Add tricycle controller demo #145
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
tonynajjar
force-pushed
the
add-tricycle-controller-demo
branch
from
faf9ab9
to
766d5f4
Compare
|
Hey @tonynajjar could you please fix the conflict on this one? |
…ycle-controller-demo
|
Done. What's the preferred way to activate the controllers, via the spawner as done in tricycle launch files or with "ros2 control" as done in differential launch files? |
ahcorde
requested changes
Jul 26, 2022
There was a problem hiding this comment.
Done. What's the preferred way to activate the controllers, via the spawner as done in tricycle launch files or with "ros2 control" as done in differential launch files?
@tonynajjar, I prefer ros2 control cmd, like the other examples
do you mind to fix linters?
|
Changed to |
ahcorde
requested changes
Jul 26, 2022
Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com>
|
Done |
ahcorde
requested changes
Jul 26, 2022
ahcorde
requested changes
Jul 26, 2022
Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com>
No the PR is still not merged, I wanted to offer the maintainers a way to test it with this PR |
tonynajjar
commented
Jul 26, 2022
README.md
Outdated
| @@ -235,6 +236,7 @@ ros2 run gazebo_ros2_control_demos example_position | |||
| ros2 run gazebo_ros2_control_demos example_velocity | |||
| ros2 run gazebo_ros2_control_demos example_effort | |||
| ros2 run ign_ros2_control_demos example_diff_drive | |||
There was a problem hiding this comment.
Is ign_ros2_control_demos intentional here?
There was a problem hiding this comment.
nope, it's wrong too.
Do you have any plans to include this demo in ign_ros2_control ?
There was a problem hiding this comment.
No not at the moment, maybe when I migrate to ignition.
Changed ign_ros2_control_demos to gazebo_ros2_control_demos
ahcorde
requested changes
Jul 26, 2022
There was a problem hiding this comment.
I compiled from source the controller and I;m getting this error
[gzserver-1] [INFO] [1658874234.382522606] [controller_manager]: Loading controller 'tricycle_controller'
[gzserver-1] [INFO] [1658874234.405261155] [controller_manager]: Setting use_sim_time=True for tricycle_controller to match controller manager (see ros2_control#325 for details)
[gzserver-1] [INFO] [1658874234.428799512] [controller_manager]: Configuring controller 'tricycle_controller'
[gzserver-1] [INFO] [1658874234.458278809] [tricycle_controller]: On activate: Initialize Joints
[gzserver-1] [INFO] [1658874234.458323956] [tricycle_controller]: Get Wheel Joint Instance
[gzserver-1] [ERROR] [1658874234.458414226] [tricycle_controller]: Unable to obtain joint state handle for traction_joint
[gzserver-1] [INFO] [1658874234.458428779] [tricycle_controller]: Get Steering Joint Instance
[gzserver-1] [ERROR] [1658874234.458434899] [tricycle_controller]: Unable to obtain joint state handle for steering_joint
[gzserver-1] [WARN] [1658874234.458450560] []: Error occurred while doing error handling.
[gzserver-1] [ERROR] [1658874234.459401166] [controller_manager]: After activating, controller 'tricycle_controller' is in state 'unconfigured', expected Active
[ros2-6] Sucessfully loaded controller tricycle_controller into state active
|
Weird, I can't reproduce. What version of ros2_control are you using? it should be master. You might be missing these changes https://github.com/ros-controls/ros2_control/pull/737/files |
ahcorde
approved these changes
Jul 28, 2022
There was a problem hiding this comment.
Thank you for the iterations! I will approve this PR, but I can't merge it until the other PR ros-controls/ros2_controllers#345 is in.
Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com>
Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com>
|
Thanks for the review, I made the last fixes. Yep, let's wait for the other PR to be merged first 👍 |
destogl
approved these changes
Aug 4, 2022
bmagyar
approved these changes
Aug 4, 2022
|
Thank you for this example @tonynajjar, do you have any plans to add this example to |
|
No problem! As mentioned here I wasn't thinking of adding it to gz_ros2_control but if it's not too much work I can give it a shot (I don't know how different Gazebo and Gazebo Classic are) |
|
great @tonynajjar, feel free to ping me if you need help |
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.
After ros-controls/ros2_controllers#345 is merged