Differences

This shows you the differences between two versions of the page.

--- ros [2019/07/08 14:47] – [Overview] ddecoeyer
+++ ros [2020/03/06 09:25] (current) – [ROS Configuration] tvandenbussche
@@ Line 21: / Line 21: @@
 # Source ROS Config files
 source /opt/ros/<distro>/setup.bash
-source ~/catkin_ws/devel/setup.bash
+mkdir -p ~/catkin_ws/src
+cd ~/catkin_ws/
+catkin_make
+source devel/setup.bash
 # Choose editor for rosed command
@@ Line 314: / Line 318: @@
 ==== Overview ====
-According to its creator, ROS_Control allows you to lower the ROS entry barrier to the driver level. It allow you to focus only on drivers and high level application. ROS_Control is make up by two elements, **controllers** and **a robot hardware abstraction**. They are link by **hardware interface**. There is a picture.
+According to its creator, ROS_Control allows you to lower the ROS entry barrier to the driver level. It allow you to focus only on drivers and high level application. ROS_Control is made up by two elements, **controllers** and **a robot hardware abstraction**. They are linked by **hardware interface**. There is a picture.
 {{roscontrol.png}}
@@ Line 436: / Line 440: @@
 </code>
-There are several things to care in this file. First in the MYROBOT Constructor, you can notice the **"MYJOINT"**, it's there that we point out witch joint is connect to witch hardware interfaces. Furthermore, always in the MYROBOT Constructor, you have **jnt_state_interface** and **jnt_vel_interface**. The first one is there to give to controllers the states of MYJOINT. The Second one is there to get back the velocity command send by the controller. One should note that the joint name and the hardware interface type should be the same as describe in your transmission element in MYROBOT.xacro. [[https://github.com/ros-controls/ros_control/wiki|For more informations]].
+There are several things to care in this file. First in the MYROBOT Constructor, you can notice the **"MYJOINT"**, it's there that we point out witch joint is connected to witch hardware interfaces. Furthermore, always in the MYROBOT Constructor, you have **jnt_state_interface** and **jnt_vel_interface**. The first one is there to give to controllers the states of MYJOINT. The Second one is there to get back the velocity command send by the controller. One should note that the joint name and the hardware interface type should be the same as describe in your transmission element in MYROBOT.xacro. [[https://github.com/ros-controls/ros_control/wiki|For more informations]].
 ==== Choose a controller ====