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

Remove TestRobotHardware from ros2_control_node #217

Closed
destogl opened this issue Oct 28, 2020 · 2 comments
Closed

Remove TestRobotHardware from ros2_control_node #217

destogl opened this issue Oct 28, 2020 · 2 comments

Comments

@destogl
Copy link
Member

destogl commented Oct 28, 2020

#216 is introducing the default ros2_control node.

Since the ControllerManager is currently expecting RobotHardware the TestRobotHardware class is hard-coded.
This should be removed as soon and the interface changes and ResourceManager is finished. (see the comments in the code)
@Karsten1987
Copy link
Contributor

I am not sure I fully understand this issue. What's the benefit of temporary hardcoding TestRobotHardware? Shouldn't the ros2_control node fetch the URDF and get the robot hardware from there?

@destogl
Copy link
Member Author

destogl commented Nov 19, 2020

When you merge #236 with ResourceManager than it is resolved. I close it anyway.

@destogl destogl closed this as completed Nov 19, 2020
destogl added a commit to StoglRobotics-forks/ros2_control that referenced this issue Aug 11, 2022
@destogl @bmagyar
[Joint State Broadcaster] Add mapping of custom states to standard va…
f055d44 
…lues in "/joint_state" message (ros-controls#217)

* Joint state broadcaster support for specific joint_names and interface_names.
* Added option to map custom values to interface names to standard names in joint_state message.
* Document functionality.
* Add configuration examples

Co-authored-by: Bence Magyar <bence.magyar.robotics@gmail.com>
Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment
Assignees
No one assigned
Labels
None yet
Projects
None yet
Milestone
No milestone
Development

No branches or pull requests
2 participants
@destogl @Karsten1987