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ROS CONTROL COURSE 101

Learn how to ROSify the control of your robot

About the Course

ROS Control is a set of packages and tools that allow you to send commands and communicate with the joints of your robot in order to be able to control them.

The main goal of this Course is to teach you how to integrate this ros_control utility within a simulated environment, so you can apply the same concepts to use this tool to control the joints of your real robot.

What You Will Learn

During this Course you will address the following topics:

1. Basics Concepts of ROS Control
2. How to configure ROS Control to work with your robot simulation
3. How to configure and create a custom controller

5 hours

Robots used in this course:

- Pi Robot
- RRBot
- UR5 Simulation

Learning Path
Unit 1

Introduction to the Course

What is ROS Control
 (00:02 Hands on training)

What you will learn with this Course
 (00:02 Hands on training)

How you will learn it
 (00:02 Hands on training)

Minimum requirements for the Course
 (00:02 Hands on training)

Special Thanks
 (00:02 Hands on training)

Unit 2

Basic Concepts

The ros_control packages
(00:20 Hands on training)

Unit 3

Configuring the controllers

Configuring the URDF - Transmissions
(00:30 Hands on training)

Configuring the URDF - Plugin
(00:30 Hands on training)

Interacting with the joints in a graphical way
(00:30 Hands on training)

Unit 4

Create a controller

Creating the package
(00:05 Hands on training)

Creating the source code
(00:30 Hands on training)

Updating the package.xml file
(00:05 Hands on training)

Updating the CMakeLists.txt file
(00:05 Hands on training)

Build the controller
(00:05 Hands on training)

Write the configuration file
(00:05 Hands on training)

Create a launch file
(00:05 Hands on training)

Unit 5

Course Project

Examine the simulation
(00:30 Hands on training)

Build the control package
(00:30 Hands on training)

Test your package
(00:30 Hands on training)

Create a controller
(00:30 Hands on training)

Unit 6

Final Recommendations

Keep Learning
(00:10 Hands on training)

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