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Mimic Joint Improvement #86

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Mimic Joint Improvement #86

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livanov93
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After #33 has been merged I stumbled upon small errors and spaces for improvement.
PR info:

  • moving from JointVelocityCmd to JointVelocityReset because there was an error in handling joint limits and recovery from hitting them (more information can be found here )
  • mimic joint control method is now handled in perform_command_mode_switch which is called upon any controller switch.

@livanov93
Adapt mimic joint control method in perform_switch. Other mimic relat…
c2237cb 
…ed small changes. Use components::VelocityResetCmd to be able to recover from joint limits.
ahcorde
ahcorde requested changes Sep 9, 2022
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originally I was using JointPositionReset and JointVelocityReset bit it's a bad idea, these components are not design to be used like this. I have my concern about following up with this idea. we should fix the issue in gz-sim

@destogl destogl mentioned this pull request Sep 10, 2022
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destogl commented Sep 10, 2022

originally I was using JointPositionReset and JointVelocityReset bit it's a bad idea, these components are not design to be used like this. I have my concern about following up with this idea. we should fix the issue in gz-sim

Do you have any idea what is causing the issue?

@livanov93
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@ahcorde I opened an issue in gz-sim. Could we collaborate on fixing this?

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ahcorde commented Oct 5, 2022

@ahcorde I opened an issue in gz-sim. Could we collaborate on fixing this?

Response here #67 (comment)

@Kuwamai Kuwamai mentioned this pull request Nov 2, 2022
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@MarqRazz MarqRazz mentioned this pull request May 4, 2023
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MarqRazz commented May 5, 2023

I'm building a mobile manipulator and this PR fixes the GripperActionController on the Robotiq but my mobile base DiffDriveController looses the ability to turn if I'm on this branch in Ignition Gazebo. It can still move forward/reverse but not rotate. Switching between this branch and humble I can re-enable rotating but loose the gripper.

@moriarty moriarty mentioned this pull request Jul 17, 2023
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originally I was using JointPositionReset and JointVelocityReset bit it's a bad idea, these components are not design to be used like this. I have my concern about following up with this idea. we should fix the issue in gz-sim

Do you have any idea what is causing the issue?

@ahcorde I opened an issue in gz-sim. Could we collaborate on fixing this?

Response here #67 (comment)

I just ran into this issue myself: PickNikRobotics/ros2_robotiq_gripper#7
and applying the patch from this PR did fix it: https://github.com/ros-controls/gz_ros2_control/pull/86.patch
But the patch doesn't apply cleanly on Rolling, it did on Humble.

@ahcorde & @azeey what's the best way forward? You mentioned we should fix the issue in gz-sim
There haven't been any comments on the issue filed gazebosim/gz-sim#1684
Do you have any suggestions or ideas that we can help with?

moriarty added a commit to Kinovarobotics/ros2_kortex that referenced this pull request Jul 17, 2023
@moriarty
Document Gazebo Mimic Joint Issue
c9cb373 
Add links in README to the mimic joints isssue & work around.

- Upstream Issue: gazebosim/gz-sim#1684
- Work Around PR: ros-controls/gz_ros2_control#86
- Tracking Issue: PickNikRobotics/ros2_robotiq_gripper#7

Signed-off-by: Alexander Moriarty <alex.moriarty@picknik.ai>
@moriarty moriarty mentioned this pull request Jul 17, 2023
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moriarty added a commit to Kinovarobotics/ros2_kortex that referenced this pull request Jul 17, 2023
@moriarty
Document Gazebo Mimic Joint Issue
c00fea2 
Add links in README to the mimic joints isssue & work around.

- Upstream Issue: gazebosim/gz-sim#1684
- Work Around PR: ros-controls/gz_ros2_control#86
- Tracking Issue: PickNikRobotics/ros2_robotiq_gripper#7

Signed-off-by: Alexander Moriarty <alex.moriarty@picknik.ai>
moriarty added a commit to Kinovarobotics/ros2_kortex that referenced this pull request Jul 18, 2023
@moriarty
Document Gazebo Mimic Joint Issue (#149)
056be22 
Add links in README to the mimic joints isssue & work around.

- Upstream Issue: gazebosim/gz-sim#1684
- Work Around PR: ros-controls/gz_ros2_control#86
- Tracking Issue: PickNikRobotics/ros2_robotiq_gripper#7

Signed-off-by: Alexander Moriarty <alex.moriarty@picknik.ai>
@Kuwamai Kuwamai mentioned this pull request Oct 25, 2023
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ahcorde commented Apr 24, 2024

the mimic joint was recently updated on master, closing this PR, feel free to reopen it if some of the changes are still relevant

@ahcorde ahcorde closed this Apr 24, 2024
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@livanov93 @destogl @ahcorde @MarqRazz @moriarty