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ros-controls / gazebo_ros2_control

Wrappers, tools and additional API's for using ros2_control with Gazebo Classic
Apache License 2.0
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Fix stuck passive joints #237

Closed huemerj closed 1 year ago

huemerj commented 1 year ago

As mentioned in #235 and #219, a problem with passive joints was introduced by the following code line: https://github.com/ros-controls/gazebo_ros2_control/blob/0dc19ab5561f7ef6b6d9addee55a4b01c56de126/gazebo_ros2_control/src/gazebo_system.cpp#L597-L600 As suggested by @destogl, I added a vector with flags which indicates if a joint is active (has command interfaces) or passive and subsequently sets the velocity to zero or not.

ahcorde commented 1 year ago

https://github.com/Mergifyio backport humble

mergify[bot] commented 1 year ago

backport humble

✅ Backports have been created

* [#238 Fix stuck passive joints (backport #237)](https://github.com/ros-controls/gazebo_ros2_control/pull/238) has been created for branch `humble`
huemerj commented 1 year ago

Do you have any plans to port this to gz_ros_control? If you don't have time, I can do it

I will have to set up / convert an example with passive joint for gz_sim, but I can do that.