ROS2 – Extend the controller to head, torso, left/right_leg

[Nicogene]

This is a follow-up of #4.

We would like to add the controllers for handling also:

• head
• torso
• right_leg
• left_leg

[martinaxgloria]

Hi @Nicogene,

I modified the configuration files inside the package icub_moveit_config in order to include a ros2 controller for each part (head, l_arm, r_arm, torso, l_leg and r_leg). After that, I tried to launch gazebo and rviz and make some tests in order to see if everything worked properly. I attach here a video:

switch_controllers.webm

I noticed that from the generated configuration file (the ones generated from the moveit setup assistant) some joints were missing, so I checked manually those files and in the end all 32 joints were included.

Now, I will do the same for the ergocub_moveit_config package

cc @pattacini

[martinaxgloria]

Today I modified the ros2/moveit configuration files within ergocub_moveit_config package in order to have one controller for each part also for ergocub. I pushed the changes in this branch

cc @Nicogene @pattacini