Multiple command interfaces not functioning

[mhubii]

Hi, I am trying to add gazebo fortress to https://github.com/lbr-stack/lbr_fri_ros2_stack for humble

Therefore I have installed ros-humble-ign-ros2-control binaries.

I added the following sections to the urdf

        <gazebo>
            <plugin filename="ign_ros2_control-system" name="ign_ros2_control::IgnitionROS2ControlPlugin">
                ...
            </plugin>
        </gazebo>

        <ros2_control name="lbr_hardware_interface" type="system">
            <hardware>
                <plugin>ign_ros2_control/IgnitionSystem</plugin>
            </hardware>
        </ros2_control>

The simulation starts and the controllers get activated. However, when sending commands to the action server, the robot just won't move and I don't know what to do. The joint state broadcaster works fine.

The demos in this repository work fine.

What is something that I could be looking for? Thank you for the help!

[mhubii]

I believe to have found the issue. If inside

<ros2_control>
    <joint ...>
        <command_interface>...</command_interface>
        <command_interface>...</command_interface>
    </joint>
</ros2_control>

there are multiple command interfaces, ign_ros2_control doesn't seem to work?

when a command interface is removed, the system works as intended

iiwa7.webm