This repository aims at providing a ros2-control package for the ODRI dual motor testbed robot.
It allows to have bolt displayed through rviz, provides the access to the ros2_controllers. The most notorious is joint_state_broadcaster which provides the topic /joint_states for free. It is then possible the node robot_state_publisher to have the TF-2 tree of the Bolt robot and to display it on rviz.
This repositor relies on ros2_control and ros2_controllers regarding the ros2-control framework. It relies more specifically on the ros2_hardware_interface_odri to handle the relationship with the master-board developped by the Open Dynamic Robot Initiative.