Dr. Denis

> My preference is 3. If you got this way, why do you need ros2_control here at all? You can then simply use `state` output from a controller and publish...

Is this behavior only inside docker or also on a native machine? I didn't get that from your comment. Does `/odom` topic simply doesn't exist when using simulation?

> Thanks for the reply! I didn't realize having a library be usable as a plugin for multiple downstream applications wasn't possible :o I can't think of any use-case you...

> I think the main reason why I'm looking for a way to have an external controller manager manage the gz_ros2_control hardware interfaces is so that external controller manager can...

HI @fkromer, thanks for the references. We are currently very working mostly on the basic structure to provide easier use than ros_control in ROS1. Nevertheless, this is a very good...

Can you please review this. There is a PR for Example 3 in the ros-controls/ros2_control_demos#68 so we don't have to change the implementation later...

Hi Bence, I agree with you and I tried to do this in the example concept ros-controls/ros2_control#80 The main issue for me was how properly assign handles between virtual components,...

This covers also the following proposals: - @fmauch: Proper connection of ports and lifecycle (Configure “writable in inactive”) - @christophfroehlich / @saikishor: Fix the HW command interfaces being available in...

Adding new class and new tag: Add a new tag in the URDF: ``` -1 1 ``` Then, add a new field in the CommandInterface, marking this for RM.

> The other way to handle this, I suppose, is just add ROS publishers/subscribers to the controllers. Since ROS2 messaging has real time capability now. I don't understand what do...