ros_control for ROS2

Project description

This project delivers a complete version of ros_control for ROS2, which is essential for having a standard control interface for robots supporting ROS2. It enables higher-level libraries like play_motion and MoveIt! to work out-of-the-shelf and offers a simple way for robot developers and manufacturers to create abstraction layers so that users can control real robot and its simulated version with the same interfaces.

PAL Robotics’ robots (TIAGo, TIAGo++, TALOS, REEM-C, and TIAGo Base Family) that use ROS control will be used as Nominal Hardware during the implementation of this project.