Admittance Controller: parameter robot_description not set

[mhubii]

Hi All,

trying to run the admittance controller. (Ubuntu 24.04, rolling). Receiving:

[ros2_control_node-3] [ERROR] [1732101243.342290020] [kinematics_interface_kdl]: parameter robot_description not set

The calling order:

1. ros2_controllers/admittance_controller/src/admittance_controller.cpp

   Line 284 in 79358e3

   admittance_->configure(get_node(), num_joints_, this->get_robot_description()) ==

2. ros2_controllers/admittance_controller/include/admittance_controller/admittance_rule_impl.hpp

   Line 62 in 79358e3

   if (!kinematics_->initialize(

3. Triggered here:
   https://github.com/ros-controls/kinematics_interface/blob/822cff404424004d646d384c8dfedb226de2b54a/kinematics_interface_kdl/src/kinematics_interface_kdl.cpp#L42

The controller_manager is namespaced.

Any idea? Thank you!

[christophfroehlich]

Have you built the rolling stack from source? We recently changed this with #1247, but the binaries haven't been synced yet.

[mhubii]

hi @christophfroehlich and thank you for the hint. Been using distributed binaries

[mhubii]

I presume that this is fixed, just not in the binaries yet. Closing.

[bmagyar]

Correct. It was flagged up by the tests straight away. We still support getting the description from params but it's only for backward compatibility for older distros.