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How to control joints with Foxy and Edifice?

asked 2021-04-06 12:13:31 -0500

andy.mcevoy gravatar image

I am assuming there is something similar to the gazebo_ros_control plugin.

Is such a plugin already available? Are there examples?

If not, will a similar paradigm be used in Edifice?

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answered 2021-04-09 06:45:17 -0500

AndrejOrsula gravatar image

The closest thing to gazebo_ros_control for Ignition/ROS 2 is ign_ros2_control, with its recently opened PR. You can hear more information about it in 🔥 Edifice Demos! Ignition Community Meeting (March 2021).

If you need something more simple/custom, you can also use JointController, JointPositionController or JointTrajectoryController (for multiple joints) in combination with ros_ign_bridge (ros2 branch), i.e. publish commands in ROS 2 and subscribe to them in the individual Ignition Joint*Controller plugin(s).

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Asked: 2021-04-06 12:13:31 -0500

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Last updated: Apr 09