Closed mhubii closed 1 year ago
Is there any way to track the progress of this project?
Do you mean tracking the features roadmap? This package work for our use cases, we don't have any new feature in mind
Is there any work that attempts to make the entire ros2_control stack topic based? ie making this project native ros2_control rather than wrapping it. Using intra-process communication and custom QoS profiles? I think this would greatly simplify hardware integration and might be sufficiently quick.
I don't think anyone is working on such a feature, you might want to open an issue on the main ros2_control repo to discuss it with the maintainers. The main motivation for this repo was isaac sim since the only way we had to control the robot was through topics, but then we realized that other simulators (or maybe a robot?) have the same issue (pybullet as an example) so we made it more generic for anyone who use topics to control/get states of their robots
Regarding the custom QoS profiles, we could add a parameter to the ros2_control
urdf tag that expose it to the user.
Have you considered to template this project as ros2_control might expose more but only joint states?
Do you mean a template that could be used by other users to generate a similar package? I don't think that's needed, if someone has a feature in mind this should create Issue/PR.
PRs are welcome, please feel free to open a PR that add other interfaces, too!
thank you very much for the helpful response!
Do you mean tracking the features roadmap? This package work for our use cases, we don't have any new feature in mind
Okay that answers the question.
Do you mean a template that could be used by other users to generate a similar package? I don't think that's needed, if someone has a feature in mind this should create Issue/PR.
This implementation exposes joint states to ros2_control, which is the most common case, but different sensors might provide different interfaces. But as you said, it is unlikely someone would need it and if in need, that person should implement it.
Again, thanks for the feedback.
Kind regards
Is there any way to track the progress of this project?
Is there any work that attempts to make the entire ros2_control stack topic based? ie making this project native ros2_control rather than wrapping it. Using intra-process communication and custom QoS profiles? I think this would greatly simplify hardware integration and might be sufficiently quick.
Have you considered to template this project as ros2_control might expose more but only joint states?
Thank you for the response! Feel free to close!