mc_rtc_ros_control

Integration package between mc_rtc and ROS2 control. Provides a node subscribe to a robot's JointState and publishing a message suitable for a position_controllers/JointGroupPositionController controller.

ROS1 implementation can be found here.

Requirements

Build as a catkin package. This has the following required dependencies:

• rclcpp
• std_msgs
• sensor_msgs
• mc_rtc

Usage

ros2 launch mc_rtc_ros_control control.launch publish_to:=/my/command subscribe_to:=/my/state

Where:

• publish_to is the topic where the controller is subscribed to a control message (defaults to: /command)
• subscribe_to is the topic where the robot is publishing its state through a sensor_msgs/msg/JointState message (defaults to: /joint_state)