This repository provides templates for the development of `ros2_control`-enabled robots and a simple simulation of a robot to demonstrate and prove `ros2_control` concepts.
.. contents:: Table of Contents
:depth: 2
## Goals
The repository has two goals:
1. It provides templates for faster start of implementing own hardware and controllers;
2. The repository is a validation environment for `ros2_control` concepts, which can only be tested during run-time (e.g., execution of controllers by the controller manager, communication between robot hardware and controllers).
2. The repository is a validation environment for `ros2_control` concepts, which can only be tested during run-time (e.g., execution of controllers by the controller manager, communication between robot hardware and controllers).
# ROS2 Control Demos
This repository provides templates for the development of `ros2_control`-enabled robots and a simple simulation of a robot to demonstrate and prove `ros2_control` concepts.
## Description
The repository is inspired by [ros_control_boilerplate](https://github.com/PickNikRobotics/ros_control_boilerplate) repository from Dave Coleman.
The simulation has three parts/packages:
1. The first package, `ros2_control_demo_communication_headless`, uses scripts to simulate communication to and movements of virtual hardware.