ros2_control: Setup controller package

This use-case describes how to set up a controller for the ros2_control framework using scripts from ROS Team Workspace (RTW) framework. The scripts uses template files from templates/ros2_control/controller folder. The script creates a full skeleton of a controller with plugin description and tests for loading controller and checking its basic functionality.

Note

it is recommended to setup your package using setup-new-package script.

Warning

The script has to be executed in the root folder of the ament_cmake package where the controller files are to be generated.

Usage

Usage of script for setting up a controller.

ros2_control_setup-controller-package FILE_NAME [CLASS_NAME]

Parameters:

FILE_NAME file name used for controller’s .cpp and .hpp files. It assumes standard ROS format, e.g, “my_cool_controller”.

CLASS_NAME optional name used for controller class. If not set, it is guessed by camel-casing the file name.

The script will ask for some additional input.

The package name is obtained from the ‘package.xml’ file.

After all files are copied and placeholders set, changes are automatically staged in git.