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set the robot description parameter #277
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@ahcorde |
@ahcorde @christophfroehlich The PR was already verified last week: https://github.com/ros-controls/gazebo_ros2_control/actions/runs/7783361932 |
https://github.com/Mergifyio backport iron master |
✅ Backports have been created
|
(cherry picked from commit 7f23568)
(cherry picked from commit 7f23568)
This merge resolves the issue with robot description parameter in controller manager and controllers.
Some custom controllers require information about robot description, which are available normally over a parameter of controller manager and controllers in the ros2 control. However, this parameter was missing, if the controller manager (as well controllers) is started over gazebo ros2 control. Therefore, the custom controllers could not be used/tested with the gazebo.
I tested this code with my custom controllers.
If you have some remarks, I would be glad to introduce some improvement.
Here is an output of parameter list before (without robot description parameter):
And here is the output with the fix:
To get the robot description parameter value over cli returns the correct urdf.