I summarized some results of discussions about mimic joints and how I understand that.
Note, this is different than implemented currently with
https://github.com/ros-controls/ros2_control/blob/16fbde3d7ee9e6d7ce19c789887eb4558118f59b/hardware_interface/src/mock_components/generic_system.cpp#L568-L576
This came from the time where we defined the mimic joints in the ros2_control tag. IMHO, it does not make sense now using the URDF-specification, where the behavior of the mimic joint changes by switching the command interface from position to velocity, because we use the offset and calculate
velocity = multiplier * other_joint_velocity + offset
I summarized some results of discussions about mimic joints and how I understand that. Note, this is different than implemented currently with https://github.com/ros-controls/ros2_control/blob/16fbde3d7ee9e6d7ce19c789887eb4558118f59b/hardware_interface/src/mock_components/generic_system.cpp#L568-L576 This came from the time where we defined the mimic joints in the ros2_control tag. IMHO, it does not make sense now using the URDF-specification, where the behavior of the mimic joint changes by switching the command interface from position to velocity, because we use the offset and calculate
velocity = multiplier * other_joint_velocity + offsetAlso related to https://github.com/ros-controls/gazebo_ros2_control/pull/297 and https://github.com/ros-controls/gz_ros2_control/pull/276
I also included transmission interfaces, to give an overview what they are and what they aren't (they were not mentioned once in the docs).
This is an automatic backport of pull request #1497 done by Mergify.