ros2_control is a hardware-agnostic control framework focusing on the modular composition of control systems for robots, sharing of controllers as well as real-time performance. The framework provides controller-lifecycle and hardware management on top of abstractions of real or virtual hardware interfaces. This talk will delve deeper into ros2_control, showcasing new features and what they could be used for, such as explicit lifecycle management, chaining controllers, emergency-stop handlers and mock components. Finally, we will showcase different usages of ros2_control on openly accessible examples.
Presented by: Bence Magyar (FiveAI) and Denis Štogl (Stogl Robotics)
