shonigmann
shonigmann
Public method to check if command interfaces are claimed using ControllerManager or SystemInterface?
For the time being I am using the ControllerManager's ListControllers service interface, which does provide the desired functionality... That said it takes ~1ms to call, so its definitely not ideal...
Public method to check if command interfaces are claimed using ControllerManager or SystemInterface?
Hi @destogl - thank you for your response. I agree that it would make sense for the `perform_command_mode_switch()` method to set a set/unset flags denoting that interfaces are claimed, and...
> But gazebo creates the controller manager in the code, and loads the parameters manually, not via such a file. @ahcorde is this correct? just confirming that I understand correctly...
Thanks for the quick reply. I may have some time to take a look and propose a fix. Though I wonder if its not more direct to fix this in...
For reference, I've submitted a PR that I think addresses this issue
I believe this issue can now be closed
I would be interested in trying to build on @Karsten1987's work this if this is in the backlog, as I'd be interested in using this controller for my own work....
hi @Karsten1987 - thanks for the update. I am happy to try to contribute, but I think I need to get a better grasp of all the moving parts to...
as an update, i've implemented and lightly tested a position-PID and velocity-PID controller with basic limit checking and angle wraparound (on my fork, [here](https://github.com/shonigmann/ros2_controllers/tree/effort_position_devel/effort_controllers/src)). _Caveat_ being that I used a...