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 in the root folder of the ament_cmake package where the robot’s hardware interface files are to 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.
ros2_control_setup-hardware-interface-package FILE_NAME [CLASS_NAME]
After all files are copied and placeholders set, changes are automatically staged in git.