ign_ros2_control

ROS2 Distro	Build Status	Package build

This is a ROS 2 package for integrating the ros2_control controller architecture with the Ignition Gazebo simulator. More information about ros2_control can be found here: https://control.ros.org/

This package provides an Ignition Gazebo system plugin which instantiates a ros2_control controller manager and connects it to a Gazebo model.

Compile from source

If you want compile this from source, you should choose the Ignition version. The default one is citadel:

export IGNITION_VERSION=citadel
export IGNITION_VERSION=edifice
export IGNITION_VERSION=fortress

Then create a workspace, clone the repo and compile it:

mkdir -p ~/ros_ign/src
cd ~/ros_ign/src
git clone https://github.com/ignitionrobotics/ign_ros2_control
rosdep install -r --from-paths . --ignore-src --rosdistro $ROS_DISTRO -y
cd ~/ros2_ign
colcon build

Usage

Video + Pictures

Running

Modifying or building your own

cd Dockerfile
docker build -t ign_ros2_control .

To run the demo

Using Docker

Docker allows us to run the demo without the GUI if configured properly. The following command runs the demo without the GUI:

docker run -it --rm --name ignition_ros2_control_demo --net host ign_ros2_control ros2 launch ign_ros2_control_demos cart_example_position.launch.py gui:=false

Then on your local machine, you can run the Gazebo client:

ign gazebo -g

Using Rocker

To run the demo with the GUI, we are going to use rocker, which is a tool to run docker images with customized local support injected for things like nvidia support. Rocker also supports user id specific files for cleaner mounting file permissions. You can install this tool with the following instructions (make sure you meet all of the prerequisites).

The following command will launch Ignition:

rocker --x11 --nvidia --name ignition_ros2_control_demo ign_ros2_control:latest

The following commands allow the cart to be moved along the rail:

docker exec -it ignition_ros2_control_demo bash
source /home/ros2_ws/install/setup.bash
ros2 run ign_ros2_control_demos example_position

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