ros2_control——hardware编写测试
包含两个工作空间，分别编译即可
// 查看hardware_interfaces
ros2 control list_hardware_interfaces
// 查看controllers
ros2 control list_controllers
// 话题
ros2 topic list
参考：https://github.com/WMGIII/bbot_demo
//启动launch
ros2 launch bbot_bringup bbot_bringup.launch.py
//重定向/diff_drive/cmd_vel_unstamped话题到键盘话题/cmd_vel，使用键盘去控制车轮速度
ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args -r /cmd_vel:=/diff_drie/cmd_vel_unstamped
参考：https://github.com/ros-controls/roscon2022_workshop/tree/7-robot-hardware-interface/solution
参考：https://github.com/ros-controls/ros2_controllers/tree/humble （forward_command_controller）
2-1 demo例程
软件包自带的例程，demo未跑通，但是问题不大
// 启动一个即可，推荐第一个
// 老版本gazebo环境
ros2 launch controlko_bringup rrbot_sim_gazebo_classic.launch.py
// 新版本gazebo环境
ros2 launch controlko_bringup rrbot_sim_gazebo.launch.py
//在gazebo环境启动的基础上，启动控制launch（每4s发布一次目标位置）
// src/controlko_bringup/launch/rrbot_sim_gazebo_classic.launch.py 第62行控制器的默认值记得修改forward_position_controller/joint_trajectory_controller
ros2 launch controlko_bringup test_joint_trajectory_controller.launch.py
ros2 launch controlko_bringup test_forward_position_controller.launch.py
2-2 自己编写的hardware_interface
// my_hardware_interface功能包
ros2 launch controlko_bringup rrbot_real.launch.py
ros2 launch controlko_bringup test_forward_position_controller.launch.py
2-3 自己编写的controller
// my_position_controller功能包
ros2 launch controlko_bringup rrbot_real_new.launch.py
// 发布话题
ros2 run test_my_position_controller talker
// 接收话题
ros2 run test_my_position_controller listener
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