoundation.org/gazebo/ubuntu-stable/dists/jammy/InRelease: Key is stored in legacy trusted.gpg keyring (/etc/apt/trusted.gpg), see the DEPRECATION section in apt-key(8) for details.
W: An error occurred during the signature verification. The repository is not updated and the previous index files will be used. GPG error: https://typora.io/linux ./ InRelease: The following signatures couldn't be verified because the public key is not available: NO_PUBKEY BA300B7755AFCFAE
W: An error occurred during the signature verification. The repository is not updated and the previous index files will be used. GPG error: http://packages.ros.org/ros2/ubuntu jammy InRelease: The following signatures were invalid: EXPKEYSIG F42ED6FBAB17C654 Open Robotics <info@osrfoundation.org>
W: Failed to fetch https://typora.io/linux/./InRelease  The following signatures couldn't be verified because the public key is not available: NO_PUBKEY BA300B7755AFCFAE
W: Failed to fetch http://packages.ros.org/ros2/ubuntu/dists/jammy/InRelease  The following signatures were invalid: EXPKEYSIG F42ED6FBAB17C654 Open Robotics <info@osrfoundation.org>
W: Some index files failed to download. They have been ignored, or old ones used instead.
W: Target Packages (Packages) is configured multiple times in /etc/apt/sources.list.d/archive_uri-https_typora_io_linux-jammy.list:1 and /etc/apt/sources.list.d/typora.list:1
W: Target Translations (en_US) is configured multiple times in /etc/apt/sources.list.d/archive_uri-https_typora_io_linux-jammy.list:1 and /etc/apt/sources.list.d/typora.list:1
W: Target Translations (en) is configured multiple times in /etc/apt/sources.list.d/archive_uri-https_typora_io_linux-jammy.list:1 and /etc/apt/sources.list.d/typora.list:1
W: Target Translations (zh_CN) is configured multiple times in /etc/apt/sources.list.d/archive_uri-https_typora_io_linux-jammy.list:1 and /etc/apt/sources.list.d/typora.list:1

更新

sudo apt update && sudo apt install curl -y
export ROS_APT_SOURCE_VERSION=$(curl -s https://api.github.com/repos/ros-infrastructure/ros-apt-source/releases/latest | grep -F "tag_name" | awk -F\" '{print $4}')
curl -L -o /tmp/ros2-apt-source.deb "https://github.com/ros-infrastructure/ros-apt-source/releases/download/${ROS_APT_SOURCE_VERSION}/ros2-apt-source_${ROS_APT_SOURCE_VERSION}.$(. /etc/os-release && echo $VERSION_CODENAME)_all.deb" # If using Ubuntu derivates use $UBUNTU_CODENAME
sudo dpkg -i /tmp/ros2-apt-source.deb

sudo apt update
sudo apt upgrade

目标

该仓库有两个其他目标：

实现了 ros-controls/roadmap 仓库文件 components_architecture_and_urdf_examples 中描述的示例配置。
该仓库是 ros2_control 概念的验证环境，这些概念只能在运行时进行测试（例如，控制器管理器执行控制器、机器人硬件与控制器之间的通信）。