Christoph Fröhlich

[CLI] Add `set_hardware_component_state` verb

1

I updated the hardware lifecylce demo as part of the multi robot example https://github.com/ros-controls/ros2_control_demos/pull/417 and realized that there is no cli verb for changing hardware lifecycle. This PR adds the...

[CI] Check duration of controller_managers_srv test

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> Do you think it make sense to relax the test by reducing the number of controllers? or we simply increase the timeout? Any opinions on this are welcome. If...

With #1132 I also saw now that the help shows two options coming from ros2cli ```bash --spin-time SPIN_TIME Spin time in seconds to wait for discovery (only applies when not...

view_controller_chains does not work with example

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**Describe the bug** The output of view_controller_chains does not seem to work with the new example 12 of the demo repository. **To Reproduce** Steps to reproduce the behavior: 1. Checkout...

Ruckig smoothing for longer trajectories

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### Description I tried to use TOTG + ruckig smoother in a cpp project, where I want them to generate a smooth trajectory for a given path (generated without moveit)....

[Example 15] Using multiple controller managers under different namespaces

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A rewrite of #170 including https://github.com/StoglRobotics-forks/ros2_control_demos/pull/8 An open questions for me: - It uses the rrbot_base.launch.py: Should we move it to the description package? I deleted it once for the...

[Example 13] Multi-robot system with lifecycle management

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This is a rewrite of https://github.com/ros-controls/ros2_control_demos/pull/187 including https://github.com/StoglRobotics-forks/ros2_control_demos/pull/7. Open questions for me: - ~~The problems discussed in the latter PR are summarized in https://github.com/ros-controls/ros2_control/issues/1103. I'd say we can add this...

> The IK solver is called with a twist in tool frame and generates a velocity vector in joint space, which is then integrated to positions. That's why the velocity...

Can we actually rather add integration tests? This file might be an interesting inspiration: https://github.com/StoglRobotics-forks/kuka_experimental/pull/12/files#diff-b2da8ae937165518fe9c1d9f7fc39094e9c0fd179eb1389115ca444936f06a3c _Originally posted by @destogl in https://github.com/ros-controls/ros2_control_demos/issues/342#issuecomment-1724126185_

[Example 9] Gazebo Classic and Gazebo

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This is a rewrite of existing contributions #127 and #191 for the new structure of this repo. - [x] Basic RRBot with position interface and hardware interface copied from example_1...