effort_controllers/joint_position_controller from ROS1

[tonylitianyu]

ros1_controllers has effort_controllers/joint_position_controller that accepts position commands and targets an effort-controlled joint. But in this repo, the effort_controllers only accept group effort commands. Is it moved somewhere else or the feature is still missing?

[tonylitianyu]

To be more specific, I am trying to control an arm to a set joint position, but with limited torque, so that when an external force (larger than the torque limit) is present, the arm will deviate from the position (with some kind of compliant behavior). Once the external force is gone or become smaller, the arm will tend to move back to the set joint position. Basically some kind of passive motion. Back in ROS1, I can achieve such behavior with effort_controllers/joint_position_controller. I am wondering if ros2_controller has something similar to this.

[bmagyar]

This functionality is currently missing but it's fairly straight forward to port it from ROS1. I'd happily review a PR for this

On Tue, 5 Jul 2022, 20:15 Tianyu Li, @.***> wrote:

To be more specific, I am trying to control an arm to a set joint position, but with limited torque, so that when an external force (larger than the torque limit) is present, the arm will deviate from the position (with some kind of compliant behavior). Once the external force is gone or become smaller, the arm will tend to move back to the set joint position. Basically some kind of passive motion. Back in ROS1, I can achieve such behavior with effort_controllers/joint_position_controller. I am wondering if ros2_controller has something similar to this.

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[tonylitianyu]

@bmagyar Just realize https://github.com/ros-controls/ros2_controllers/pull/198 has the group version for this a year ago, is there a reason why it has not merged yet? Would be happy to contribute to this.

[bmagyar]

It needs revival :)

[destogl]

@tonylitianyu you wanted to contribute to this. Is this still the case?

[tonylitianyu]

@destogl Given my recent schedule, it would be difficult. Sorry about that.

[Aadiv1999]

@bmagyar i am trying to build the effort_controller: joint_position_controller from here, but I keep getting build errors for Humble, is there any new branch with a fix for this?

[bmagyar]

There was a sync a few days ago. If you rosdep update && rosdep install --from-path src --ignore-src, it should build fine again.

[Aadiv1999]

@bmagyar I tried that, but i still seem to be getting errors while building. To give you an idea of my setup:

• Ubuntu 22.04
• ROS2 Humble
• In my home directory, ros2 workspace (ros2_ws)
• I have the binary install of ros2_controls and ros2_controllers (ros-humble-ros2-control and ros-humble-ros2-controllers)
• In ~/ros2_ws/src i have cloned the effort_controllers package from here

here is the error message I get while building.

[bmagyar]

Have you tried with --allow-overriding as per the error message? We generally do not recommend having the same package you are trying to build from source installed as binary too as ros2 seems to still have issues with it.

On Wed, 9 Nov 2022, 20:57 Aadiv Shah, @.***> wrote:

@bmagyar https://github.com/bmagyar I tried that, but i still seem to be getting errors while building. To give you an idea of my setup:

• Ubuntu 22.04
• ROS2 Humble
• In my home directory, ros2 workspace (ros2_ws)
• I have the binary install of ros2_controls and ros2_controllers (ros-humble-ros2-control and ros-humble-ros2-controllers)
• In ~/ros2_ws/src i have cloned the effort_controllers package from here https://github.com/ros-controls/ros2_controllers/tree/effort_group_position_controller/effort_controllers

here https://drive.google.com/file/d/1OT8YuICxlYe7KYcne9Gp1ZbFrBrXBSrg/view?usp=sharing is the error message I get while building.

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[Aadiv1999]

@bmagyar yes I did try, it is still giving me build issues/issues in the code itself as shown in the attached file. Besides, I removed the binary install for the “effort_controllers” package, and I was getting the same errors