MSA: Rework ROS controllers config #2945
Merged
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
We should write separate controller config files for different controller managers: - simple_moveit_controllers.yaml handles everything relevant for SimpleMoveItControllerManager - ros_controllers.yaml handles ros_control config - gazebo_controllers.yaml handles controllers required for Gazebo
- Provide all types of JointTrajectoryController as well as FollowJointTrajectory and GripperCommand (use by simple manager) - Use effort_controllers/JointTrajectoryController as default - Create FollowJointTrajectory entries for any JointTrajectoryController
rhaschke
added a commit
to ubi-agni/moveit
that referenced
this pull request
Nov 5, 2021
This was referenced Nov 5, 2021
Closed
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
The generation of ros_controllers.yaml is screwed since the very beginning (#994).
Primarily, the approach mixed up controller configs for different MoveIt controller managers. Now we separate them:
simple_moveit_controllers.yamlhandles everything relevant for SimpleMoveItControllerManagerros_controllers.yamlhandles ros_control configgazebo_controllers.yamlhandles controllers required for Gazebo (namelyjoint_state_controllerto publish joints)Most commits do code refactoring to generalize naming from ROS controllers.