Bota Control Toolkit ROS2

There are two options to use the Bota Control Blocks in ROS2:

• Directly in C++ or Python code: The blocks can be used as standalone C++ or Python classes in a node or ros2_control controller implementation.

This option allows for maximum flexibility and customization, as you can directly call the block’s methods in your code and implement any additional logic as needed. It also allows for more efficient execution, as there is no overhead from ROS2 communication.

• Pre-wrapped: We offer some blocks already wrapped into nodes and ros2_control controllers.

This option provides a more plug-and-play experience, as the blocks are already integrated into ROS2 components. You can simply configure the nodes/controllers via parameters and connect them in a processing chain without needing to write additional code to call the block’s methods.