ROS 2 Control Plugin Generation and Deployment

Generate C/C++ and CUDA code for ros2_control plugin, and deploy to local and remote hardware

ROS 2 control plugins provide a standardized architecture to implement control algorithms for ROS 2 applications. The ROS 2 control framework supports modular design which offers separation between hardware interfaces and controller algorithm code, which makes it suitable for complex robotic platforms. ROS 2 control plugins also leverage ROS 2 lifecycle management features which helps achieve smooth state transition from unconfigured to active, and also provides cleanup and error handling capabilities.

ROS Toolbox supports generation of ROS 2 control plugins from Simulink^®.

Note

Deployment of ROS 2 nodes requires transfer of files to the target ROS 2 device through an SSH connection. Ensure that OpenSSH is installed on the target ROS 2 device before deployment.

Functions

Functions Supporting C++ Code Generation

Blocks

Blocks Supporting C++ Code Generation

Topics

Generate and Deploy ROS 2 Control Plugin from Simulink

Generate ros2_control Plugin from Simulink
Generate and deploy ros2_control plugin for the controller designed in a Simulink model to a robot on the ROS 2 network.
Design and Generate ros2_control Trajectory Controller for UR5e Manipulator Using Simulink

Use Simulink to design, validate and generate code for a 3-D trajectory controller for UR5e robotic manipulator.
- STEP 1: Design Trajectory Controller for UR5e Manipulator Using Simulink and Unreal Engine Co-simulation
- STEP 2: Automated Generation and Deployment of ros2_control Plugin for Trajectory Controller

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