christophfroehlich's profile - activity

Which version of ROS2, gazebo and gazebo_ros2_control are you using? This feature was backported to galactic, but won't

I realized why i get this assertion: gazebo creates other link names (some hack to use URDF with DH conventions) checked

I realized why i get this assertion: gazebo creates other link names (some hack to use URDF with DH conventions) checked

I realized why i get this assertion: gazebo creates other link names (some hack to use URDF with DH conventions) checked

I realized why i get this assertion: gazebo creates other link names (some hack to use URDF with DH conventions) checked

How to set physics/ode parameters of individual joints to reduce joint errors I have a problem simulating a robot with a

I solved the original problem: The joints were not calculated well due to improperly set inertia tensors. After setting

Gripper tag with gazebo11 Hi there! Anyone has used the gripper tag with the latest gazebo versions? The "newest" articl

How to set physics/ode parameters of individual joints I have a problem simulating a robot with a mechanical transmissio

How to set physics/ode parameters of individual joints I have a problem simulating a robot with a mechanical transmissio

How to set physics/ode parameters of individual joints I have a problem simulating a robot with a mechanical transmissio

Hi, I'm looking for some best practices to implement actuator dynamics in a ros2-control/gazebo simulation environment.

In my case I have hydraulic actuators and want to implement a black-box velocity-controlled actuator with force-compliant behavior. The interface to the physics engine in gazebo has to be the effort-interface to simulate multi-body contacts.

At the stage of implementation on real hardware, this velocity controller is then implemented on an embedded platform and not part of the ROS software anymore. Therefore, I'd like to make the velocity-command interface available for higher control tasks, and make the underlying velocity-controller with the actuator dynamics contained to be then able to switch to the hardware with its proper hardware_interface.

I've found two articles for ROS1 with different approaches:

• Gazebo Plugin https://www.frontiersin.org/articles/...
• ros2-control controller https://www.researchgate.net/publicat...

Are there other approaches with ROS2? Which one would you prefer thinking of my application?

I guess that an extension to the GazeboSystem from gazebo_ros2_control is the most promising approach.

If anyone wants to implement something similar: Finally, I've written a new gazebo_ros2_control::GazeboSystem. There I i

Thanks for your sharing your thoughts. I had a look at ignition already. But as far as I understood there is no support

Actuator dynamics with gazebo+ros2: Best practices for simulation? Hi, I'm looking for some best practices to implement

Actuator dynamics with gazebo+ros2: Best practices for simulation? Hi, I'm looking for some best practices to implement

it seems that there is a solution with gazebo_ros2_control: https://github.com/ros-simulation/gazebo_ros2_control/commit

There is also a separate older unanswered feature request https://github.com/ros-simulation/gazebo_ros_pkgs/issues/1233

Hi there, have you found any solution yet? According to the your links above there's still no update on that. How we i