This PR adds a new ros2 package that allows to control the robot (may it be the simulated one or the real one) neck joints (only in position for the moment being) through ros2_control tools (just the forward_command_controller for now) and, only for the simulated robot for now, both the arms (again, only in position and only with the forward_command_controller).
IMPORTANT NOTE: this PR needs the ros2_control hardware component that PR #53 will add to yarp-devices-ros2
This is just a first step towards a complete compatibility between R1 and ros2_control
This PR contains also two other major changes.
The simulated robot urdf and the correspondent meshes have been moved from cer_rviz2 to a new package called cer_description which will also provide a quick way to access the urdf of the real robots for ros2 packages
The real robots urdf now get their meshes from the new cer_description package
This PR adds a new ros2 package that allows to control the robot (may it be the simulated one or the real one) neck joints (only in position for the moment being) through ros2_control tools (just the forward_command_controller for now) and, only for the simulated robot for now, both the arms (again, only in position and only with the forward_command_controller). IMPORTANT NOTE: this PR needs the ros2_control hardware component that PR #53 will add to
yarp-devices-ros2This is just a first step towards a complete compatibility between
R1andros2_controlThis PR contains also two other major changes.
cer_rviz2to a new package calledcer_descriptionwhich will also provide a quick way to access the urdf of the real robots for ros2 packagescer_descriptionpackage