Simple ros2-controll mock setup

.gitignore

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+.vscode/
+build/
+install/
+log/

mg_wheel_interface/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.8)
+project(mg_wheel_interface)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+# uncomment the following section in order to fill in
+# further dependencies manually.
+# find_package(<dependency> REQUIRED)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # comment the line when a copyright and license is added to all source files
+  set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # comment the line when this package is in a git repo and when
+  # a copyright and license is added to all source files
+  set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+install(DIRECTORY
+  launch assets
+  DESTINATION share/${PROJECT_NAME}/
+)
+
+ament_package()

mg_wheel_interface/assets/mg_base.urdf

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+<?xml version="1.0"?>
+<robot name="mg-robot">
+
+
+    <material name="red">
+        <color rgba="1 0 0 1" />
+    </material>
+
+    <material name="gray">
+        <color rgba="0.5 0.5 0.5 1" />
+    </material>
+
+    <link name="base-link">
+        <visual>
+            <geometry>
+                <box size="0.5 0.5 0.2" color="yellow"/>
+            </geometry>
+            <origin xyz="0 0 0.12" rpy="0 0 0" />
+            <material name="red" />
+        </visual>
+    </link>
+
+    <link name="left-wheel">
+        <visual>
+            <geometry>
+                <cylinder radius="0.1" length="0.05"/>
+            </geometry>
+            <origin xyz="0 0 0" rpy="1.57 0 0" />
+            <material name="gray" />
+        </visual>
+    </link>
+
+    <link name="right-wheel">
+        <visual>
+            <geometry>
+                <cylinder radius="0.1" length="0.05"/>
+            </geometry>
+            <origin xyz="0 0 0" rpy="1.57 0 0" />
+            <material name="gray" />
+        </visual>
+    </link>
+
+    <joint name="right_motor" type="continuous">
+        <parent link="base-link"/>
+        <child link="right-wheel"/>
+        <origin xyz="0 -0.25 0.1" rpy="0 0 3.141592" />
+    </joint>
+
+    <joint name="left_motor" type="continuous">
+        <parent link="base-link"/>
+        <child link="left-wheel"/>
+        <origin xyz="0 0.25 0.1" rpy="0 0 0" />
+    </joint>
+
+
+    <ros2_control name="mg-base" type="system">
+        <hardware>
+            <plugin>mock_components/GenericSystem</plugin>
+            <param name="calculate_dynamics">true</param>
+        </hardware>
+        <joint name="left_motor">
+            <command_interface name="velocity"/>
+            <state_interface name="position"/>
+        </joint>
+        <joint name="right_motor">
+            <command_interface name="velocity"/>
+            <state_interface name="position"/>
+        </joint>
+    </ros2_control>
+</robot>

mg_wheel_interface/assets/mg_base_controllers.yaml

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+controller_manager:
+  ros__parameters:
+    update_rate: 100
+
+    diffdrive_controller:
+      type: diff_drive_controller/DiffDriveController
+    joint_state_publisher:
+      type: joint_state_broadcaster/JointStateBroadcaster
+
+diffdrive_controller:
+  ros__parameters:
+    left_wheel_names: ["left_motor"]
+    right_wheel_names: ["right_motor"]
+    
+    enable_odom_tf: true
+    odom_frame_id: odom
+    base_frame_id: base-link
+
+    wheel_separation: 0.5
+    wheel_radius: 0.1

mg_wheel_interface/launch/launch.py

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+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument, RegisterEventHandler, TimerAction
+from launch.event_handlers import OnProcessStart
+from launch.substitutions import Command, FindExecutable, LaunchConfiguration, PathJoinSubstitution
+from launch_ros.actions import Node
+from launch_ros.substitutions import FindPackageShare
+
+from pathlib import Path
+
+def generate_launch_description():
+
+    basedir = FindPackageShare("mg_wheel_interface")
+
+    urdfDescription = PathJoinSubstitution([basedir, "assets/mg_base.urdf"])
+    yamlControllers = PathJoinSubstitution([basedir, "assets/mg_base_controllers.yaml"])
+
+    urdfDescription = Command([
+        "cat ",
+        urdfDescription
+    ])
+
+    return LaunchDescription([
+        Node(
+            package='robot_state_publisher',
+            executable='robot_state_publisher',
+            output="screen",
+            parameters=[{"robot_description": urdfDescription}]
+        ),
+        Node(
+            package="controller_manager",
+            executable="ros2_control_node",
+            parameters=[yamlControllers],
+            output="screen"
+        ),
+        Node(
+            package='controller_manager',
+            executable='spawner',
+            output="screen",
+            arguments=["joint_state_publisher"]
+        ),
+        Node(
+            package="controller_manager",
+            executable="spawner",
+            arguments=["diffdrive_controller", "--param-file", yamlControllers],
+        ) 
+    ])
+    

mg_wheel_interface/package.xml

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+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>mg_wheel_interface</name>
+  <version>0.0.1</version>
+  <description>Interacts with the wheels</description>
+  <maintainer email="pimpest@pimpest.com">pimpest</maintainer>
+  <license>Apache-2.0</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <depend>pluginlib </depend>
+  <depend>hardware_interface</depend>
+  <depend>ros2launch</depend>
+  <depend>controller_manager</depend>
+  <depend>ros2_control</depend>
+  <depend>diff_drive_controller</depend>
+  <depend>robot_state_publisher</depend>
+  <depend>joint_state_broadcaster</depend>
+  <depend>rsl</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>