Load the URDF to the resource_manager before parsing it to CM #262
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@christophfroehlich |
bmagyar
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CI is not passing because of the new API in |
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@ahcorde Bence tagged and released the required changes in the distros |
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With testing package CI is passing, merging it |
ahcorde
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https://github.com/Mergifyio backport humble iron |
✅ Backports have been created
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* Load the URDF to the resource_manager before parsing it to CM constructor (fixes ros-controls/ros2_control#1299) (cherry picked from commit f5baf71)
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* Load the URDF to the resource_manager before parsing it to CM constructor (fixes ros-controls/ros2_control#1299) (cherry picked from commit f5baf71)
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…267) * Load the URDF to the resource_manager before parsing it to CM constructor (fixes ros-controls/ros2_control#1299) (cherry picked from commit f5baf71) Co-authored-by: Sai Kishor Kothakota <[email protected]> Co-authored-by: Alejandro Hernández Cordero <[email protected]>
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…266) * Load the URDF to the resource_manager before parsing it to CM constructor (fixes ros-controls/ros2_control#1299) (cherry picked from commit f5baf71) Co-authored-by: Sai Kishor Kothakota <[email protected]> Co-authored-by: Alejandro Hernández Cordero <[email protected]>
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…ntrols#262) (ros-controls#266) * Load the URDF to the resource_manager before parsing it to CM constructor (fixes ros-controls/ros2_control#1299) (cherry picked from commit f5baf71) Co-authored-by: Sai Kishor Kothakota <[email protected]> Co-authored-by: Alejandro Hernández Cordero <[email protected]>
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These changes are needed after the merging of ros-controls/ros2_control#1271 and ros-controls/ros2_control#1272. It seems like the gazebo_ros2_control doesn't load the URDF into the resource manager, and this is causing the CM services not to start.
However, loading the URDF with the
load_urdfmethod will probably fail, because this method originally loads and initializes the hardware interfaces and this step might probably fail. For this reason, I'm catching the exception here, but the overall behaviour will work.If approved, this will need backport to Iron and Humble
Needs: ros-controls/ros2_control#1301
Fixes: ros-controls/ros2_control#1299