Actuator

Simulation using Gazebo Fortress

To launch the simulation in Gazebo, launch the simu_actuator.launch.py file from the ros2_control_actuator package.

ros2 launch ros2_control_actuator simu_actuator.launch.py

This script launches RViz, Gazebo, the robot controller, and all necessary files to send commands to the controller.

Tip

If you don’t want to launch RVIZ, add gui:=false when launching the simulation

To control the actuator, you can use the RB and LB triggers of an xbox one controller.

Use an actuator with VESC

./setcan0_500k_host.sh

This script configures the can0 interface with a bitrate of 500 kbps and sets the queue length to 100 packets.

Before lauching anything, go change the vesc_joints_can_ids parameter with the VESC can ids of your actuator. This parameter is in the config file actuator_vesc_hw.yaml of the ros2_control_explorer package.

In the container, launch the real_actuator.launch.py file from the ros2_control_actuator package to start the robot controller and RVIZ.

ros2 launch ros2_control_actuator real_actuator.launch.py use_bridge:=true

Tip

If you don’t want to launch RVIZ, add gui:=false when launching the simulation

To control the actuator, you can use the RB and LB triggers of an xbox one controller.