Comments (10)
Which version of ros2_control are you trying to use for this? The one from the master branch? There's currently no working version of gazebo_ros2_control
with the Foxy released version. The code you can find in this repo is an early attempt that is now very much out of date.
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@bmagyar do you know which ros2 version is this repo working with?
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@bmagyar As below.
$ git clone https://github.com/ros-controls/ros2_control.git
$ git clone https://github.com/ros-controls/ros2_controllers.git
$ git clone https://github.com/ros-simulation/gazebo_ros2_control.git
$ cd ros2_control && git reset --hard 3dc62e28e3bc8cf636275825526c11d13b554bb6 && cd ..
$ cd ros2_controllers && git reset --hard 83c494f460f1c8675f4fdd6fb8707b87e81cb197 && cd ..
$ cd gazebo_ros2_control && git reset --hard 3dfe04d412d5be4540752e9c1165ccf25d7c51fb && cd ..
The reason seems to be that hardware_interface/EffortJointInterface is not compatible with even joint_state_controller/JointStateController, whereas PositionJointInterface and VelocityJointInterface are.
@Drojas251
I am testing with ROS2 Foxy.
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Hi @ahcorde
Any advice? I see sample codes added by you for the position and velocity controls in the demo package but not for the effort control.
Thank you in advance,
Jaehyun
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@bmagyar do you know which ros2 version is this repo working with?
Excellent question. The plugin here is in a proof of concept stage, it worked at some point, my best guess would be to try matching the time of this repo to some checkout of ros2_control and ros2_controllers but it's very manual and not a way forward as we did major changes since then so whatever you do on top, it will break as soon as you try using a released version.
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ping @ahcorde
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The effortJointInterface is already coded but I didn't add any test. I will try to add one today
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Hi @JaehyunShim,
In this PR #44 you will find a working effort example 2933f8d
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@ahcorde
Thank you very much. I will test it and get back to you soon.
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Thank you. It works!
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Related Issues (20)
- Passive joints are broken HOT 4
- Unexpected behavior when using passive joints in closed-loop kinematic chains HOT 2
- FT sensors possible bug HOT 1
- Kinematic chains with passive joints don't work with position interface HOT 1
- Could use remote gazebo possible? HOT 2
- Humble 4.4 update broke joints HOT 9
- Add noise and latency to the joints feedback HOT 1
- ERROR: "struct hardware_interface::HardwareInfo’} has no member named ‘hardware_plugin_name" HOT 5
- Robot still saggs if interfaces are not claimed
- Issue running example script in Harmonic
- Loading controller failed,Exception thrown during init stage with message: expected [string] got [string_array] HOT 7
- Errors after launching demos: controller manager issue? HOT 7
- How can solve this problem? HOT 3
- How to set the Effort while using JointGroupVelocityController in Gazebo HOT 3
- No rule to make target needed by 'libgazebo_ros2_control.so' HOT 2
- How do I handle this issue? HOT 2
- Parser Error Couldn't parse parameter override rule - loading tricycle_controller from ros2_control HOT 20
- Do mimic joints on gazebo_ros2_control work for grippers with one part interacting with the rest? (1 to 5 Gripper)
- Error in destruction of rcl subscription handle: Failed to delete datareader HOT 1
- missing header ignition/common/Profile.hh when installing from source HOT 1
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