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ros-controls / roscon2022_workshop

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Command for "forward command controller" (FCC) #24

Open emp0012 opened 4 months ago

emp0012 commented 4 months ago

The command ros2 launch controlko_bringup rrbot.launch.py doesn't work for FCC. Instead ros2 launch controlko_bringup rrbot.launch.py robot_controller:=forward_position_controller works.

logdog commented 1 month ago

I have the same issue. With the command ros2 launch controlko_bringup rrbot.launch.py the robot controller defaults to the displacement_controller. See the command output:

[ros2_control_node-1] [INFO] [1722875900.820652998] [controller_manager]: Loading controller 'displacement_controller'
[spawner-5] [INFO] [1722875900.867423090] [spawner_displacement_controller]: Loaded displacement_controller
[ros2_control_node-1] [INFO] [1722875900.868715537] [controller_manager]: Configuring controller 'displacement_controller'
[ros2_control_node-1] [INFO] [1722875900.873554924] [displacement_controller]: configure successful
[spawner-5] [INFO] [1722875900.901854982] [spawner_displacement_controller]: Configured and activated displacement_controller