Unverified Commit 4888549d authored by Denis Štogl's avatar Denis Štogl Committed by GitHub
Browse files

Use Arguments in launch files and enable their reuse. (#76)



* Add correction to rrbot launch using arguments and reuse the main file for starting examples.

* Rename config package name

* Reorder packages and start docs. Not tested yet.

* Update lauch and description files to updated structure

* Move all files

* Corrected launch of position_only example

* Make multiple_interfaces works on branch add-rrbot-corrections. (#101)

* Fix wrong macro in rrbot_system_multi_interface.urdf

* First correction to README.md (forward_command_controller_position)

* Bump ros2 CI actions to 2 for setup-ros
Co-authored-by: Olivier Stasse's avatarOlivier Stasse <olivier.stasse@laas.fr>

* Update readme and test rrbot examples.

* Add also DiffBot working

* Update README.md
Co-authored-by: default avatarJordan Palacios <j.palacios1986@gmail.com>

* Apply suggestions from code review
Co-authored-by: default avatarmahaarbo <mahaarbo@users.noreply.github.com>
Co-authored-by: default avatarKarsten Knese <Karsten1987@users.noreply.github.com>

* Add rrbot corrections following review of @jordan-palacios (#104)

* Implement classical differential wheel robot.
* Add rviz configuration file.
Co-authored-by: Olivier Stasse's avatarOlivier Stasse <olivier.stasse@laas.fr>
Co-authored-by: default avatarDenis Štogl <destogl@users.noreply.github.com>

* Update README.md
Co-authored-by: default avatarmahaarbo <mahaarbo@users.noreply.github.com>
Co-authored-by: Olivier Stasse's avatarOlivier Stasse <ostasse@laas.fr>
Co-authored-by: Olivier Stasse's avatarOlivier Stasse <olivier.stasse@laas.fr>
Co-authored-by: default avatarJordan Palacios <j.palacios1986@gmail.com>
Co-authored-by: default avatarmahaarbo <mahaarbo@users.noreply.github.com>
Co-authored-by: default avatarKarsten Knese <Karsten1987@users.noreply.github.com>
parent f5e163d4
...@@ -15,7 +15,7 @@ jobs: ...@@ -15,7 +15,7 @@ jobs:
strategy: strategy:
fail-fast: false fail-fast: false
steps: steps:
- uses: ros-tooling/setup-ros@0.0.26 - uses: ros-tooling/setup-ros@v0.2
with: with:
required-ros-distributions: foxy required-ros-distributions: foxy
- uses: ros-tooling/action-ros-ci@v0.2 - uses: ros-tooling/action-ros-ci@v0.2
...@@ -24,7 +24,8 @@ jobs: ...@@ -24,7 +24,8 @@ jobs:
# build all packages listed in the meta package # build all packages listed in the meta package
package-name: package-name:
ros2_control_demo_hardware ros2_control_demo_hardware
ros2_control_demo_robot ros2_control_demo_description
ros2_control_demo_bringup
ros2_control_demos ros2_control_demos
vcs-repo-file-url: | vcs-repo-file-url: |
https://raw.githubusercontent.com/${{ github.repository }}/${{ github.sha }}/ros2_control_demos.repos https://raw.githubusercontent.com/${{ github.repository }}/${{ github.sha }}/ros2_control_demos.repos
......
...@@ -14,14 +14,15 @@ jobs: ...@@ -14,14 +14,15 @@ jobs:
strategy: strategy:
fail-fast: false fail-fast: false
steps: steps:
- uses: ros-tooling/setup-ros@0.0.26 - uses: ros-tooling/setup-ros@v0.2
- uses: ros-tooling/action-ros-ci@v0.2 - uses: ros-tooling/action-ros-ci@v0.2
with: with:
target-ros2-distro: foxy target-ros2-distro: foxy
# build all packages listed in the meta package # build all packages listed in the meta package
package-name: package-name:
ros2_control_demo_hardware ros2_control_demo_hardware
ros2_control_demo_robot ros2_control_demo_description
ros2_control_demo_bringup
ros2_control_demos ros2_control_demos
vcs-repo-file-url: | vcs-repo-file-url: |
https://raw.githubusercontent.com/ros2/ros2/foxy/ros2.repos https://raw.githubusercontent.com/ros2/ros2/foxy/ros2.repos
......
...@@ -12,14 +12,15 @@ jobs: ...@@ -12,14 +12,15 @@ jobs:
linter: [copyright, cppcheck, lint_cmake] linter: [copyright, cppcheck, lint_cmake]
steps: steps:
- uses: actions/checkout@v1 - uses: actions/checkout@v1
- uses: ros-tooling/setup-ros@v0.1 - uses: ros-tooling/setup-ros@v0.2
- uses: ros-tooling/action-ros-lint@v0.1 - uses: ros-tooling/action-ros-lint@v0.1
with: with:
distribution: foxy distribution: foxy
linter: ${{ matrix.linter }} linter: ${{ matrix.linter }}
package-name: package-name:
ros2_control_demo_hardware ros2_control_demo_hardware
ros2_control_demo_robot ros2_control_demo_description
ros2_control_demo_bringup
ros2_control_demos ros2_control_demos
ament_lint_cpplint: ament_lint_cpplint:
...@@ -31,7 +32,7 @@ jobs: ...@@ -31,7 +32,7 @@ jobs:
linter: [cpplint] linter: [cpplint]
steps: steps:
- uses: actions/checkout@v1 - uses: actions/checkout@v1
- uses: ros-tooling/setup-ros@v0.1 - uses: ros-tooling/setup-ros@v0.2
- uses: ros-tooling/action-ros-lint@v0.1 - uses: ros-tooling/action-ros-lint@v0.1
with: with:
distribution: foxy distribution: foxy
...@@ -39,5 +40,6 @@ jobs: ...@@ -39,5 +40,6 @@ jobs:
arguments: "--filter=-whitespace/newline" arguments: "--filter=-whitespace/newline"
package-name: package-name:
ros2_control_demo_hardware ros2_control_demo_hardware
ros2_control_demo_robot ros2_control_demo_description
ros2_control_demo_bringup
ros2_control_demos ros2_control_demos
...@@ -19,32 +19,37 @@ The repository has three goals: ...@@ -19,32 +19,37 @@ The repository has three goals:
The repository is inspired by the [ros_control_boilerplate](https://github.com/PickNikRobotics/ros_control_boilerplate) repository from Dave Coleman. The repository is inspired by the [ros_control_boilerplate](https://github.com/PickNikRobotics/ros_control_boilerplate) repository from Dave Coleman.
The simulation has three parts/packages: The simulation has three parts/packages:
1. The first package, `ros2_control_demo_hardware`, implements the hardware interfaces described in the roadmap. 1. The first package, `ros2_control_demo_bringup`, holds launch files and runtime configurations for demo robots.
2. The second package, `ros2_control_demo_description`, stored URDF-description files, rviz configurations and meshes for the demo robots.
3. The third package, `ros2_control_demo_hardware`, implements the hardware interfaces described in the roadmap.
The examples simulate a simple *RRbot* internally to provide sufficient test and demonstration data and reduce external dependencies. The examples simulate a simple *RRbot* internally to provide sufficient test and demonstration data and reduce external dependencies.
This package does not have any dependencies except `ros2` core packages and can, therefore, be used on SoC-hardware of headless systems. This package does not have any dependencies except `ros2` core packages and can, therefore, be used on SoC-hardware of headless systems.
2. The second package, `ros2_control_demo_hardware_gazebo`, uses a Gazebo simulator to simulate the *RRBot* and its physics.
This package is useful to test the connection of `ros2_control` to the Gazebo simulator and to detect any missing plugins.
3. The third package `ros2_control_demo_robot` holds examples for *RRbot* URDF-description, launch files and controllers.
This repository demonstrates the following `ros2_control` concepts: This repository demonstrates the following `ros2_control` concepts:
* Creating of `*HardwareInterface` for a System, Sensor, and Actuator. * Creating a `*HardwareInterface` for a System, Sensor, and Actuator.
* Creating a robot description in the form of URDF files * Creating a robot description in the form of URDF files.
* Loading the configuration and starting a robot using launch files * Loading the configuration and starting a robot using launch files.
* Control of two joints of *RRBot* * Control of two joints of *RRBot*.
* Using simulated robots and starting `ros_control` with Gazebo simulator * Using simulated robots and starting `ros2_control` with Gazebo simulator.
* Implementing of controller switching strategy for a robot * Implementing a controller switching strategy for a robot.
* Using joint limits and transmission concepts in `ros2_control` * Using joint limits and transmission concepts in `ros2_control`.
## Quick Hints ## Quick Hints
These are some quick hints, especially for those coming from a ROS1 control background: These are some quick hints, especially for those coming from a ROS1 control background:
* There are now three categories of hardware interface: *Sensor*, *Actuator*, and *System*. Sensor is for individual sensors; Actuator is for individual actuators; System is for any combination of multiple sensors/actuators. You could think of a Sensor as read-only. * There are now three categories of hardware components: *Sensor*, *Actuator*, and *System*.
* ros(1)_control only allowed three hardware interface types: position, velocity, and effort. ros2_control allows you to create any interface type by defining a custom string. For example, you might define a `position_in_degrees` or a `temperature` interface. The most common (position, velocity, acceleration, effort) are already defined as constants in hardware_interface/types/hardware_interface_type_values.hpp. *Sensor* is for individual sensors; *Actuator* is for individual actuators; *System* is for any combination of multiple sensors/actuators.
* In ros2_control, all parameters for the driver are specified in the URDF. The ros2_control framework uses the <ros2_control> tag in the URDF. You could think of a Sensor as read-only.
* <ros2_control> tags in the URDF must be compatible with the controller's configuration. All components are used as plugins and therefore exported using `PLUGINLIB_EXPORT_CLASS` macro.
* PLUGINLIB_EXPORT_CLASS macro is required when implementing an interface. * *ros(1)_control* only allowed three hardware interface types: position, velocity, and effort.
*ros2_control* allows you to create any interface type by defining a custom string. For example, you might define a `position_in_degrees` or a `temperature` interface.
The most common (position, velocity, acceleration, effort) are already defined as constants in hardware_interface/types/hardware_interface_type_values.hpp.
* Joint names in <ros2_control> tags in the URDF must be compatible with the controller's configuration.
* In ros2_control, all parameters for the driver are specified in the URDF.
The ros2_control framework uses the **<ros2_control>** tag in the URDF.
* Joint names in <ros2_control> tags in the URDF must be compatible with the controller's configuration.
# Build from source # Build from source
``` ```
...@@ -53,8 +58,9 @@ git clone https://github.com/ros-controls/ros2_controllers ...@@ -53,8 +58,9 @@ git clone https://github.com/ros-controls/ros2_controllers
git clone https://github.com/ros-controls/ros2_control_demos git clone https://github.com/ros-controls/ros2_control_demos
``` ```
**NOTE**: `ros2_control` and `ros2_controllers` packages are released for foxy and can be installed using package manager. **NOTE**: `ros2_control` and `ros2_controllers` packages are released for foxy and can be installed using a package manager.
For daily use it is recommended to use the released version but there may always be some not-yet-released changes that are required to build the demos. We provide officially released and maintained debian packages, which can easily be installed via aptitude.
However, there might be cases in which not-yet released demos or features are only available through a source build in your own workspace.
* Install dependencies (maybe you need `sudo`): * Install dependencies (maybe you need `sudo`):
``` ```
...@@ -71,7 +77,7 @@ git clone https://github.com/ros-controls/ros2_control_demos ...@@ -71,7 +77,7 @@ git clone https://github.com/ros-controls/ros2_control_demos
# Getting Started with ros2_control # Getting Started with ros2_control
Each of the described example cases from the roadmap has its own launch and URDF file. Each of the described example cases from the [roadmap](https://github.com/ros-controls/roadmap/blob/master/design_drafts/components_architecture_and_urdf_examples.md) has its own launch and URDF file.
## Starting example robots ## Starting example robots
...@@ -80,22 +86,23 @@ Each example is started with a single launch file which starts up the robot hard ...@@ -80,22 +86,23 @@ Each example is started with a single launch file which starts up the robot hard
The `rviz2` setup can be recreated following these steps: The `rviz2` setup can be recreated following these steps:
- The robot models can be visualized using `RobotModel` display using `/robot_description` topic. - The robot models can be visualized using `RobotModel` display using `/robot_description` topic.
- Or you can simply open the configuration from `rviz` folder in `ros2_control_demo_robot` package manually or directly by executing: - Or you can simply open the configuration from `rviz` folder in `ros2_control_demo_description` package manually or directly by executing:
``` ```
rviz2 --display-config `ros2 pkg prefix ros2_control_demo_robot`/share/ros2_control_demo_robot/rviz/rrbot.rviz rviz2 --display-config `ros2 pkg prefix ros2_control_demo_description`/share/ros2_control_demo_description/rviz/rrbot.rviz
``` ```
*RRBot*, or ''Revolute-Revolute Manipulator Robot'', is a simple 3-linkage, 2-joint arm that we will use to demonstrate various features. It essentially a double inverted pendulum and demonstrates some fun control concepts within a simulator and was originally introduced for Gazebo tutorials. *RRBot*, or ''Revolute-Revolute Manipulator Robot'', is a simple 3-linkage, 2-joint arm that we will use to demonstrate various features.
The *RRbot* URDF files can be found in the `description` folder of `ros2_control_demo_robot` package. It is essentially a double inverted pendulum and demonstrates some fun control concepts within a simulator and was originally introduced for Gazebo tutorials.
The *RRBot* URDF files can be found in the `urdf` folder of `ros2_control_demo_description` package.
### Example 1: "Industrial Robots with only one interface" ### General notes about examples
1. Open another terminal and start the roslaunch file: 1. To start an example open a terminal, source your ROS2-workspace and execute a launch file with:
``` ```
ros2 launch ros2_control_demo_robot rrbot_system_position_only.launch.py ros2 launch ros2_control_demo_bringup <example_launch_file>
``` ```
2. Open another terminal and check that `RRBotSystemPositionOnlyHardware` loaded properly: 2. To check if the hardware interface loaded properly, open another terminal and execute:
``` ```
ros2 control list_hardware_interfaces ros2 control list_hardware_interfaces
``` ```
...@@ -105,11 +112,112 @@ The *RRbot* URDF files can be found in the `description` folder of `ros2_control ...@@ -105,11 +112,112 @@ The *RRbot* URDF files can be found in the `description` folder of `ros2_control
joint1/position [unclaimed] joint1/position [unclaimed]
joint2/position [unclaimed] joint2/position [unclaimed]
state interfaces state interfaces
joint1/position joint1/position
joint2/position joint2/position
```
3. Check which controllers are running using:
```
ros2 control list_controllers
```
You should get something like:
``` ```
forward_position_controller[forward_command_controller/ForwardCommandController] unconfigured
joint_state_broadcaster[joint_state_broadcaster/JointStateBroadcaster] active
```
## Controlles and moving hardware 4. Check [Controllers and moving hardware](#Controlles-and-moving-hardware) section to move *RRBot*.
### Example 1: "Industrial Robots with only one interface"
- Launch file: rrbot_system_position_only.launch.py
- Command interfaces:
- joint1/position
- joint2/position
- State interfaces:
- joint1/position
- joint2/position
Available controllers:
- `joint_state_broadcaster[joint_state_broadcaster/JointStateBroadcaster]`
- `forward_position_controller[forward_command_controller/ForwardCommandController]` (position)
Available launch-file options:
- `use_fake_hardware:=true` - start `FakeSystem` instead of hardware.
This is a simple simulation that mimics joint command to their states.
This is useful to test *ros2_control* integration and controllers without physical hardware.
### Example 2: "Industrial Robots with only one interface" (Gazebo simulation)
- **TBA**
### Example 3: "Robots with multiple interfaces"
- Launch file: rrbot_system_multi_interface.launch.py
- Command interfaces:
- joint1/position
- joint2/position
- joint1/velocity
- joint2/velocity
- joint1/acceleration
- joint2/acceleration
- State interfaces:
- joint1/position
- joint2/position
- joint1/velocity
- joint2/velocity
- joint1/acceleration
- joint2/acceleration
Available controllers:
- `joint_state_broadcaster[joint_state_broadcaster/JointStateBroadcaster]`
- `forward_position_controller[position_controllers/JointGroupPositionController]`
- `forward_velocity_controller[velocity_controllers/JointGroupVelocityController]`
- `forward_acceleration_controller[forward_command_controller/ForwardCommandController]`
- `forward_illegal1_controller[forward_command_controller/ForwardCommandController]`
- `forward_illegal2_controller[forward_command_controller/ForwardCommandController]`
Notes:
- The example shows how to implement multi-interface robot hardware taking care about interfaces used.
The two illegal controllers demonstrate how hardware interface declines faulty claims to access joint command interfaces.
### Example 4: "Differential drive mobile robot"
- Launch file: diffbot_system.launch.py
- Command interfaces:
- left_wheel_joint/velocity
- right_wheel_joint/velocity
- State interfaces:
- left_wheel_joint/position
- left_wheel_joint/velocity
- right_wheel_joint/position
- right_wheel_joint/velocity
Available controllers:
- `joint_state_broadcaster[joint_state_broadcaster/JointStateBroadcaster]`
- `diffbot_base_controller[diff_drive_controller/DiffDriveController] active`
Sending commands to diff drive controller:
```
ros2 topic pub --rate 30 /diffbot_base_controller/cmd_vel_unstamped geometry_msgs/msg/Twist "linear:
x: 0.7
y: 0.0
z: 0.0
angular:
x: 0.0
y: 0.0
z: 1.0"
```
You should now see an orange box circling in `rviz2`.
## Controllers and moving hardware
To move the robot you should load and start controllers. To move the robot you should load and start controllers.
The `JointStateController` is used to publish the joint states to ROS topics. The `JointStateController` is used to publish the joint states to ROS topics.
Direct joint commands are sent to this robot via the `ForwardCommandController`. Direct joint commands are sent to this robot via the `ForwardCommandController`.
...@@ -121,7 +229,7 @@ Check the [Results](##result) section on how to ensure that things went well. ...@@ -121,7 +229,7 @@ Check the [Results](##result) section on how to ensure that things went well.
Open another terminal and load, configure and start `joint_state_controller`: Open another terminal and load, configure and start `joint_state_controller`:
``` ```
ros2 control load_start_controller joint_state_controller ros2 control set_controller_state joint_state_controller start
``` ```
Check if controller is loaded properly: Check if controller is loaded properly:
``` ```
...@@ -137,9 +245,18 @@ Now you should also see the *RRbot* represented correctly in `rviz2`. ...@@ -137,9 +245,18 @@ Now you should also see the *RRbot* represented correctly in `rviz2`.
### Using ForwardCommandController ### Using ForwardCommandController
1. If you want to test hardware with `ForwardCommandController` first load and configure it: 1. If you want to test hardware with `ForwardCommandController` first load a controller (not always needed):
``` ```
ros2 control load_configure_controller forward_position_controller ros2 control load_controller forward_position_controller
```
Check if the controller is loaded properly:
```
ros2 control list_controllers
```
2. Then configure it:
```
ros2 control set_controller_state forward_position_controller configure
``` ```
Check if the controller is loaded properly: Check if the controller is loaded properly:
``` ```
...@@ -147,13 +264,12 @@ Now you should also see the *RRbot* represented correctly in `rviz2`. ...@@ -147,13 +264,12 @@ Now you should also see the *RRbot* represented correctly in `rviz2`.
``` ```
You should get the response: You should get the response:
``` ```
joint_state_controller[joint_state_controller/JointStateController] active
forward_position_controller[forward_command_controller/ForwardCommandController] inactive forward_position_controller[forward_command_controller/ForwardCommandController] inactive
``` ```
2. Now start the controller: 2. Now start the controller:
``` ```
ros2 control switch_controllers --start-controllers forward_position_controller ros2 control switch_controllers --start forward_position_controller
``` ```
Check if controllers are activated: Check if controllers are activated:
``` ```
...@@ -165,9 +281,7 @@ Now you should also see the *RRbot* represented correctly in `rviz2`. ...@@ -165,9 +281,7 @@ Now you should also see the *RRbot* represented correctly in `rviz2`.
forward_position_controller[forward_command_controller/ForwardCommandController] active forward_position_controller[forward_command_controller/ForwardCommandController] active
``` ```
**NOTE**: You can do this in only one step by using `load_start_controller` verb instead of `load_configure_controller`. 3. Send a command to the controller, either:
3. Send command to the controller, either:
a. Manually using ros2 cli interface: a. Manually using ros2 cli interface:
``` ```
...@@ -175,9 +289,9 @@ Now you should also see the *RRbot* represented correctly in `rviz2`. ...@@ -175,9 +289,9 @@ Now you should also see the *RRbot* represented correctly in `rviz2`.
- 0.5 - 0.5
- 0.5" - 0.5"
``` ```
b. Or you can start demo node which sends two goals every 5 seconds in a loop: B. Or you can start a demo node which sends two goals every 5 seconds in a loop:
``` ```
ros2 launch ros2_control_test_nodes rrbot_test_forward_position_controller.launch.py ros2 launch ros2_control_demo_bringup test_forward_position_controller.launch.py
``` ```
## Result ## Result
......
...@@ -5,6 +5,16 @@ Demos ...@@ -5,6 +5,16 @@ Demos
This repository provides templates for the development of ros2_control-enabled robots and a simple simulations to demonstrate and prove ros2_control concepts. This repository provides templates for the development of ros2_control-enabled robots and a simple simulations to demonstrate and prove ros2_control concepts.
Repository organization
^^^^^^^^^^^^^^^^^^^^^^^
**Note:** the following list is comprehensive.
The repository is organized in the following packages:
- ``ros2_control_demo_hardware`` - implementation of example hardware interfaces,
- ``ros2_control_demo_bringup`` - nodes starting hardware interfaces, controllers and GUIs.
- ``ros2_control_test_node`` - nodes for testing ros2_control-enabled robots and their integration in the framework.
Mode switching demo Mode switching demo
^^^^^^^^^^^^^^^^^^^ ^^^^^^^^^^^^^^^^^^^
...@@ -13,7 +23,7 @@ Start up the multi interface rrbot system: ...@@ -13,7 +23,7 @@ Start up the multi interface rrbot system:
.. code-block:: bash .. code-block:: bash
ros2 launch ros2_control_demo_robot rrbot_system_multi_interface.launch.py ros2 launch ros2_control_demo_bringup rrbot_system_multi_interface.launch.py
List the available interfaces List the available interfaces
......
cmake_minimum_required(VERSION 3.5) cmake_minimum_required(VERSION 3.5)
project(ros2_control_demo_robot) project(ros2_control_demo_bringup)
# Default to C++14 # Default to C++14
if(NOT CMAKE_CXX_STANDARD) if(NOT CMAKE_CXX_STANDARD)
set(CMAKE_CXX_STANDARD 14) set(CMAKE_CXX_STANDARD 14)
endif() endif()
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra)
endif()
# find dependencies
find_package(ament_cmake REQUIRED) find_package(ament_cmake REQUIRED)
## INSTALL
install( install(
DIRECTORY config description launch rviz DIRECTORY config launch
DESTINATION share/${PROJECT_NAME} DESTINATION share/${PROJECT_NAME}
) )
if(BUILD_TESTING)
find_package(ament_cmake_gtest REQUIRED)
endif()
ament_environment_hooks("${CMAKE_CURRENT_SOURCE_DIR}/env-hooks/${PROJECT_NAME}.dsv.in")
## EXPORTS
ament_package() ament_package()
controller_manager: controller_manager:
ros__parameters: ros__parameters:
update_rate: 2 # Hz update_rate: 100 # Hz
joint_state_broadcaster: joint_state_broadcaster:
type: joint_state_broadcaster/JointStateBroadcaster type: joint_state_broadcaster/JointStateBroadcaster
......
...@@ -2,8 +2,8 @@ controller_manager: ...@@ -2,8 +2,8 @@ controller_manager:
ros__parameters: ros__parameters:
update_rate: 2 # Hz update_rate: 2 # Hz
joint_state_controller: joint_state_broadcaster:
type: joint_state_controller/JointStateController type: joint_state_broadcaster/JointStateBroadcaster
forward_position_controller: forward_position_controller:
type: forward_command_controller/ForwardCommandController type: forward_command_controller/ForwardCommandController
......
...@@ -2,52 +2,50 @@ controller_manager: ...@@ -2,52 +2,50 @@ controller_manager:
ros__parameters: ros__parameters:
update_rate: 2 # Hz update_rate: 2 # Hz
forward_command_controller_position: forward_position_controller:
type: forward_command_controller/ForwardCommandController type: position_controllers/JointGroupPositionController
forward_command_controller_velocity: forward_velocity_controller:
type: forward_command_controller/ForwardCommandController type: velocity_controllers/JointGroupVelocityController
forward_command_controller_acceleration: forward_acceleration_controller:
type: forward_command_controller/ForwardCommandController type: forward_command_controller/ForwardCommandController
forward_command_controller_illegal1: forward_illegal1_controller:
type: forward_command_controller/ForwardCommandController type: forward_command_controller/ForwardCommandController
forward_command_controller_illegal2: forward_illegal2_controller:
type: forward_command_controller/ForwardCommandController type: forward_command_controller/ForwardCommandController
joint_state_broadcaster: joint_state_broadcaster:
type: joint_state_broadcaster/JointStateBroadcaster type: joint_state_broadcaster/JointStateBroadcaster
forward_command_controller_position: forward_position_controller:
ros__parameters: ros__parameters:
joints: joints:
- joint1 - joint1
- joint2 - joint2
interface_name: position
forward_command_controller_velocity: forward_velocity_controller:
ros__parameters: ros__parameters:
joints: joints:
- joint1 - joint1
- joint2 - joint2