Closed mergify[bot] closed 1 week ago
Cherry-pick of 7682dced640efcd67211e085cefbca23e2d1dab5 has failed:
On branch mergify/bp/iron/pr-251
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Changes to be committed:
modified: doc/index.rst
modified: gazebo_ros2_control/src/gazebo_ros2_control_plugin.cpp
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both modified: gazebo_ros2_control/src/gazebo_system.cpp
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@HPCLOL posted a use case of gazebo in https://github.com/ros-controls/ros2_controllers/issues/875: If the simulation is started with an inactive controller, the robot should move with gravity as if the joints were passive.
As discussed with #250 this is currently not possible. This PR adds an parameter to enable this behavior (again).
GazeboSystem
this parameter parsed from the gazebo plugin without changing API. Therefore, I used a ROS parameter of the gazebo_ros2_control node to pass the information.The result looks like this if no controller was spawned:
https://github.com/ros-controls/gazebo_ros2_control/assets/3367244/45e2f56a-7173-4cee-a30e-02713127c63b
This is an automatic backport of pull request #251 done by Mergify.