Questions tagged [hardware-interface]

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Simulation environment for hardware devices

I want to setup a Simulation environment for the software which communicates to hardware devices via usb communication protocol. Is there any library which can record and replay the data which is ...
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How to use ros2_control with actual hardware communicating via etherCAT?

I am learning ros2_control with the real hardware. I need some help writing hardware interface for the current setup. I do not have experience writing on the communication side of the real hardware. ...
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Custom hardware interface type

I would like to write a controller that needs all joint states to update a single joint. My idea was to create a class MyStateInterface which inherits from ...
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Subscriber in Hardware Interface (ros2_control)

Is there any example for adding subscriber to hardware interface ? Publisher works fine. My code is below, I dont know where its going wrong but unable to get values after publishing using CLI. .hpp ...
Ani's user avatar
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Integrating Limit Switches with ROS2, Moveit2, and Dynamixel Motors for Robot "Homing" Sequence

Hello ROS2 and Moveit2 community, I am working on a robotics project where I need to effectively integrate limit switches into the robot initialization process. The main challenge is implementing a &...
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How to configure ROS2 Control Hardware interface for differential drive motors for AMR with Roboteq FAMILY controller?

I want to control differential drive Autonomous Mobile Robot(AMR) with 2 Brushless DC Motors. Its a 2 wheels differential drive AMR. I have Roboteq FAMILY controller and was able to use the ROS2 ...
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ros2_control hardware_interface override function not working for "read" and "write" methods

I have been following several examples in defining a custom hardware interface using ros2_control in ROS2 Humble. I am trying to replicate these concepts for a ...
quescondido's user avatar
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Is a central CAN-Bus a reliable solution for controlling robot wheels?

I am working as a student on a 6 wheel robot project and have problems deciding what communication protocol to use for controlling the locomotion system. I was thinking about connecting all the robot ...
curious_engineer's user avatar
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ros2_control want to set parameter from cli, serial port

I've successfully re-written a HardwareInterface for my diff_drive robot. So I'm now able to communicate with my real robot with ros2_control. (https://github.com/PaddyCube/hoverboard-driver/tree/...
Patrick Weber's user avatar
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1 answer
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ros2_control diff_drive_controller PID?

I followed ros2_control diff_drive_example https://github.com/ros-controls/ros2_control_demos/tree/master/example_2 to bring my ROS1 robot to ROS2. I notice there is a PID controller (pid.cpp and pid....
Patrick Weber's user avatar
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How to make the connection of dynamixel become modular by using ros2 control hardware interface

I'm trying to make the robot that using dynamixels to control the movement of the joint. One of the application is that when one leg of the robot is disconnected, when I connect it again the software ...
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Hardware interface for floating joint

In the URDF file for my robot I would like to use a floating joint (6DOF). I'm currently writing the hardware interface for ros2-control for this robot. Is there a way to export a state interface for ...
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[ROS2] Odometry with Velocity feedback

Configuration: ROS 2 Distro: Humble OS Version: Ubuntu 22.04 Hi there, I have a 2 wheeled robot with differential drive kinematics and odometry setup, I implemented ...
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1 answer
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Access ROS node in hardware_interface

Hi, I am transferring my robot hardware interface to ROS2. In my ROS1 hardware interface, I used a publisher to publish additional information like the current controller temperature, limit switches ...
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1 answer
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Control Multiple Universal Robotic arm in ros2

I am just wondering what is the best approach to control multiple universal robotics arms from moveit and ros2. both robotic arms share their workspace so with collision avoidance. If anyone had ...
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Is there an implementation of JointStateInterface, EffortJointInterface, PositionJointInterface and VelocityJointInterface in ros2?

Hi. Sorry for all mistakes, English is not my native language. So, I have folloing lines of code in my ros1 project ...
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Is there hardware_interface::RobotHW in ros2?

Hi. Sorry for all mistakes, English is not my native language. I'm porting my project from ros1 Noetic to ros2 Foxy right now and can't find hardware_interface::RobotHW or something that inherit it ...
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"Flush"/discard accumulating write() and read() calls in ros2_control hardware component/interface

I want to implement a triggered / on-demand / on-request communication with hardware using ros2_control framework. In relation to a previous question and this ...
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Configuring ros2_control/urdf with several robots

Hello guys, im hoping, as usual, to get some help. I'm trying to configure an urdf file with ros2_control. What i want to achieve: Start the same hardware interface, but for a subset of the available ...
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ros2_control manage hardware_interface::return_type::ERROR

Hey guys, I am currently working with the foxy branch of ros2_control and trying to figure out how is the error management done by the ...
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1 answer
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ROS2 joint_trajectory_controllers sync with hardware execution

I've got a question about ros2_control, the hardware_interface syncronisation to be exact. I've read through most of the examples and got a working model with ros_control, joint_trajectory_controller ...
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3 answers
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ROS2 ros2_control/hardware_interface/ - working example?

Iam getting ready to migrate to ROS2, so I have to get my hw interface class working there. I had a look at github ros2_controls and it seems to be very different. Any direction or links to a more in ...
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1 answer
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behavior of start/stop in new ros2_controls system interface

If I understand correctly, the proper use of start/stop in a controller's system interface is for switching between robot operating modes such as position control to effort or velocity control usually ...
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1 answer
77 views

Best practices for using ros_control (hardware_interface) to send different data types to a PLC controller?

I'm using the ROS(Kinetic) navigation stack with an industrial AGV and a Siemens S7 PLC as the central controller. The motors and encoders are interfaced to the PLC. Currently the PLC communicates ...
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1 answer
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While rotating in place diff-drive-rotation package is losing orientation

Dear Ros Community, I implemented diff-drive-controller package for my custom robot. I tested the generated odometry information while moving back and forward which works perfectly. However, while my ...
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1 answer
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ros on multiple machine not working properly

I have ran the ros_master in raspberry pi 4b. i have ran a hardware interface noe on pi than sent the trajectory from my laptop. But this pc is not sending this trajectory to the pi and stucks after ...
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1 answer
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Diff_drive_controller not subscribing to /cmd_vel

Hi, my team is working on a differential drive robot and trying to decide if the diff_drive_controller is a good fit for our project. We have been borrowing and ...
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2 answers
29 views

How to control a real robot and simulate it in Gazebo at the same time?

We created a hardware interface and controllers that we will be using for a real robot. The problem is, whenever we load Gazebo and our own custom controller manager, Gazebo unsubscribes from the '...
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1 answer
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building a custom hardware interface for MoveIt

Hello, I struggle building a hardware Interface for my custom build 6-axis robot. I've already build everything for the robot, so there is a topic published, containing all the measured angles from ...
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1 answer
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What are the JointStateHandle units?

Hi, I'm using ros_control c++ interface and JointStateHandle to update the motor feedback values. My question is about the units used in the parameters of the following line: ...
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1 answer
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Test sensor hardware drivers with Gazebo and ROS

I want to test ros sensor hardware driver but currently I don't have the hardware. Is it possible to test the hardware driver with gazebo.. If yes please share the steps for the same... I want to test ...
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1 answer
15 views

CANopen test based on the canopen_test_utils package

Hello, i am trying to communicate with a single motor through CANopen. I had posted earlier about it in this question: #q294210 EDIT (21/06): This question was answered by Mathias Lüdtke. The error ...
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1 answer
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ros control assertion failed

I wrote a custom controller for my robot. I used ros control boilerplate (by dave coleman) for hardware interface. The code compiles but I get the following error. ...
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1 answer
2 views

Unable to configure custom 1DOF gripper to TIAGo robot arm

I am trying to integrate a new custom gripper to the tiago robot from pal robotics in ros indigo environment. I am using the gripper_action_controller (link text) from ros_controllers to make the ...
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1 answer
7 views

Wheel Calibration

I have my first robot prototype build from scratch up and running using ROS + Arduino. :) But when i control the robot straight forward, it goes a bit sideway. I'm using a L298N Dual H-Bridge to power ...
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1 answer
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hardware interface odometry

I'm getting a bit confused about the odometry when using a hardware_interface with diff_drive_controller In the hardware interface i'm reading the wheel encoder data and update the joint position &...
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1 answer
23 views

Hardware Interface for Arduino

Hey, Recently i started my own robot project to learn ROS, using Arduino. So far i just have a single Arduino + L289n dual h-bridge motor controller to power 2 DC motors The initial setup of my ...
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1 answer
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can anyone help me to interface hardware using ethercat in ROS

can anyone help me to interface hardware using ethercat in ROS with step by step procedure. Originally posted by ashok on ROS Answers with karma: 1 on 2017-01-30 Post score: 0
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1 answer
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[ros_control] VelocityJointInterface with an actuator with no sensor feedback

This question is related to ros_control. I'm working on a platform having an actuator with an embedded controller. The only thing I can do is to send a velocity ...
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1 answer
6 views

HardwareInterface problem with Gazebo and ros_control

Hello! I am trying to simulate a full custom robot with Gazebo and MoveIt but I am running into one problem: gazebo cannot find the proper hardware interface for the joints in the URDF file. I need to ...
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1 answer
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What is the difference between acceleration and effort?

In ros_control what is "effort"? How is it different from acceleration? Can I use a value meant to be acceleration in place of effort? For context I'm using moveit and ros_control with a ...
Shane Loretz's user avatar
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Problems in setting up a new robot and hardware interfacing!

Hi folks, I have a 4WD/4WS mobile robot, which I can control it through rosserial/arduino (open loop control). I have setup the robot in Gazebo and I'm able to use ros controllers to control each ...
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Unexpected Link Position Reset When Launching Controllers

Hello everyone, I am simulating a simple manipulator in Gazebo, and controlling joints via ros_control using a simplified version of this controller class. The robot model spawns normally in Gazebo ...
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1 answer
6 views

How to load a controller from control_manager?

Dears all, I'm new to ROS_control and I'm investigating the possibility to use it to build an hardware-interface and a controller for a 6 gdl human-exoskeleton. To begin, I wrote a simple hardware-...
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1 answer
4 views

How to aggregate command hardware interfaces in ros_control?

I would like to know what workarounds can be used to allow a controller to command more than one hardware interface in ros_control. The hardware interfaces could be homogeneous or heterogeneous (e.g. <...
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1 answer
14 views

ros_control: Difficulty getting custom hardware interface to run

Hello, I am trying to implement a custom hardware interface for a 3-joint manipulator with ros_control. I was following the tutorial on the matter pretty closely. The problem is that while the ...
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How are ros_control controllers and hardware_interfaces used?

Dear all, The doc for ros_control says ros_control provides controller interfaces. Does that mean ros_control abstracts real controllers? I noticed ros_control also provides software controllers? I ...
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