cannot make JointGroupVelocityController work

[muttistefano]

Hi all, i'm using ros2_controllers on rolling to control a robot with the velocity interface.

My controllers config looks like this :

forward_velocity_controller:
      type: velocity_controllers/JointGroupVelocityController

forward_velocity_controller:
  ros__parameters:
    joints:
      - shoulder_pan_joint
      - shoulder_lift_joint
      - elbow_joint
      - wrist_1_joint
      - wrist_2_joint
      - wrist_3_joint
      # interface_name: velocity

when I show the hardware interfaces with the CLI command, it shows:

command interfaces
	elbow_joint/position [available] [unclaimed]
	elbow_joint/velocity [available] [claimed]
	shoulder_lift_joint/position [available] [unclaimed]
	shoulder_lift_joint/velocity [available] [claimed]
	shoulder_pan_joint/position [available] [unclaimed]
	shoulder_pan_joint/velocity [available] [claimed]
	wrist_1_joint/position [available] [unclaimed]
	wrist_1_joint/velocity [available] [claimed]
	wrist_2_joint/position [available] [unclaimed]
	wrist_2_joint/velocity [available] [claimed]
	wrist_3_joint/position [available] [unclaimed]
	wrist_3_joint/velocity [available] [claimed]

The controller picks up the commands published on "/forward_velocity_controller/commands", I checked by printing them in the forwardcommandcontroller Update call. After the controller receives the commands, they are not passed down to the hardware interface. I also tested the hardware interface extensively, and I never receive commands from the controller. Am I doing something wrong?

[muttistefano]

Running the controller manager with level debug, shows this:

Deduced interface prefix 'shoulder_pan_joint' - searching for the controller with the same name.
[ros2_control_node-1] [DEBUG] [1677662455.266703502] [ControllerManager::utils]: Required command interface 'shoulder_pan_joint/velocity' with prefix 'shoulder_pan_joint' is not reference interface.
[ros2_control_node-1] [DEBUG] [1677662455.266711384] [ControllerManager::utils]: Deduced interface prefix 'shoulder_lift_joint' - searching for the controller with the same name.
[ros2_control_node-1] [DEBUG] [1677662455.266718056] [ControllerManager::utils]: Required command interface 'shoulder_lift_joint/velocity' with prefix 'shoulder_lift_joint' is not reference interface.
[ros2_control_node-1] [DEBUG] [1677662455.266725295] [ControllerManager::utils]: Deduced interface prefix 'elbow_joint' - searching for the controller with the same name.
[ros2_control_node-1] [DEBUG] [1677662455.266731897] [ControllerManager::utils]: Required command interface 'elbow_joint/velocity' with prefix 'elbow_joint' is not reference interface.
[ros2_control_node-1] [DEBUG] [1677662455.266739593] [ControllerManager::utils]: Deduced interface prefix 'wrist_1_joint' - searching for the controller with the same name.
[ros2_control_node-1] [DEBUG] [1677662455.266746390] [ControllerManager::utils]: Required command interface 'wrist_1_joint/velocity' with prefix 'wrist_1_joint' is not reference interface.
[ros2_control_node-1] [DEBUG] [1677662455.266753378] [ControllerManager::utils]: Deduced interface prefix 'wrist_2_joint' - searching for the controller with the same name.
[ros2_control_node-1] [DEBUG] [1677662455.266759739] [ControllerManager::utils]: Required command interface 'wrist_2_joint/velocity' with prefix 'wrist_2_joint' is not reference interface.
[ros2_control_node-1] [DEBUG] [1677662455.266766476] [ControllerManager::utils]: Deduced interface prefix 'wrist_3_joint' - searching for the controller with the same name.
[ros2_control_node-1] [DEBUG] [1677662455.266772893] [ControllerManager::utils]: Required command interface 'wrist_3_joint/velocity' with prefix 'wrist_3_joint' is not reference interface.

I cannot tell if it's related. Thanks

[destogl]

You interfaces are claimed. Therefore, they are passed. (I am quite certain because having a bug there would influence all the tests and users we have).

Which version, hardware interface are you using. What other relevant details you can provide?