Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Galactic: Pass time and period to update function #88

Merged
merged 3 commits into from
Oct 26, 2021
Merged

Galactic: Pass time and period to update function #88

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
3 commits
Select commit Hold shift + click to select a range
f6b8f2e
Pass time and period to update function
bmagyar Sep 18, 2021
12c531c
Use Galactic in GH action
bmagyar Sep 21, 2021
9b1000f
joint_state_broadcaster in town
bmagyar Oct 15, 2021
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
8 changes: 4 additions & 4 deletions .github/workflows/ci.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -9,7 +9,7 @@ jobs:
build:
runs-on: ubuntu-latest
container:
image: osrf/ros:foxy-desktop
image: osrf/ros:galactic-desktop
steps:
- uses: actions/checkout@v2
- name: Setup colcon workspace
Expand All @@ -26,18 +26,18 @@ jobs:
python3-colcon-ros
cd /home/ros2_ws/src/
rosdep update
rosdep install --from-paths ./ -i -y --rosdistro foxy \
rosdep install --from-paths ./ -i -y --rosdistro galactic \
--ignore-src
- name: Build project
id: build
run: |
cd /home/ros2_ws/
. /opt/ros/foxy/local_setup.sh
. /opt/ros/galactic/local_setup.sh
colcon build --packages-up-to gazebo_ros2_control_demos
- name: Run tests
id: test
run: |
cd /home/ros2_ws/
. /opt/ros/foxy/local_setup.sh
. /opt/ros/galactic/local_setup.sh
colcon test --event-handlers console_direct+ --packages-select gazebo_ros2_control gazebo_ros2_control_demos
colcon test-result
4 changes: 2 additions & 2 deletions gazebo_ros2_control/src/gazebo_ros2_control_plugin.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -369,9 +369,9 @@ void GazeboRosControlPrivate::Update()
rclcpp::Duration sim_period = sim_time_ros - last_update_sim_time_ros_;

if (sim_period >= control_period_) {
last_update_sim_time_ros_ = sim_time_ros;
controller_manager_->read();
controller_manager_->update();
controller_manager_->update(sim_time_ros, sim_period);
last_update_sim_time_ros_ = sim_time_ros;
}

// Always set commands on joints, otherwise at low control frequencies the joints tremble
Expand Down
2 changes: 1 addition & 1 deletion gazebo_ros2_control_demos/package.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -28,7 +28,7 @@
<exec_depend>gazebo_ros</exec_depend>
<exec_depend>hardware_interface</exec_depend>
<exec_depend>joint_trajectory_controller</exec_depend>
<exec_depend>joint_state_controller</exec_depend>
<exec_depend>joint_state_broadcaster</exec_depend>
<exec_depend>launch</exec_depend>
<exec_depend>launch_ros</exec_depend>
<exec_depend>robot_state_publisher</exec_depend>
Expand Down