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UniversalRobots / Universal_Robots_ROS2_Description

ROS2 URDF description for Universal Robots
BSD 3-Clause "New" or "Revised" License
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Add initial values with new ros2_control notation #40

Closed fmauch closed 1 month ago

fmauch commented 1 year ago

This should help having proper sensor values when using mock_hardware

This accompanies https://github.com/ros-controls/ros2_control/pull/822 to solve https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/390

Open questions: Is this notation supported by gazebo / ignition?

destogl commented 1 year ago

Open questions: Is this notation supported by gazebo / ignition?

In one of them for sure. I developed this, but can remember exactly what is merged and what not:

Gazebo Classic: https://github.com/ros-controls/gazebo_ros2_control/blob/f64e56af4800120150460ffba15cd73db511521c/gazebo_ros2_control/src/gazebo_system.cpp#L204

Gazebo (Ignition): https://github.com/ros-controls/gz_ros2_control/blob/e2a475104b67134cebb697ed533fc3523dfe3924/ign_ros2_control/src/ign_system.cpp#L271

So, I think it is. (not sure if this is some old nomenclature, but it shouldn't be since member is used.)

fmauch commented 1 month ago

This has been implemented by now...