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[Hydro] use position hwi #179

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merged 3 commits into from Mar 12, 2015

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commented Mar 3, 2015

This brings the PositionJointInterface for hydro-devel (the respective PR for indigo-devel was #161)

Please note:
Due to the fact that there is a commit in the control_toolbox that only made it into indigo-devel, you will see the following error message during startup of gazebo

[ERROR] [1425406884.020136717, 0.973000000]: No p gain specified for pid.  Namespace: /gazebo_ros_control/pid_gains/shoulder_pan_joint
[ERROR] [1425406884.021714216, 0.973000000]: No p gain specified for pid.  Namespace: /gazebo_ros_control/pid_gains/shoulder_lift_joint
[ERROR] [1425406884.022994894, 0.973000000]: No p gain specified for pid.  Namespace: /gazebo_ros_control/pid_gains/elbow_joint
[ERROR] [1425406884.024173387, 0.973000000]: No p gain specified for pid.  Namespace: /gazebo_ros_control/pid_gains/wrist_1_joint
[ERROR] [1425406884.025289588, 0.973000000]: No p gain specified for pid.  Namespace: /gazebo_ros_control/pid_gains/wrist_2_joint
[ERROR] [1425406884.026469266, 0.973000000]: No p gain specified for pid.  Namespace: /gazebo_ros_control/pid_gains/wrist_3_joint

This is NOT an error! The JointInterface is correct and joint positions are used to move the joints in gazebo.
If the parameters /gazebo_ros_control/pid_gains would be set, the joint_control_method would be POSITION_PID again, which means that efforts are generated within the gazebo_ros_control plugin to command the gazebo joints using efforts again....

Have a look at hydro and indigo for the relevant lines....

@fmessmer

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commented Mar 3, 2015

@abubeck

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commented Mar 12, 2015

Reproduces functionality of indigo.

abubeck pushed a commit that referenced this pull request Mar 12, 2015

@abubeck abubeck merged commit d08141d into ros-industrial:hydro-devel Mar 12, 2015

@fmessmer fmessmer deleted the fmessmer:hydro_use_position_hwi branch Mar 12, 2015

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