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ros-controls / gz_ros2_control

Connect the latest version of Gazebo with ros2_control.
https://gazebosim.org
Apache License 2.0
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Effort Values are 0 #169

Open haider8645 opened 11 months ago

haider8645 commented 11 months ago

Hello,

the gz_ros2_control is returning 0 values for the joint state efforts. I saw that the gz_ros2_control has commented out these lines in https://github.com/ros-controls/gz_ros2_control/blob/cf5c6a4135d6b46c95e0e135ffd0400fb4db7731/ign_ros2_control/src/ign_system.cpp#L499](ign_system.cpp

Will the effort values be available at some point in time in the future?

Best, Haider

- interface_names:
  - position
  - velocity
  - effort
  values:
  - 1.3656909652303677e-10
  - 5.423202756300551e-10
  - 0.0
bmagyar commented 11 months ago

Have you tried adding them?

haider8645 commented 10 months ago

What do you mean?

Luigip98 commented 1 month ago

Any update about that? @haider8645

christophfroehlich commented 1 month ago

https://github.com/gazebosim/gz-physics/issues/124 was fixed but not implemented in gz_ros2_control. Happy to review PRs.

azeey commented 1 month ago

@christophfroehlich https://github.com/ros-controls/gz_ros2_control/pull/186/ has an implementation. Is it not complete?

christophfroehlich commented 1 month ago

@christophfroehlich #186 has an implementation. Is it not complete?

I forgot about that PR tbh. But the author did not respond to the requested changes.. Maybe someone can help out with the hardcoded z-component issue there?