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fzi-forschungszentrum-informatik / cartesian_controllers

A set of Cartesian controllers for the ROS1 and ROS2-control framework.
BSD 3-Clause "New" or "Revised" License
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Port `motion_control_handle` to Jazzy #214

Closed zixingjiang closed 1 month ago

zixingjiang commented 1 month ago

Hi @stefanscherzinger,

Thank you for porting cartesian_controllers to Jazzy. After trying it out, I found the motion_control_handle was left out. It still tries to get robot_description from the parameter, which is deprecated. To fix it, this PR let the motion_control_handle get robot_description from the controller's base class for Jazzy, as done in cartesian_controller_base.cpp.

stefanscherzinger commented 1 month ago

Thanks @zixingjiang for spotting this and for the PR! I rebased it since it's a single-commit contribution.