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Kinovarobotics / ros2_kortex

ROS2 driver for the Gen3 Kinova robot arm
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Services in ros2_kortex #229

Closed julien-audet closed 4 months ago

julien-audet commented 4 months ago

Hello,

I've looked at both the ros_kortex and ros2_kortex repositories, and it seems like ros_kortex has more functionalities than ros2_kortex. I am interested in using ros2 in a project with a Kinova Gen3 arm, and I would need access to some services like "Reading and setting the gravity vector" from control_config for example.

Are there any plans to make these services available in ros2?

martinleroux commented 4 months ago

Hi @julien-audet, We do plan to release more updates to the ROS2 driver in the coming year, including configuration endpoints. However at this time we cannot make a commitment on a specific timeline.

Since the driver is simply a wrapper around our API that is built from source, you would have the option of implementing the endpoints that are needed specifically for your project. For example, you can find the API call to set the gravity vector in the ControlConfig client: https://github.com/Kinovarobotics/ros_kortex/blob/noetic-devel/kortex_driver/protos/ControlConfig.proto#L23

julien-audet commented 4 months ago

Hello @martinleroux,

I understand, thanks for the quick reply! I'll look into the option of implementing the services that I need for my project.