Online Course

ROS2 Control Framework

Understand ROS2 Control to add feedback control to your robot

Course overview

Why ROS2 Control?

Using the ROS2 Control Framework, robotics developers can easily customize, scale, and extend an entire robot control system by changing its decoupled components and seamlessly switching back and forth between real robots and simulations.

What You’ll Learn

How to configure a ros2_control pipeline

How to write a minimal custom interface for a hardware device

Real-life implementation of a custom hardware interface

Different controller types included with ros2_control

Application of the course content to solve a robotics project based on a quadruped robot

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100% Online

No ROS setup is required. Everything is online.

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Intermediate Level

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Approx. 12 hours to complete

Prerequisites

Robots Used In This Course

RRBot

RRBot, or “Revolute-Revolute Manipulator Robot,” is a simple 3-linkage, 2-joint arm that we will use to demonstrate various Gazebo and URDF features. It is essentially a double inverted pendulum and demonstrates some fun control concepts within a simulator.

Solo 8

Solo is a small open-source quadruped robot with a standing height of 24 cm and a weight of just over 2 kg. Except for the electronics and actuators, all its structural parts are 3D printed.

Course project

Quadruped robot “Solo 8”

In the final project, you will implement ROS2_Control for use with a quadruped robot and decide what type of controller best fits this task.

START LEARNING

Syllabus

Unit 1: Course Introduction

Practical exercises and review of the course learning goals.

Unit 2: Implement a ros2_control pipeline in a simulation

Step by step, learn how to configure a ros2_control pipeline. You will learn:

How to start ros2_control and configure controllers for a simulated robot
How to send commands to move a robot using ros2_control
What the controller manager is and how to use it

Unit 3: Hardware interface implementation template

This unit describes how to write a minimal custom hardware interface for connecting a robot to the ros2_control framework. This unit keeps things as simple as possible, but enough to demonstrate the various steps of this process.

Unit 4: Hardware interface implementation for Dynamixel Servos

This unit describes how to write a specific robot hardware interface package specially designed for controlling Dynamixel Servos using ros2_control.

Unit 5: Out-of-the-box controllers

Explore the different controller types included with ros2_control.

Unit 5: Final project: Quadruped robot “Solo 8”

In this last unit, your will have to implement ROS2_Control for use with a quadruped robot and decide what type of controller best fits this task.

Course creator

ROBERTO ZEGERS

Robotic Software Engineer @ The Construct / Creator of ROS courses / Instructor for the ROS2 live training program

What our students think

“I love the step-by-step guide that helps you achieve your goal with the robot. The Construct’s courses are very well guided, so we don’t get lost in the wildness of the full scope of ROS.”

Román Navarro

“Thanks to The Construct, you are a legend! I’m actually being able to get robotics jobs I never dreamed of getting.”

Alejo Cain

“This is one of the best ROS websites that I’ve ever experienced! I’d definitely recommend people with or without experience to learn some solid ROS skills from The Construct.”

Wen Kai