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ros-controls / ros2_controllers

Generic robotic controllers to accompany ros2_control
https://control.ros.org
Apache License 2.0
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Admittance Controller: parameter robot_description not set #1379

Closed mhubii closed 2 days ago

mhubii commented 3 days ago

Hi All,

trying to run the admittance controller. (Ubuntu 24.04, rolling). Receiving:

[ros2_control_node-3] [ERROR] [1732101243.342290020] [kinematics_interface_kdl]: parameter robot_description not set

The calling order:

  1. https://github.com/ros-controls/ros2_controllers/blob/79358e38100139cd1d91ba8d090a388677d464b3/admittance_controller/src/admittance_controller.cpp#L284

  2. https://github.com/ros-controls/ros2_controllers/blob/79358e38100139cd1d91ba8d090a388677d464b3/admittance_controller/include/admittance_controller/admittance_rule_impl.hpp#L62

  3. Triggered here: https://github.com/ros-controls/kinematics_interface/blob/822cff404424004d646d384c8dfedb226de2b54a/kinematics_interface_kdl/src/kinematics_interface_kdl.cpp#L42

The controller_manager is namespaced.

Any idea? Thank you!

christophfroehlich commented 2 days ago

Have you built the rolling stack from source? We recently changed this with https://github.com/ros-controls/ros2_controllers/pull/1247, but the binaries haven't been synced yet.

mhubii commented 2 days ago

hi @christophfroehlich and thank you for the hint. Been using distributed binaries

mhubii commented 2 days ago

I presume that this is fixed, just not in the binaries yet. Closing.

bmagyar commented 2 days ago

Correct. It was flagged up by the tests straight away. We still support getting the description from params but it's only for backward compatibility for older distros.