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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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Mimic Joint velocity command interface is not getting two consecutive commands #344

Open BarisYazici opened 2 weeks ago

BarisYazici commented 2 weeks ago

I can't send two consecutive velocity commands to the mimic joint gripper. I prepared a minimal reproducible version of the demo code difference

After I start the mimic gripper example with this command: ros2 launch ign_ros2_control_demos gripper_mimic_joint_example.launch.py

I send positive velocity which closes the gripper with the following command. ros2 topic pub /gripper_controller/commands std_msgs/msg/Float64MultiArray "data: [1.0]"

When I send negative velocity there is no change in the gripper position. ros2 topic pub /gripper_controller/commands std_msgs/msg/Float64MultiArray "data: [-1.0]"