Raspberry Pi and Pipgio about ros2_control

[mateusmenezes95]

Hello @Russ76, like seems that your problem may be solved by creating your own Hardware Component because controllers under the ros2_control concepts does not communicate directly with the hardware. In addition, the goal of the ros2_control is to provide a framework for developers integrate it in their own robots. The package ros_control_demos has some (many) examples of how to create hardware components. You can also take a look in the Writing a Hardware Component tutorial and this video

[Russ76]

Thanks, I have looked at these resources. Unfortunately, I'm not an expert at C++ programming, and am having trouble getting anything going. I'm confused by what variables I need to connect with, and whether they are vectors or simple variables, and whether they will be retained between functions or whether they should be static or belong to a certain class, etc. Also, Pigpio is written in C, not C++, so this creates another difficulty. I was able to get my own modules working in Python, but Ros2_control doesn't work with Python, unfortunately.

[Russ76]

We would like to hire a Ros2_control expert to write this module for us. Does anyone want another job?