In this video we get an overview of how ros2_control works, and how to use it in a simulated Gazebo robot.

Followup video available at:    • Ros2_control Extra Bits  
Blog post https://articulatedrobotics.xyz/mobil...
‍ GitHub code https://github.com/joshnewans/articub... (as of the end of this video)
Join the discussion at the Articulated Robotics Community https://discourse.articulatedrobotics...
❤ Support me on Patreon! https://www.patreon.com/bePatron?u=55...


For more info check out the ros2_control docs https://control.ros.org/master/index....
And also this helpful document
https://github.com/roscontrols/roadm...



00:00 Why we need ros2_control
02:28 Hardware side
05:19 Controller side
07:09 Controller Manager
08:10 Adding ros2_control to our Gazebo sim
12:28 Setting up controllers
17:33 Running sim & starting controllers
21:06 Add spawners to launch file
22:30 Additional comments & outro