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Minor updates to examples #400

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merged 3 commits into from
Aug 26, 2024
Merged

Minor updates to examples #400

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0aaa1fe
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christophfroehlich Aug 24, 2024
569d554
ERROR->INFO
christophfroehlich Aug 24, 2024
2460b8d
Fix segfault of example_gripper
christophfroehlich Aug 24, 2024
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4 changes: 1 addition & 3 deletions gz_ros2_control_demos/examples/example_gripper.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -23,13 +23,11 @@

#include "std_msgs/msg/float64_multi_array.hpp"

std::shared_ptr<rclcpp::Node> node;

int main(int argc, char * argv[])
{
rclcpp::init(argc, argv);

node = std::make_shared<rclcpp::Node>("gripper_test_node");
std::shared_ptr<rclcpp::Node> node = std::make_shared<rclcpp::Node>("gripper_test_node");

auto publisher = node->create_publisher<std_msgs::msg::Float64MultiArray>(
"/gripper_controller/commands", 10);
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4 changes: 2 additions & 2 deletions gz_ros2_control_demos/examples/example_position.cpp
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Expand Up @@ -154,7 +154,7 @@ int main(int argc, char * argv[])
node.reset();
return 1;
}
RCLCPP_ERROR(node->get_logger(), "send goal call ok :)");
RCLCPP_INFO(node->get_logger(), "send goal call ok :)");

rclcpp_action::ClientGoalHandle<control_msgs::action::FollowJointTrajectory>::SharedPtr
goal_handle = goal_handle_future.get();
Expand All @@ -164,7 +164,7 @@ int main(int argc, char * argv[])
node.reset();
return 1;
}
RCLCPP_ERROR(node->get_logger(), "Goal was accepted by server");
RCLCPP_INFO(node->get_logger(), "Goal was accepted by server");

// Wait for the server to be done with the goal
auto result_future = action_client->async_get_result(goal_handle);
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30 changes: 16 additions & 14 deletions gz_ros2_control_demos/package.xml
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Expand Up @@ -23,31 +23,33 @@
<build_depend>std_msgs</build_depend>

<exec_depend>ament_index_python</exec_depend>
<exec_depend>control_msgs</exec_depend>
<exec_depend>effort_controllers</exec_depend>
<exec_depend>geometry_msgs</exec_depend>
<exec_depend>hardware_interface</exec_depend>
<exec_depend>gz_ros2_control</exec_depend>
<exec_depend>ros_gz_bridge</exec_depend>
<exec_depend>imu_sensor_broadcaster</exec_depend>
<exec_depend>joint_state_broadcaster</exec_depend>
<exec_depend>joint_trajectory_controller</exec_depend>
<exec_depend>launch</exec_depend>
<exec_depend>launch_ros</exec_depend>
<exec_depend>ros2launch</exec_depend>
<exec_depend>launch</exec_depend>
<exec_depend>rclcpp</exec_depend>
<exec_depend>robot_state_publisher</exec_depend>
<exec_depend>ros_gz_bridge</exec_depend>
<exec_depend condition="$GZ_VERSION == ''">ros_gz_sim</exec_depend>
<exec_depend condition="$GZ_VERSION == 'harmonic'">ros_gz_sim</exec_depend>
<exec_depend condition="$GZ_VERSION == 'garden'">ros_gz_sim</exec_depend>
<exec_depend condition="$GZ_VERSION == 'fortress'">ros_ign_gazebo</exec_depend>
<exec_depend>ros2controlcli</exec_depend>
<exec_depend>ros2launch</exec_depend>
<exec_depend>std_msgs</exec_depend>
<exec_depend>velocity_controllers</exec_depend>
<exec_depend>xacro</exec_depend>

<!-- ros2_control -->
<exec_depend>ackermann_steering_controller</exec_depend>
<exec_depend>control_msgs</exec_depend>
<exec_depend>diff_drive_controller</exec_depend>
<exec_depend>effort_controllers</exec_depend>
<exec_depend>gz_ros2_control</exec_depend>
<exec_depend>hardware_interface</exec_depend>
<exec_depend>imu_sensor_broadcaster</exec_depend>
<exec_depend>joint_state_broadcaster</exec_depend>
<exec_depend>joint_trajectory_controller</exec_depend>
<exec_depend>ros2controlcli</exec_depend>
<exec_depend>tricycle_controller</exec_depend>
<exec_depend>ackermann_steering_controller</exec_depend>
<exec_depend>xacro</exec_depend>
<exec_depend>velocity_controllers</exec_depend>

<test_depend>ament_cmake_gtest</test_depend>
<test_depend>ament_lint_auto</test_depend>
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