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Fix multi cm example #8

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07e8d41
Fix Python black pre-commit hook (#164)
destogl Mar 30, 2022
96ef3b5
Changed JointStateController to JointStateBroadcaster in instructions…
mamueluth Apr 6, 2022
c02942a
CallbackReturn Fix (#173)
ikamii Apr 21, 2022
a3a792f
Fix up small error in example docs (#174)
destogl May 11, 2022
6bd6631
Pass time and period to read() and write() (#179)
bmagyar May 13, 2022
48bb610
Add First-Time Users section to the README (#181)
May 23, 2022
2fae87b
Fix warning about "output" from launch files (#183)
May 23, 2022
88d12f9
Replace use_sim with use_gazebo (#182)
Jun 18, 2022
aabf2cd
Fix missing correction of output parameter on Nodes in launch files. …
destogl Jul 15, 2022
fe14bf3
Use mock hardware instead of fake hardware plugin package (#188)
bmagyar Jul 15, 2022
ee92329
Fix DLL export defintion. (#195)
destogl Jul 15, 2022
e4c9ba4
Fix bug that doesn't reset commands properly on activation. (#194)
destogl Jul 15, 2022
fe23072
Publish to correct topic in DiffBot example (#196)
destogl Jul 15, 2022
41a8fa5
fixing command line in Step 5 in diffbot example (#155)
HusamZain Jul 15, 2022
f42b06f
Fix output parameter in launch files for testing controllers. (#197)
destogl Jul 15, 2022
4329be0
Fix some typos (#205)
Interactics Aug 21, 2022
a5ed904
ci: :construction_worker: update rhel container (#212)
jaron-l Oct 16, 2022
6478457
Remove ros index links (#204)
bmagyar Nov 2, 2022
4abae28
fake_sensor_commands replaced (#200)
kvkpraneeth Nov 2, 2022
041ab7e
Demo 5b broken, update code fixed (#208)
t3ch9 Dec 13, 2022
de1012a
🔧 Fixes and updated on pre-commit hooks and their action. (#218)
destogl Jan 13, 2023
e38961c
[CI] Add dependabot to automatically update actions in workflows (#219)
destogl Jan 13, 2023
9c7c04e
Bump codecov/codecov-action from 1.0.14 to 3.1.1 (#221)
dependabot[bot] Jan 13, 2023
b393963
Update list of possible reviewers
destogl Jan 13, 2023
53f930e
Merge commit 'b3939631e3586c3a14c53099065b9870afb1a3c4' into multi-cm…
christophfroehlich Aug 5, 2023
11e2c88
Bump example to latest ros2_control(ler) syntax
christophfroehlich Aug 5, 2023
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Replace use_sim with use_gazebo (ros-controls#182)
  • Loading branch information
AndyZe authored Jun 18, 2022
commit 88d12f9bfd51669148087c76b8bfd2fdd72ad48f
8 changes: 4 additions & 4 deletions ros2_control_demo_bringup/launch/rrbot_base.launch.py
Original file line number Diff line number Diff line change
Expand Up @@ -65,7 +65,7 @@ def generate_launch_description():
)
declared_arguments.append(
DeclareLaunchArgument(
"use_sim",
"use_gazebo",
default_value="false",
description="Start robot in Gazebo simulation.",
)
Expand Down Expand Up @@ -111,7 +111,7 @@ def generate_launch_description():
description_package = LaunchConfiguration("description_package")
description_file = LaunchConfiguration("description_file")
prefix = LaunchConfiguration("prefix")
use_sim = LaunchConfiguration("use_sim")
use_gazebo = LaunchConfiguration("use_gazebo")
use_fake_hardware = LaunchConfiguration("use_fake_hardware")
fake_sensor_commands = LaunchConfiguration("fake_sensor_commands")
slowdown = LaunchConfiguration("slowdown")
Expand All @@ -130,8 +130,8 @@ def generate_launch_description():
"prefix:=",
prefix,
" ",
"use_sim:=",
use_sim,
"use_gazebo:=",
use_gazebo,
" ",
"use_fake_hardware:=",
use_fake_hardware,
Expand Down
Original file line number Diff line number Diff line change
Expand Up @@ -41,7 +41,7 @@ def generate_launch_description():
"rrbot_system_position_only.urdf.xacro",
]
),
" use_sim:=true",
" use_gazebo:=true",
]
)
robot_description = {"robot_description": robot_description_content}
Expand Down
Original file line number Diff line number Diff line change
Expand Up @@ -5,7 +5,7 @@ Copied and modified from ROS1 example -
https://github.com/ros-simulation/gazebo_ros_demos/blob/kinetic-devel/diffbot_description/urdf/diffbot.xacro
-->
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="diffdrive_robot">
<xacro:arg name="use_sim" default="false" />
<xacro:arg name="use_gazebo" default="false" />

<!-- Enable setting arguments from the launch file -->
<xacro:arg name="use_fake_hardware" default="true" />
Expand Down
Original file line number Diff line number Diff line change
@@ -1,7 +1,7 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">

<xacro:macro name="external_rrbot_force_torque_sensor" params="name prefix use_sim:=^|false use_fake_hardware:=^|true fake_sensor_commands:=^|false">
<xacro:macro name="external_rrbot_force_torque_sensor" params="name prefix use_gazebo:=^|false use_fake_hardware:=^|true fake_sensor_commands:=^|false">

<ros2_control name="${name}" type="sensor">
<hardware>
Expand Down
Original file line number Diff line number Diff line change
@@ -1,7 +1,7 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">

<xacro:macro name="rrbot_modular_actuators" params="name prefix use_sim:=^|false slowdown:=2.0">
<xacro:macro name="rrbot_modular_actuators" params="name prefix use_gazebo:=^|false slowdown:=2.0">

<ros2_control name="RRBotModularJoint1" type="actuator">
<hardware>
Expand Down
Original file line number Diff line number Diff line change
@@ -1,16 +1,16 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">

<xacro:macro name="rrbot_system_multi_interface" params="name prefix use_sim:=^|false use_fake_hardware:=^|true fake_sensor_commands:=^|false slowdown:=2.0">
<xacro:macro name="rrbot_system_multi_interface" params="name prefix use_gazebo:=^|false use_fake_hardware:=^|true fake_sensor_commands:=^|false slowdown:=2.0">

<ros2_control name="${name}" type="system">

<xacro:if value="$(arg use_sim)">
<xacro:if value="$(arg use_gazebo)">
<hardware>
<plugin>gazebo_ros2_control/GazeboSystem</plugin>
</hardware>
</xacro:if>
<xacro:unless value="$(arg use_sim)">
<xacro:unless value="$(arg use_gazebo)">
<hardware>
<xacro:if value="${use_fake_hardware}">
<plugin>fake_components/GenericSystem</plugin>
Expand Down
Original file line number Diff line number Diff line change
@@ -1,16 +1,16 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">

<xacro:macro name="rrbot_system_position_only" params="name prefix use_sim:=^|false use_fake_hardware:=^|true fake_sensor_commands:=^|false slowdown:=2.0">
<xacro:macro name="rrbot_system_position_only" params="name prefix use_gazebo:=^|false use_fake_hardware:=^|true fake_sensor_commands:=^|false slowdown:=2.0">

<ros2_control name="${name}" type="system">

<xacro:if value="$(arg use_sim)">
<xacro:if value="$(arg use_gazebo)">
<hardware>
<plugin>gazebo_ros2_control/GazeboSystem</plugin>
</hardware>
</xacro:if>
<xacro:unless value="$(arg use_sim)">
<xacro:unless value="$(arg use_gazebo)">
<hardware>
<xacro:if value="${use_fake_hardware}">
<plugin>fake_components/GenericSystem</plugin>
Expand Down
Original file line number Diff line number Diff line change
@@ -1,7 +1,7 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">

<xacro:macro name="rrbot_system_with_sensor" params="name prefix use_sim:=^|false use_fake_hardware:=^|true fake_sensor_commands:=^|false slowdown:=2.0">
<xacro:macro name="rrbot_system_with_sensor" params="name prefix use_gazebo:=^|false use_fake_hardware:=^|true fake_sensor_commands:=^|false slowdown:=2.0">

<ros2_control name="${name}" type="system">

Expand Down
Original file line number Diff line number Diff line change
Expand Up @@ -5,7 +5,7 @@ Copied and modified from ROS1 example -
https://github.com/ros-simulation/gazebo_ros_demos/blob/kinetic-devel/rrbot_description/urdf/rrbot.xacro
-->
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="2dof_robot">
<xacro:arg name="use_sim" default="false" />
<xacro:arg name="use_gazebo" default="false" />

<!-- Enable setting arguments from the launch file -->
<xacro:arg name="prefix" default="" />
Expand Down
Original file line number Diff line number Diff line change
Expand Up @@ -5,7 +5,7 @@ Copied and modified from ROS1 example -
https://github.com/ros-simulation/gazebo_ros_demos/blob/kinetic-devel/rrbot_description/urdf/rrbot.xacro
-->
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="2dof_robot">
<xacro:arg name="use_sim" default="false" />
<xacro:arg name="use_gazebo" default="false" />

<!-- Enable setting arguments from the launch file -->
<xacro:arg name="use_fake_hardware" default="false" />
Expand Down
Original file line number Diff line number Diff line change
Expand Up @@ -5,7 +5,7 @@ Copied and modified from ROS1 example -
https://github.com/ros-simulation/gazebo_ros_demos/blob/kinetic-devel/rrbot_description/urdf/rrbot.xacro
-->
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="2dof_robot">
<xacro:arg name="use_sim" default="false" />
<xacro:arg name="use_gazebo" default="false" />

<!-- Enable setting arguments from the launch file -->
<xacro:arg name="use_fake_hardware" default="false" />
Expand Down
Original file line number Diff line number Diff line change
Expand Up @@ -5,7 +5,7 @@ Copied and modified from ROS1 example -
https://github.com/ros-simulation/gazebo_ros_demos/blob/kinetic-devel/rrbot_description/urdf/rrbot.xacro
-->
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="2dof_robot">
<xacro:arg name="use_sim" default="false" />
<xacro:arg name="use_gazebo" default="false" />

<!-- Enable setting arguments from the launch file -->
<xacro:arg name="use_fake_hardware" default="true" />
Expand Down
Original file line number Diff line number Diff line change
Expand Up @@ -5,7 +5,7 @@ Copied and modified from ROS1 example -
https://github.com/ros-simulation/gazebo_ros_demos/blob/kinetic-devel/rrbot_description/urdf/rrbot.xacro
-->
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="2dof_robot">
<xacro:arg name="use_sim" default="false" />
<xacro:arg name="use_gazebo" default="false" />

<!-- Enable setting arguments from the launch file -->
<xacro:arg name="use_fake_hardware" default="false" />
Expand Down