ROS2 Jazzy Tutorial: ros2_control in Gazebo - Control Simulation from Scratch in Gazebo!

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Manual, Python, and ROS2 files are here: https://ko-fi.com/s/3154654ba7
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In this ROS2 Jazzy tutorial, we explain the basics of the ros2_control framework (library) and we explain how to simulate robots and controllers in the Gazebo simulation environment. The ros2_control library contains a number of packages for real-time control of robotic systems. The ros2_control library enables us to simplify the integration of new hardware (sensors and actuators) and the deployment of control algorithms. This library implements a number of standard controllers, such as PID (for set point tracking), position, velocity, trajectory, differential drive, and similar control algorithms. On the other hand, the Gazebo simulation environment is one of the most popular simulation environments.

In this tutorial, we explain

1) How to implement a minimal example and a ROS2 package that demonstrates how to use the main functionality of the ros2_control library from scratch.
2) How to properly write URDF, yaml, and other files that define the ros2_control parameters.
3) How to define and implement the Gazebo plugin and interface for the ros2_control framework.
4) How to simulate the motion of a robot controlled by using the ros2_control framework. For simulation, we use RViz and Gazebo.

In order not to blur the main ideas with too many details, in this tutorial, we are using the simplest possible example of a robot and a simple ros2_control implementation. The main idea is to teach students how to properly build the package and all the configuration files. Everything explained in this tutorial can easily be generalized to more complex examples and more complex ros2_control controllers.