Open firesurfer opened 6 months ago
@stefanscherzinger A follow up for you -> In the current rolling branch of ros2control they introduced the URDF as member of the controller base class. This change will not be backported to iron/humble.
So what's the latest state? How do we actually load a controller from this repo if the robot_description is read from the topic?
You simply don't at the moment. I think @stefanscherzinger doesn't find any time to work on these controllers at the moment.
Hi @stefanscherzinger,
ros2control deprecated loading the robot_description from the parameter file and wants us to load it from the corresponding topic. I just adapted to this change and realized I can not load the cartesian controllers anymore.
For example for the
cartesian_motion_controller
Not sure if this is a bug in ros2control (that is should properly pass this parameter to the controller nodes) or if a controller is supposed to obtain the robot_description from the corresponding topic itself. I will also open an issue in the ros2control repository asking how this should be handled.