ROS Programming: Building Powerful Robots

Moving robot joints using ROS controllers in Gazebo

In this section, we are going to discuss how to move each joint of the robot in Gazebo.

To move each joint, we need to assign a ROS controller. In each joint, we need to attach a controller that is compatible with the hardware interface mentioned inside the transmission tags.

A ROS controller mainly consists of a feedback mechanism, most probably a PID loop, which can receive a set point, and control the output using the feedback from the actuators.

The ROS controller will not directly communicate with the hardware, instead of that, the robot hardware interface can talk with hardware. The main function of the hardware interface is that it will act as a mediator between ROS controllers and ...