Generic Steering Controller Demo

This repository is a basic proof of concept for integrating a generic steering controller with ROS 2 controllers.

It demonstrates how to set up a four wheeler demo 4WD and 4WS using ROS 2 control, including configuration, launch files, and URDF integration.
Most files are adapted directly from the official ros2_control_demos repository.

Structure

• urdf/ — Custom robot description files
• config/ — Controller configuration
• launch/ — Launch files for simulation and control
• external/ros2_control_demos/ — Upstream demo files (as a submodule)

Note

This project is intended for demonstration and experimentation purposes only. You can test this by

  ros2 topic pub /four_wheeler_base_controller/reference geometry_msgs/msg/TwistStamped "{
  twist: {
    linear: {x: 1.0, y: 0.0, z: 0.0},
    angular: {x: 0.0, y: 0.0, z: 0.5}
  }
}" --rate 10```