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Added logic for hardware interfaces #139

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merged 1 commit into from Jun 24, 2022
Merged

Added logic for hardware interfaces #139

merged 1 commit into from Jun 24, 2022

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ahcorde
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@ahcorde ahcorde commented Jun 20, 2022

Signed-off-by: ahcorde ahcorde@gmail.com

It might be related with this issues ros-controls/gz_ros2_control#62

hardware interfaces now have state logic around them, so they need to be set in the active state. I tried the command added in the issue

ros2 service call controller_manager/set_hardware_component_state controller_manager_msgs/srv/SetHardwareComponentState '{name: 'GazeboSimSystem', target_state: {id: 3, label: ""}}'

and it works but these few lines have the same effect

@ahcorde
Added logic for hardware interfaces
42d5287 
Signed-off-by: ahcorde <ahcorde@gmail.com>
@ahcorde ahcorde requested review from destogl and bmagyar June 20, 2022 12:04
@ahcorde ahcorde self-assigned this Jun 20, 2022
destogl
destogl approved these changes Jun 24, 2022
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I think this is good for now. Maybe at some point we have to add also hardware lifecycle in the simulation.

@destogl destogl merged commit 979e742 into master Jun 24, 2022
@destogl destogl deleted the ahcorde/master/logic_hardware_interfaces branch June 24, 2022 15:09
@destogl destogl mentioned this pull request Jun 28, 2022
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ahcorde added a commit to ahcorde/rosdistro that referenced this pull request Jul 5, 2022
@ahcorde
gazebo_ros2_control: 0.3.1-1 in 'rolling/distribution.yaml' [bloom]
624ed78 
Increasing version of package(s) in repository `gazebo_ros2_control` to `0.3.1-1`:

- upstream repository: https://github.com/ros-simulation/gazebo_ros2_control.git
- release repository: https://github.com/ros2-gbp/gazebo_ros2_control-release.git
- distro file: `rolling/distribution.yaml`
- bloom version: `0.11.1`
- previous version for package: `0.3.0-1`

```
* Added logic for activating hardware interfaces (ros#139 <ros-controls/gazebo_ros2_control#139>)
* Adjust repo URL (ros#134 <ros-controls/gazebo_ros2_control#134>)
* Contributors: Alejandro Hernández Cordero, Bence Magyar
```

```
* Fixed CMake source file extension (ros#140 <ros-controls/gazebo_ros2_control#140>)
* Adding simulation time parameter for the controller manager (ros#138 <ros-controls/gazebo_ros2_control#138>)
  Adding the simulation parameter so that the controller manager uses the simulation time instead of the ROS time.  The '/odom' and corresponding tf will only be published if this parameter is set to true.
* Adjust repo URL (ros#134 <ros-controls/gazebo_ros2_control#134>)
* Changed launch variable name (ros#130 <ros-controls/gazebo_ros2_control#130>)
* Contributors: Alejandro Hernández Cordero, Bence Magyar, Eslam Salah, Jakub "Deli" Delicat
```

Signed-off-by: ahcorde <ahcorde@gmail.com>
tfoote pushed a commit to ros/rosdistro that referenced this pull request Jul 7, 2022
@ahcorde
gazebo_ros2_control: 0.3.1-1 in 'rolling/distribution.yaml' [bloom] (#…
e761327 
…33784)

Increasing version of package(s) in repository `gazebo_ros2_control` to `0.3.1-1`:

- upstream repository: https://github.com/ros-simulation/gazebo_ros2_control.git
- release repository: https://github.com/ros2-gbp/gazebo_ros2_control-release.git
- distro file: `rolling/distribution.yaml`
- bloom version: `0.11.1`
- previous version for package: `0.3.0-1`

```
* Added logic for activating hardware interfaces (#139 <ros-controls/gazebo_ros2_control#139>)
* Adjust repo URL (#134 <ros-controls/gazebo_ros2_control#134>)
* Contributors: Alejandro Hernández Cordero, Bence Magyar
```

```
* Fixed CMake source file extension (#140 <ros-controls/gazebo_ros2_control#140>)
* Adding simulation time parameter for the controller manager (#138 <ros-controls/gazebo_ros2_control#138>)
  Adding the simulation parameter so that the controller manager uses the simulation time instead of the ROS time.  The '/odom' and corresponding tf will only be published if this parameter is set to true.
* Adjust repo URL (#134 <ros-controls/gazebo_ros2_control#134>)
* Changed launch variable name (#130 <ros-controls/gazebo_ros2_control#130>)
* Contributors: Alejandro Hernández Cordero, Bence Magyar, Eslam Salah, Jakub "Deli" Delicat
```

Signed-off-by: ahcorde <ahcorde@gmail.com>
tonynajjar
tonynajjar reviewed Jul 19, 2022
View reviewed changes
gazebo_ros2_control/src/gazebo_ros2_control_plugin.cpp
rclcpp_lifecycle::State state(
lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE,
hardware_interface::lifecycle_state_names::ACTIVE);
resource_manager_->set_component_state("GazeboSimSystem", state);
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Isn't it supposed to be "GazeboSystem"? That's the name used in the demos

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Just saw that @samiamlabs commented the same

@mcbed mcbed mentioned this pull request Jul 21, 2022
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@destogl destogl mentioned this pull request Jul 22, 2022
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ahcorde added a commit that referenced this pull request Aug 15, 2022
@ahcorde
Added logic for activating hardware interfaces (#139)
108d32d 
Signed-off-by: ahcorde <ahcorde@gmail.com>
@ahcorde ahcorde mentioned this pull request Aug 15, 2022
Merged
destogl pushed a commit that referenced this pull request Aug 17, 2022
@ahcorde @ksotebeer
@mcbed @bmagyar
[backport Foxy] #136 #147 #139 #134 (#150)
07be690 
* Implemented perform_command_mode_switch override in GazeboSystem (#136)
* added namespace to controller manager (#147)
* Added logic for activating hardware interfaces (#139)

Signed-off-by: ahcorde <ahcorde@gmail.com>
Co-authored-by: Keegan Sotebeer <ksotebeer95@gmail.com>
Co-authored-by: Maciej Bednarczyk <83034299+mcbed@users.noreply.github.com>
Co-authored-by: Bence Magyar <bence.magyar.robotics@gmail.com>
ahcorde added a commit that referenced this pull request Nov 21, 2022
@ahcorde @hobbeshunter
@ksotebeer @mcbed @bmagyar @leander-dsouza @eslamsalahelsheikh
Foxy to galactic (#160)
f3bf3ca 
* fix maintainer email (#92)

Signed-off-by: ahcorde <ahcorde@gmail.com>

* CHANGELOG

Signed-off-by: ahcorde <ahcorde@gmail.com>

* 0.0.4

* 0.0.5

* Update Foxy dockerfile (#101)

Signed-off-by: ahcorde <ahcorde@gmail.com>

* Declare dependency of gazebo_hardware_plugins to urdf in CMakeLists.txt (#117) (#119)

Co-authored-by: Martin Wudenka <Martin.Wudenka@gmx.de>

* Added diff drive example (#113)

Signed-off-by: ahcorde <ahcorde@gmail.com>

* changelog

Signed-off-by: ahcorde <ahcorde@gmail.com>

* 0.1.0

* [backport Foxy] #136 #147 #139 #134 (#150)

* Implemented perform_command_mode_switch override in GazeboSystem (#136)
* added namespace to controller manager (#147)
* Added logic for activating hardware interfaces (#139)

Signed-off-by: ahcorde <ahcorde@gmail.com>
Co-authored-by: Keegan Sotebeer <ksotebeer95@gmail.com>
Co-authored-by: Maciej Bednarczyk <83034299+mcbed@users.noreply.github.com>
Co-authored-by: Bence Magyar <bence.magyar.robotics@gmail.com>

* [Backport Foxy] Support for mimic joints and example with gripper. (#121)

* [Backport Foxy] Support for mimic joints and example with gripper.

* Enable loading params from multiple yaml files (#149) (#151)

Co-authored-by: Tony Najjar <tony.najjar@logivations.com>

* Adding simulation time parameter for the controller manager (#138) (#158)

Co-authored-by: Eslam Salah <eslamsalahelsheikh@gmail.com>

* Changelog

Signed-off-by: ahcorde <ahcorde@gmail.com>

* 0.1.1

* Add pre-commit hooks configuration (#161)

* Add pre-commit hooks configuration

Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com>

* Pre-commit in a separate action

Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com>

* Fix codespell

Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com>

Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com>

Signed-off-by: ahcorde <ahcorde@gmail.com>
Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com>
Co-authored-by: Martin Wudenka <Martin.Wudenka@gmx.de>
Co-authored-by: Keegan Sotebeer <ksotebeer95@gmail.com>
Co-authored-by: Maciej Bednarczyk <83034299+mcbed@users.noreply.github.com>
Co-authored-by: Bence Magyar <bence.magyar.robotics@gmail.com>
Co-authored-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com>
Co-authored-by: Tony Najjar <tony.najjar@logivations.com>
Co-authored-by: Eslam Salah <eslamsalahelsheikh@gmail.com>
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@destogl destogl destogl approved these changes

@bmagyar bmagyar Awaiting requested review from bmagyar

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