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xArm-Developer / xarm_ros2

ROS2 developer packages for robotic products from UFACTORY
https://www.ufactory.cc/pages/xarm
BSD 3-Clause "New" or "Revised" License
125 stars 77 forks source link

Configuring gazebo and questions about gazebo_ros2_control #103

Open lnss1-ua opened 1 month ago

lnss1-ua commented 1 month ago

Hello, I wanted to create a custom controller but it seemed that it's impossible to make a custom controller and link it to gazebo or moveit within this repository. Could someone give some advice on how to make a custom configuration for gazebo or how to custom the gazebo_ros2_control.

Is there actually a way to make a custom controller and simulate it ?

thank you.

lnss1-ua commented 1 month ago

Also I wanted to ask if someone would be able to explain how does the simulation here actually works. I saw that there is a fake controller that mocks the robot but I don't really understand how does it link with the simulation.