Robotic-Neck/robotic_neck_control

ROS2 package to apply PID position control over the linear actuators for pitch and roll manipulation.

PythonMIT

robotic_neck_control

ROS2 package to apply PID position control over the linear actuators for pitch and roll manipulation.

Ros2 Robotic Neck Control Graph

At the moment, this version works sending linear travel to each linear actuator.

Dependencies

Framework: ROS2 Humble (desktop)
launch_utils

Install and Compile

Note: Install launch_utils in your workspace before follow this step

cd <path to your workspace src>/
git clone https://github.com/Robotic-Neck/robotic_neck_control.git
cd ..
colcon build --packages-select pid_library
source ~/.bashrc
colcon build --packages-select motors_velocity_controller
source ~/.bashrc
colcon build

Install ROS packages dependencies with rosdep

cd <path to your workspace src>/
rosdep install -i --from-path src --rosdistro humble -y

Demo

Run the controller:

ros2 launch platform_controller platform_controller.launch.py

You should see the visualization in RVIZ2 and the rqt_reconfigure interface. Here you can change the pitch and roll values.

The visualization should look like:

Documentation