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Published 20 hours ago • verified publisher icon gezp

gz_ros2_control

Open ahcorde opened this issue 3 years ago • 1 comments

Did you consider to use gz_ros2_control instead of custom plugins ?

I will be happy to review the PRs or maybe go ahead make the changes.

ahcorde avatar Sep 02 '22 10:09 ahcorde

@ahcorde , hi, it's a good suggestion, i tried to convert custom plugins to gz_ros2_control, you can see more details in this PR https://github.com/gezp/universal_robot_ign/pull/4 , but i failed to create joint_trajectory_controller based on effort command with this error message:

using 'effort' command interface alone is not yet implemented yet

it seems that effort command isn't supported in ROS Galactic, so i create a joint_trajectory_controller based on position command.

gezp avatar Sep 24 '22 01:09 gezp