[Meta-ticket] Port gazebo_ros2_control to ROS 2 about gazebo_ros2_control

[bmagyar]

Hi @ahcorde , here's a github project on the ros-controls org side collecting tickets for making ROS1 functionality available: https://github.com/orgs/ros-controls/projects/5

feel free to request new ones to be added

[chapulina]

@bmagyar , if it would make it easier to transfer this repo to ros-controls so it is better integrated with the board, just let us know.

[ahcorde]

• Define the node to get the robotParam #8

[mkhansenbot]

I'm looking for a status, not clear to me what's left to be done for porting gazebo_ros2_controls? @chapulina or @ahcorde can you update?

[chapulina]

@mkhansenbot , we've paused work on this task until the upstream ros2_control package is released into Foxy. Our understanding is that there are upcoming API changes to ros2_control that will require a refactoring of the code that we currently have in gazebo_ros2_control.

We've been tracking upstream's changes in the hope that providing simulation would speed up their development. However, the latest I heard, the ros2_control developers aren't making use of gazebo_ros2_control, so there isn't much benefit in us continuing to track their development so closely. Once ros2_control is stable (i.e. released), we'll restart work and update what's needed here.

[mkhansenbot]

Thanks for the update, I'll check with the ros2_control maintainers

[chapulina]

All the basic functionality is available since #44 . We're planning to make a bloom release into Foxy soon.

[ahcorde]

Package was released and master branch build on top of Foxy packages thanks to this PR #44