Closed mrjogo closed 1 week ago
I've just merged this to the latest version. This seems fine now with one culprit being left:
Using the tf_prefix
will result in an error during controller configuration. E.g.:
ros2 launch ur_simulation_gz ur_sim_control.launch.py tf_prefix:=foo_
[...]
[gz_ros_control]: Loading joint: foo_shoulder_pan_joint
[gz_ros_control]: State:
[gz_ros_control]: position
[gz_ros_control]: found initial value: 0.000000
[gz_ros_control]: velocity
[gz_ros_control]: found initial value: 0.000000
[gz_ros_control]: effort
[gz_ros_control]: found initial value: 0.000000
[gz_ros_control]: Command:
[gz_ros_control]: position
[gz_ros_control]: velocity
[...]
[resource_manager]: Not acceptable command interfaces combination:
Start interfaces:
[
shoulder_pan_joint/position
shoulder_lift_joint/position
elbow_joint/position
wrist_1_joint/position
wrist_2_joint/position
wrist_3_joint/position
]
Stop interfaces:
[
]
Not existing:
[
shoulder_pan_joint/position
shoulder_lift_joint/position
elbow_joint/position
wrist_1_joint/position
wrist_2_joint/position
wrist_3_joint/position
]
So, in case of providing a tf_prefix
users would have to provide their own controllers.yaml
file, as well. This should be at least noted in the docs, which @VinDp is currently writing for #26.
The allow_subst
method as we use in the driver unfortunately doesn't work, since the controllers are loaded from the plugin using the parameters tag which results into having this parameter file passed as --params-file
argument as part of the argv
field in node startup.
I would be fine with this as long as we document it properly.
prefix
totf_prefix
for UR xacro to match change in https://github.com/UniversalRobots/Universal_Robots_ROS2_Description/pull/57ros_ign_gazebo
toros_gz_sim
(and related naming changes) to match Ignition to Gazebo naming change. The transitionros_ign_gazebo
package appears not to accept multi-line arguments, which the URDF is: