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Fix stuck passive joints (backport #184) #205

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Dec 16, 2023
Merged

Fix stuck passive joints (backport #184) #205

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10 changes: 8 additions & 2 deletions gz_ros2_control/src/gz_system.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -85,6 +85,9 @@ struct jointData
/// \brief Current cmd joint effort
double joint_effort_cmd;

/// \brief flag if joint is actuated (has command interfaces) or passive
bool is_actuated;

/// \brief handles to the joints from within Gazebo
sim::Entity sim_joint;

Expand Down Expand Up @@ -388,6 +391,9 @@ bool GazeboSimSystem::initSim(
this->dataPtr->joints_[j].joint_velocity = initial_velocity;
}
}

// check if joint is actuated (has command interfaces) or passive
this->dataPtr->joints_[j].is_actuated = (joint_info.command_interfaces.size() > 0);
}

registerSensors(hardware_info);
Expand Down Expand Up @@ -652,8 +658,8 @@ hardware_interface::return_type GazeboSimSystem::write(
*jointEffortCmd = sim::components::JointForceCmd(
{this->dataPtr->joints_[i].joint_effort_cmd});
}
} else {
// Fallback case is a velocity command of zero
} else if (this->dataPtr->joints_[i].is_actuated) {
// Fallback case is a velocity command of zero (only for actuated joints)
double target_vel = 0.0;
auto vel =
this->dataPtr->ecm->Component<sim::components::JointVelocityCmd>(
Expand Down
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