Closed evan-palmer closed 1 year ago
The velocity command interface does not work on hardware. This is because the export_command_interfaces sets the velocity command interface to the state interface instead of the velocity interface. That is instead of being set to this
export_command_interfaces
info_.joints[i].name, hardware_interface::HW_IF_VELOCITY, &hw_commands_velocities_[i]
The line is set to this
info_.joints[i].name, hardware_interface::HW_IF_VELOCITY, &hw_states_velocities_[i]
Launch the system using
ros2 launch alpha_bringup alpha.launch.py use_fake_hardware:=false serial_port:=/dev/ttyUSB0 robot_controller:=forward_velocity_controller
Send a command to the velocity interface
The command interface should successfully send the commands.
No response
Docker container running on a Raspberry Pi 4
Issue Description
The velocity command interface does not work on hardware. This is because the
export_command_interfacessets the velocity command interface to the state interface instead of the velocity interface. That is instead of being set to thisThe line is set to this
Steps to Reproduce
Launch the system using
Send a command to the velocity interface
Expected Behavior
The command interface should successfully send the commands.
Error Message
No response
Runtime Environment
Docker container running on a Raspberry Pi 4
Additional Context
No response