The robot control is implemented in the ft24_control package and can be launched with
ros2 launch ft24_control launch_robot.py.
This launch file brings up the ros2_control-based nodes that serve as the interface between the physical robot and the ROS2 software stack.

Remote Control

The launch file ros2 launch src/dcaitirobot/launch/remote_control_launch.py launches the nodes required to interface the PS3 controller and publish its commands as Twist messages in ROS.

Simulation Start

For the Gazebo simulation, run:

ros2 launch ft24_control launch_sim.py