Position control with Ignition Fortress

[benediktkreis]

Hi,

this is my first contribution to ROS2. So please forgive me if I have made any mistakes.

I have tried to run ros2 launch ur_simulation_ignition ur_sim_moveit.launch.py, but it did not work. The following command is working in my setup with the following code changes.

My setup

ROS2 version: Galactic Ignition version: Fortress Moveit2 version: Binary install for ROS2 Galactic

Command

Example command to launch Moveit and Ignition with UR5e model: ros2 launch ur_simulation_ignition ur_sim_moveit.launch.py ur_type:=ur5e

Code changes

• ur_moveit.launch.py was added from ur_bringup, because there is no launch file with this name in the ur_moveit_config and to set use_sim_time=True in the parameters of the move_group_node. I am not sure why this package was changed in #1
• update_rate in ur_controllers.yaml was set to 1000 Hz to get rid of Ignition warning: "Desired controller update period (0.002 s) is slower than the gazebo simulation period (0.001 s).".
• Position control with ign_ros2_control only works with the galactic branch (see bug fix #29).
• delay_rviz_after_joint_state_broadcaster_spawner in ur_sim_control.launch.py caused the launching of 2 RVIZ windows. So I have removed it.

Output

[benediktkreis]

Hi @destogl, what do you think about my last commits and comments? Are further adjustments required?

[fmauch]

Hi, we haven't been giving this repository a lot of attention recently. We are currently in the process of making things work again. Currently, Humble and Iron (Provided the description is built from source ATM) should be working, the version from #7 should work on Rolling. All tested with the default GZ version.

Therefore, I would go ahead and close this, as I guess this would be included / supersed by the latest changes. Feel free to comment / reopen if you think otherwise.