Add tricycle controller demo #145
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tonynajjar
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Hey @tonynajjar could you please fix the conflict on this one? |
…ycle-controller-demo
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Done. What's the preferred way to activate the controllers, via the spawner as done in tricycle launch files or with "ros2 control" as done in differential launch files? |
ahcorde
requested changes
Jul 26, 2022
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Done. What's the preferred way to activate the controllers, via the spawner as done in tricycle launch files or with "ros2 control" as done in differential launch files?
@tonynajjar, I prefer ros2 control cmd, like the other examples
do you mind to fix linters?
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Changed to |
ahcorde
requested changes
Jul 26, 2022
Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com>
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Done |
ahcorde
requested changes
Jul 26, 2022
ahcorde
requested changes
Jul 26, 2022
Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com>
No the PR is still not merged, I wanted to offer the maintainers a way to test it with this PR |
tonynajjar
commented
Jul 26, 2022
README.md
Outdated
| @@ -235,6 +236,7 @@ ros2 run gazebo_ros2_control_demos example_position | |||
| ros2 run gazebo_ros2_control_demos example_velocity | |||
| ros2 run gazebo_ros2_control_demos example_effort | |||
| ros2 run ign_ros2_control_demos example_diff_drive | |||
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Is ign_ros2_control_demos intentional here?
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nope, it's wrong too.
Do you have any plans to include this demo in ign_ros2_control ?
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No not at the moment, maybe when I migrate to ignition.
Changed ign_ros2_control_demos to gazebo_ros2_control_demos
ahcorde
requested changes
Jul 26, 2022
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I compiled from source the controller and I;m getting this error
[gzserver-1] [INFO] [1658874234.382522606] [controller_manager]: Loading controller 'tricycle_controller'
[gzserver-1] [INFO] [1658874234.405261155] [controller_manager]: Setting use_sim_time=True for tricycle_controller to match controller manager (see ros2_control#325 for details)
[gzserver-1] [INFO] [1658874234.428799512] [controller_manager]: Configuring controller 'tricycle_controller'
[gzserver-1] [INFO] [1658874234.458278809] [tricycle_controller]: On activate: Initialize Joints
[gzserver-1] [INFO] [1658874234.458323956] [tricycle_controller]: Get Wheel Joint Instance
[gzserver-1] [ERROR] [1658874234.458414226] [tricycle_controller]: Unable to obtain joint state handle for traction_joint
[gzserver-1] [INFO] [1658874234.458428779] [tricycle_controller]: Get Steering Joint Instance
[gzserver-1] [ERROR] [1658874234.458434899] [tricycle_controller]: Unable to obtain joint state handle for steering_joint
[gzserver-1] [WARN] [1658874234.458450560] []: Error occurred while doing error handling.
[gzserver-1] [ERROR] [1658874234.459401166] [controller_manager]: After activating, controller 'tricycle_controller' is in state 'unconfigured', expected Active
[ros2-6] Sucessfully loaded controller tricycle_controller into state active
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Weird, I can't reproduce. What version of ros2_control are you using? it should be master. You might be missing these changes https://github.com/ros-controls/ros2_control/pull/737/files |
ahcorde
approved these changes
Jul 28, 2022
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Thank you for the iterations! I will approve this PR, but I can't merge it until the other PR ros-controls/ros2_controllers#345 is in.
Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com>
Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com>
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Thanks for the review, I made the last fixes. Yep, let's wait for the other PR to be merged first 👍 |
destogl
approved these changes
Aug 4, 2022
bmagyar
approved these changes
Aug 4, 2022
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Thank you for this example @tonynajjar, do you have any plans to add this example to |
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No problem! As mentioned here I wasn't thinking of adding it to gz_ros2_control but if it's not too much work I can give it a shot (I don't know how different Gazebo and Gazebo Classic are) |
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great @tonynajjar, feel free to ping me if you need help |
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After ros-controls/ros2_controllers#345 is merged