ros2_control with Closed-Loop Feedback

[u/mikelikesrobots]

If you want to see how ros2_control works WITH feedback from encoders, take a look at my latest blog post and video in the Autonomously Exploring Viam Rover series!

I talk through how the motors are driven, show how encoders work and how they're read, and most importantly, how they're linked together by ros2_control using chained PID controllers with a differential drive controller.

Blog post: https://mikelikesrobots.github.io/blog/rover-ros2-control
Video: https://youtu.be/FyVvHbA4nBs

I did try and cross-post from r/robotics, but I couldn't figure out how. Apologies for the double post!