ros2_control: Setup robot’s hardware package

This use-case describes how to set up a robot’s hardware interface for the ros2_control framework using scripts from ROS Team Workspace (RosTeamWS) framework.

ros2_control_setup-hardware-interface-package script accepts the file name of the robot’s hardware interfacea and, optionally, class name. The file name should use standard ROS format <my_cool_robot_hardware>. A .cpp and .hpp files will added using this name. If the class name is not set, it is guessed by camel-casing the file name. The package name is obtained from the ‘package.xml’ file.

Note

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

Warning

The script has to be executed from the folder where the package should be generated.

The scripts copies template files from the templates/ros2_control/hardware folder, renames the files, and replaces the placeholders. The scripts adds also a plugin description and simple test checking if the plugin can be loaded.

Usage of script for setting up the robot bringup.

ros2_control_setup-hardware-interface-package FILE_NAME [CLASS_NAME]

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