Using SOLO to illustrate ros2-control

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Dear all,
Following discussions with @thomas.flayols I have a first working example of ros2_control applied to SOLO here:

It is basically simply testing if it is possible to have SOLO low level interface express through ros2_control design. It is not possible with ros_control (ROS-1).

I did not yet cited correctly the Open Dynamic Robot Initiative repository.
Let me know how to do that, and your opinion about the ros2_control interface.
Best,
Olivier.

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Dear Olivier,

Thank you very much for your initiative!
I am going to look deeper into the PR.

In order to cite ODRI you can use the bibtex from the website (https://open-dynamic-robot-initiative.github.io/):

<em><small>@article{grimminger2020open,
title={An Open Torque-Controlled Modular Robot Architecture for Legged Locomotion Research},
author={F. {Grimminger} and A. {Meduri} and M. {Khadiv} and J. {Viereck} and M. {Wüthrich} and M. {Naveau} and V. {Berenz} and S. {Heim} and F. {Widmaier} and T. {Flayols} and J. {Fiene} and A. {Badri-Spröwitz} and L. {Righetti}},
journal={IEEE Robotics and Automation Letters},
year={2020},
volume={5},
number={2},
pages={3650-3657},
doi={10.1109/LRA.2020.2976639},
arXiv = {arXiv:1910.00093}}</small></em>
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Thanks @mnaveau for your answer.