Commit 8f879d2c authored by Olivier Stasse's avatar Olivier Stasse
Browse files

Make the forward_controller_position work with gazebo.

parent d0f1312b
......@@ -148,6 +148,15 @@ Available launch-file options:
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.
For gazebo:
```
ros2 launch ros2_control_demo_bringup rrbot_system_position_only_gazebo.launch.py
```
To start the forward position:
```
ros2 launch ros2_control_demo_bringup test_forward_position_controller.launch.py
```
### Example 2: "Industrial Robots with only one interface" (Gazebo simulation)
......
......@@ -8,9 +8,21 @@ controller_manager:
joint_state_broadcaster:
type: joint_state_broadcaster/JointStateBroadcaster
forward_position_controller:
type: forward_command_controller/ForwardCommandController
forward_position_controller:
ros__parameters:
joints:
- joint1
- joint2
interface_name: position
joint_trajectory_controller:
ros__parameters:
joints:
- joint1
- joint2
interface_name: position
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