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gz_ros2_control #3

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ahcorde opened this issue Sep 2, 2022 · 1 comment
Open

gz_ros2_control #3

ahcorde opened this issue Sep 2, 2022 · 1 comment

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@ahcorde
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ahcorde commented Sep 2, 2022

Did you consider to use gz_ros2_control instead of custom plugins ?

I will be happy to review the PRs or maybe go ahead make the changes.
@gezp
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gezp commented Sep 24, 2022

@ahcorde , hi, it's a good suggestion, i tried to convert custom plugins to gz_ros2_control, you can see more details in this PR #4 , but i failed to create joint_trajectory_controller based on effort command with this error message:

using 'effort' command interface alone is not yet implemented yet

it seems that effort command isn't supported in ROS Galactic, so i create a joint_trajectory_controller based on position command.

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@ahcorde @gezp