Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Mimic Joint Improvement #86

Closed
wants to merge 5 commits into from
Closed

Mimic Joint Improvement #86

wants to merge 5 commits into from

Conversation

livanov93
Copy link
Contributor

After #33 has been merged I stumbled upon small errors and spaces for improvement.
PR info:

  • moving from JointVelocityCmd to JointVelocityReset because there was an error in handling joint limits and recovery from hitting them (more information can be found here )
  • mimic joint control method is now handled in perform_command_mode_switch which is called upon any controller switch.

@livanov93
Adapt mimic joint control method in perform_switch. Other mimic relat…
c2237cb 
…ed small changes. Use components::VelocityResetCmd to be able to recover from joint limits.
@livanov93 livanov93 requested a review from ahcorde as a code owner September 9, 2022 10:02
ahcorde
ahcorde requested changes Sep 9, 2022
View reviewed changes
Copy link
Collaborator

@ahcorde ahcorde left a comment •
edited
Loading

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

originally I was using JointPositionReset and JointVelocityReset bit it's a bad idea, these components are not design to be used like this. I have my concern about following up with this idea. we should fix the issue in gz-sim

@destogl destogl mentioned this pull request Sep 10, 2022
Merged
@destogl
Copy link
Member

destogl commented Sep 10, 2022

originally I was using JointPositionReset and JointVelocityReset bit it's a bad idea, these components are not design to be used like this. I have my concern about following up with this idea. we should fix the issue in gz-sim

Do you have any idea what is causing the issue?

@livanov93
Copy link
Contributor Author

@ahcorde I opened an issue in gz-sim. Could we collaborate on fixing this?

@destogl destogl requested a review from ahcorde September 22, 2022 16:10
@ahcorde
Copy link
Collaborator

ahcorde commented Oct 5, 2022

@ahcorde I opened an issue in gz-sim. Could we collaborate on fixing this?

Response here #67 (comment)

@Kuwamai Kuwamai mentioned this pull request Nov 2, 2022
Merged
2 tasks
This was referenced Nov 9, 2022
Closed
Closed
@MarqRazz MarqRazz mentioned this pull request May 4, 2023
Merged
4 tasks
@MarqRazz
Copy link
Contributor

MarqRazz commented May 5, 2023

I'm building a mobile manipulator and this PR fixes the GripperActionController on the Robotiq but my mobile base DiffDriveController looses the ability to turn if I'm on this branch in Ignition Gazebo. It can still move forward/reverse but not rotate. Switching between this branch and humble I can re-enable rotating but loose the gripper.

@moriarty moriarty mentioned this pull request Jul 17, 2023
Open
@moriarty
Copy link

originally I was using JointPositionReset and JointVelocityReset bit it's a bad idea, these components are not design to be used like this. I have my concern about following up with this idea. we should fix the issue in gz-sim

Do you have any idea what is causing the issue?

@ahcorde I opened an issue in gz-sim. Could we collaborate on fixing this?

Response here #67 (comment)

I just ran into this issue myself: PickNikRobotics/ros2_robotiq_gripper#7
and applying the patch from this PR did fix it: https://github.com/ros-controls/gz_ros2_control/pull/86.patch
But the patch doesn't apply cleanly on Rolling, it did on Humble.

@ahcorde & @azeey what's the best way forward? You mentioned we should fix the issue in gz-sim
There haven't been any comments on the issue filed gazebosim/gz-sim#1684
Do you have any suggestions or ideas that we can help with?

moriarty added a commit to Kinovarobotics/ros2_kortex that referenced this pull request Jul 17, 2023
@moriarty
Document Gazebo Mimic Joint Issue
c9cb373 
Add links in README to the mimic joints isssue & work around.

- Upstream Issue: gazebosim/gz-sim#1684
- Work Around PR: ros-controls/gz_ros2_control#86
- Tracking Issue: PickNikRobotics/ros2_robotiq_gripper#7

Signed-off-by: Alexander Moriarty <alex.moriarty@picknik.ai>
@moriarty moriarty mentioned this pull request Jul 17, 2023
Merged
moriarty added a commit to Kinovarobotics/ros2_kortex that referenced this pull request Jul 17, 2023
@moriarty
Document Gazebo Mimic Joint Issue
c00fea2 
Add links in README to the mimic joints isssue & work around.

- Upstream Issue: gazebosim/gz-sim#1684
- Work Around PR: ros-controls/gz_ros2_control#86
- Tracking Issue: PickNikRobotics/ros2_robotiq_gripper#7

Signed-off-by: Alexander Moriarty <alex.moriarty@picknik.ai>
moriarty added a commit to Kinovarobotics/ros2_kortex that referenced this pull request Jul 18, 2023
@moriarty
Document Gazebo Mimic Joint Issue (#149)
056be22 
Add links in README to the mimic joints isssue & work around.

- Upstream Issue: gazebosim/gz-sim#1684
- Work Around PR: ros-controls/gz_ros2_control#86
- Tracking Issue: PickNikRobotics/ros2_robotiq_gripper#7

Signed-off-by: Alexander Moriarty <alex.moriarty@picknik.ai>
@Kuwamai Kuwamai mentioned this pull request Oct 25, 2023
Merged
2 tasks
This was referenced Mar 5, 2024
Closed
Draft
@ahcorde
Copy link
Collaborator

ahcorde commented Apr 24, 2024

the mimic joint was recently updated on master, closing this PR, feel free to reopen it if some of the changes are still relevant

@ahcorde ahcorde closed this Apr 24, 2024
Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment
Reviewers

@ahcorde ahcorde Awaiting requested review from ahcorde

Assignees
No one assigned
Labels
None yet
Projects
None yet
Milestone
No milestone
Development

Successfully merging this pull request may close these issues.
5 participants
@livanov93 @destogl @ahcorde @MarqRazz @moriarty