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Robotic-Decision-Making-Lab / angler

ROS 2 framework for lightweight autonomous underwater vehicle manipulator systems
https://robotic-decision-making-lab.github.io/angler/
MIT License
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[BUG]: Initial position not set when velocity controller is loaded #13

Open evan-palmer opened 1 year ago

evan-palmer commented 1 year ago

Issue Description

When attempting to set the initial position of the manipulator using the initial_value state interface param for ros2_control, the position is never set when a velocity controller is loaded. This error occurs only in simulation. I have reported the issue at gz_ros2_control as well (see here.

Steps to Reproduce

Launch angler with SITL and a controller with a velocity command interface:

ros2 launch angler_bringup angler.launch.py use_sim:=true

Observe the initial position was not set. :cry:

Expected Behavior

The robot is set to the configured initial position.

Error Message

No response

Runtime Environment

This is run inside the development container with ROS Rolling and Gazebo Garden.

Additional Context

I implemented the initial_position_setter as a temporary hack for this while I wait for a response/fix.

evan-palmer commented 3 months ago

The ros2_control folks have resolved this issue. Just need to do some additional testing with it and then I can remove the dependency on my fork