Ros2_control package #42
Merged
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Now the robots urdf (for ROS2) will be managed by a new package called cer_description. All ros2 packages (like cer_rviz2 which was providing ros2 acces to the simulated robot urdf up untill now)that will need to access R1 (real and simulated) urdf will have to do it through this package. Also, the robots urdf will get their meshes from cer_description as well.
Added a new package that contains the needed files needed to control R1 through ros2_control
randaz81
approved these changes
Dec 6, 2023
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
This PR adds a new ros2 package that allows to control the robot (may it be the simulated one or the real one) neck joints (only in position for the moment being) through ros2_control tools (just the forward_command_controller for now) and, only for the simulated robot for now, both the arms (again, only in position and only with the forward_command_controller).
IMPORTANT NOTE: this PR needs the ros2_control hardware component that PR #53 will add to
yarp-devices-ros2This is just a first step towards a complete compatibility between
R1andros2_controlThis PR contains also two other major changes.
cer_rviz2to a new package calledcer_descriptionwhich will also provide a quick way to access the urdf of the real robots for ros2 packagescer_descriptionpackage