ros2_control官方文档

[小鱼]

ROS2-Control官方文档

推荐语：比ROS1更加完善的控制机制，小鱼有被惊艳到
地址：http://control.ros.org/getting_started.html

其他地址

例程：https://github.com/ros-controls/ros2_control_demos
gazeo插件：https://github.com/ros-simulation/gazebo_ros2_control

最近比较忙，等有时间把这部分文章也翻译成中文的，Mark一下先。

[437985437]

@小鱼
我在Windows下尝试使用ros2_control这个工具包，在开始时我参考ros2_control官网上的步骤：

The ros2_control framework is released for ROS 2 humble. To use it, you have to install ros-humble-ros2-control and ros-humble-ros2-controllers packages.

想请教下，Windows下如何安装这个工具包？

[437985437]

@437985437
我尝试根据ros2_control官网使用ros2_control的源码编译安装，安装步骤如下：

• 下载仓库源码
  mkdir -p ~/ros2_ws/src
cd ~/ros2_ws/
wget https://raw.githubusercontent.com/ros-controls/control.ros.org/master/ros_controls.humble.repos
vcs import src < ros_controls.humble.repos
• 安装依赖
  rosdep update --rosdistro=humble
rosdep install --from-paths src --ignore-src -r -y
• 执行rosdep install --from-paths src --ignore-src -r -y 时，遇到以下问题：
  ERROR: the following packages/stacks could not have their rosdep keys resolved to system dependencies: ros2_controllers_test_nodes: Unsupported OS [windows] ros2_control_demo_example_6: Unsupported OS [windows] ros2_control_demo_example_3: Unsupported OS [windows] control_toolbox: Unsupported OS [windows] position_controllers: Unsupported OS [windows] ros2_control_demo_example_1: Unsupported OS [windows] force_torque_sensor_broadcaster: Unsupported OS [windows] diff_drive_controller: Unsupported OS [windows] ros2_control_demo_example_8: Unsupported OS [windows] gripper_controllers: Unsupported OS [windows] ign_ros2_control: Unsupported OS [windows] ros2_control_demo_example_4: Unsupported OS [windows] bicycle_steering_controller: Unsupported OS [windows] tricycle_controller: Unsupported OS [windows] gz_ros2_control_tests: Unsupported OS [windows] gazebo_ros2_control: Unsupported OS [windows] joint_trajectory_controller: Unsupported OS [windows] ros2_control_demo_example_9: Unsupported OS [windows] controller_manager: Unsupported OS [windows] ros2_control_demo_example_2: Unsupported OS [windows] ros2_control_demo_example_7: Unsupported OS [windows] imu_sensor_broadcaster: Unsupported OS [windows] ros2_control_demo_example_5: Unsupported OS [windows] effort_controllers: Unsupported OS [windows] forward_command_controller: Unsupported OS [windows] admittance_controller: Unsupported OS [windows] steering_controllers_library: Unsupported OS [windows] ros2_control_demo_example_12: Unsupported OS [windows] ackermann_steering_controller: Unsupported OS [windows] velocity_controllers: Unsupported OS [windows] gazebo_ros2_control_demos: Unsupported OS [windows] ign_ros2_control_demos: Unsupported OS [windows] kinematics_interface: Unsupported OS [windows] kinematics_interface_kdl: Unsupported OS [windows] ros2controlcli: Unsupported OS [windows] joint_state_broadcaster: Unsupported OS [windows] rqt_joint_trajectory_controller: Unsupported OS [windows] tricycle_steering_controller: Unsupported OS [windows] Continuing to install resolvable dependencies... #All required rosdeps installed successfully
• 请问是否说明ros2_control无法在windows下编译运行？或者需要哪些步骤？