Course

ROS Control 101 Python

Finally understand ROS_Control and how to use it on your robot

Course Overview

Description

ROS Control is a set of packages and tools that allow you, basically, to send commands and communicate with the joints of your robot in order to be able to control them. For instance, you need ROS Control to move the wheels of a mobile robot, or to move the different joints of a robotic arm in an industrial plant. If you don’t master ROS Control, you won’t be able to make your robots take actions.

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

Learning Objectives

  • Learn the essential concepts of ROS_Control
  • Configure ROS_Control on a Robot Simulation
  • Create a custom controller

Simulation robots used in this course

Pi Robot, PRBot, UR5 Robot Arm

ROS for Industrial Robot Course

Level

Intermediate

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Duration

6h 15m

Prerequisites

What projects will you be doing?

[ROS Q&A] 168 - What are the differences between global and local costmap

Configure the controllers

Set up your robot’s URDF files for using ros_control

ROS Mini Challenge #2 - RViz

Create a controller

Create a custom ROS controller that sends commands to your joints

ROS Control Challenge

Apply all the knowledge you’ve gained during this course to a UR5 robot arm project

What you will learn

Course Syllabus

Unit 1: Introduction to the Course
  • Why ROS_Control is essential for your robot
  • Practice First: test ros_control on a Pi-Robot

20 min.

Unit 2: ROS_Controls Essentials
  • Different types of controllers
  • How to connect ros_control to your robot using
    Hardware Interfaces

1 hr. 20 min.

Unit 3: Configuring the Controllers
  • How to set up your robot’s URDF files for using ros_control
  • How to launch ros_control on your robot
  • Using ros_control in a graphical way (rqt_gui)

1 hr. 30 min.

Unit 4: Create a controller

Learn how to create a custom controller for your robot from scratch.

1 hr.

Unt 5: QUIZ: Add ros_control to a UR5 manipulator robot.
  • Examine the simulation
  • Build the control package
  • Test your package
  • Create a controller

2 hrs.

Unit 6: Final Recommendations

Keep Learning

5 min.

Ready to get started?

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