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Signed-off-by: ahcorde <ahcorde@gmail.com>
ahcorde
added
documentation
chapulina
reviewed
Jun 24, 2020
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For these instructions to work, I had to:
- Make the change on Fix compilation on master #13
- Comment out
#find_package(rclcpp REQUIRED)onjoint_limits_interface, I have no idea why. With that I was getting this compilation error:
--- stderr: joint_limits_interface
CMake Error at /usr/share/cmake-3.16/Modules/FindPackageHandleStandardArgs.cmake:146 (message):
Could NOT find FastRTPS (missing: FastRTPS_INCLUDE_DIR FastRTPS_LIBRARIES)
Call Stack (most recent call first):
/usr/share/cmake-3.16/Modules/FindPackageHandleStandardArgs.cmake:393 (_FPHSA_FAILURE_MESSAGE)
/opt/ros/foxy/share/fastrtps_cmake_module/cmake/Modules/FindFastRTPS.cmake:95 (find_package_handle_standard_args)
/opt/ros/foxy/share/rosidl_typesupport_fastrtps_c/cmake/rosidl_typesupport_fastrtps_c-extras.cmake:7 (find_package)
/opt/ros/foxy/share/rosidl_typesupport_fastrtps_c/cmake/rosidl_typesupport_fastrtps_cConfig.cmake:41 (include)
/opt/ros/foxy/share/rosidl_typesupport_c/cmake/rosidl_typesupport_c-extras.cmake:13 (find_package)
/opt/ros/foxy/share/rosidl_typesupport_c/cmake/rosidl_typesupport_cConfig.cmake:41 (include)
/opt/ros/foxy/share/rosidl_default_runtime/cmake/rosidl_default_runtime-extras.cmake:12 (find_package)
/opt/ros/foxy/share/rosidl_default_runtime/cmake/rosidl_default_runtimeConfig.cmake:41 (include)
/opt/ros/foxy/share/builtin_interfaces/cmake/ament_cmake_export_dependencies-extras.cmake:21 (find_package)
/opt/ros/foxy/share/builtin_interfaces/cmake/builtin_interfacesConfig.cmake:41 (include)
/opt/ros/foxy/share/rcl_interfaces/cmake/ament_cmake_export_dependencies-extras.cmake:21 (find_package)
/opt/ros/foxy/share/rcl_interfaces/cmake/rcl_interfacesConfig.cmake:41 (include)
/opt/ros/foxy/share/rcl/cmake/ament_cmake_export_dependencies-extras.cmake:21 (find_package)
/opt/ros/foxy/share/rcl/cmake/rclConfig.cmake:41 (include)
/opt/ros/foxy/share/libstatistics_collector/cmake/ament_cmake_export_dependencies-extras.cmake:21 (find_package)
/opt/ros/foxy/share/libstatistics_collector/cmake/libstatistics_collectorConfig.cmake:41 (include)
/opt/ros/foxy/share/rclcpp/cmake/ament_cmake_export_dependencies-extras.cmake:21 (find_package)
/opt/ros/foxy/share/rclcpp/cmake/rclcppConfig.cmake:41 (include)
CMakeLists.txt:6 (find_package)
---
Failed <<< joint_limits_interface [ Exited with code 1 ]
chapulina
reviewed
Jun 24, 2020
chapulina
reviewed
Jun 24, 2020
Signed-off-by: ahcorde <ahcorde@gmail.com>
chapulina
reviewed
Jun 25, 2020
chapulina
reviewed
Jun 25, 2020
README.md
Outdated
| <plugin filename="libgazebo_ros2_control.so" name="gazebo_ros2_control"> | ||
| <robotSimType>gazebo_ros2_control/DefaultRobotHWSim</robotSimType> | ||
| <robotParamNode>robot_state_publisher</robotParamNode> | ||
| <legacyModeNS>True</legacyModeNS> |
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Legacy can be removed.
Also, now that we're using gazebo_ros::Node, you could add some examples inside <plugin><ros>, like namespaces and remappings.
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Added <remapping> and <namespace> b8ce192
Signed-off-by: ahcorde <ahcorde@gmail.com>
…tion/gazebo_ros2_control into ahcorde/documentation
|
Ready for another review @chapulina |
Signed-off-by: ahcorde <ahcorde@gmail.com>
Signed-off-by: ahcorde <ahcorde@gmail.com>
chapulina
approved these changes
Aug 3, 2020
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This PR added the documentation to understand, compile and run
gazebo_ros2_controlThese PRs are related to this PR
One PR is also on the way when the PID wrapper in control_toolbox is ready ros-controls/control_toolbox#97 (comment)
Signed-off-by: ahcorde ahcorde@gmail.com