Control Loops and Sensors

The Robotics Control Loop

A common pattern in robotics is the control loop: read sensor data, process it, determine actions, and send commands to actuators. This cycle repeats continuously.

Implementing a Control Node

We will create a control node that subscribes to a dummy sensor topic and publishes joint trajectory commands.

Code

See src/ros2_foundations/ros2_foundations/control_loop.py.

Reading Sensor Data

The control_loop.py node will subscribe to a mock IMU sensor topic (sensor_msgs/Imu).

Publishing Joint Commands

Based on sensor data, the node will publish trajectory_msgs/JointTrajectory messages to control the robot's joints.