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Questions tagged [hardware-interface]

hardware-interface is a class used in ros2_control. see https://control.ros.org

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How to go about rewriting Node to Hardware Component for ros2_control

I'm currently in the process of rewriting this driver for the Ublox ZedF9P GPS to integrate it into the ros2_control architecture. However, I'm facing challenges ...
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What is the way to post my gripper and dexter hand joint position data to the /joint_states topic without going through the hardware interface

My robot body communicates with the hardware by configuring the hardware interface: ...
jiasheng pan's user avatar
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How would I implement ros2_control with an ESP32 running micro-ROS

I am quite new to working with ROS2 and as my first project, I am working on a self-balancing two-wheeled robot. This is my current system design : Raspberry Pi 3A+ : Gets LiDAR data and publishes to /...
kai's user avatar
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Implementing IMU broadcaster with hardware component inside ros2_control

I am currently writing a hardware component for my UM7 IMU based on this driver. I want to combine this hardware component with the ros2_control IMU Sensor Broadcaster. I am however struggling with ...
McQueenPC's user avatar
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ros2_control hardware interface: where in the lifecycle should I wait for hardware initialization?

I am trying to understand how the hardware interface lifecycle should interact with actual hardware initialization, and it's hard to figure out - the documentation specifies what I should do on the ...
AYN's user avatar
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Alternative to hardware interface

I am new to ROS2 but I am trying to create an alternative to a hardware interface for my robot. I have a diff drive vehicle. The main ROS program will run on an Ubuntu PC. The controller on the ...
Serarguy's user avatar
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Hardware Component stops writing after ~25 seconds. Also initiates with extremely high values

Whenever I start my motor with my own hardware component it starts writing extremely high values that I haven't set. (See log) After that is also somehow stops writing after approximately 25 seconds. ...
McQueenPC's user avatar
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Using ROS Driver as Hardware Interface for ros2_control

I am looking to use ros2_control with my robot and have found a suitable driver from Github that works with my motor controller (https://github.com/DoanNguyenTrong/roboteq_controller_ros/tree/galactic-...
McQueenPC's user avatar
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Does the mock hardware component "mock_components/GenericSystem" provided by ros2 control support the 'velocity' command interface?

When I change the command interface from 'position' to 'velocity' in Moveit2 tutorial (MoveIt Setup Assistant — MoveIt Documentation: Rolling documentation), I found the crux of the problem is the ...
Michael's user avatar
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Modular robot (canopen base+ universal robot arm) controller_manager setup for different hardware interfaces

I have a modular robot composed of a mobile base and an arm. The mobile base is driven with two CANopen-driven joints, while the arm is an UR10e universal robot. I’m able to drive BOTH the mobile base ...
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ROS2 Wrapper for a Python-based Sensor

I have a force sensor that I want to use with ROS2, however, I don't know how to create a ROS2 wrapper for it. All I found was this tutorial that creates a ROS1 wrapper. Below is a snippet of the ...
Mohamed Abduljawad's user avatar
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Linux on KUKA controller KR C4/5

I need to configure my RSI interface on the KUKA controller C4. I was following this guide : https://github.com/ros-industrial/kuka_experimental/tree/melodic-devel/kuka_rsi_hw_interface/krl/KR_C4 and ...
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Combining UR10e with two canopen driven joints

As the title says, I'm trying to augment the UR10e with additional joints, which are driven with canopen_motor_node. I'm able to drive both the UR10e and the canopen joints separately, but struggling ...
user3632489's user avatar
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Figure out system state to turn power off

I have a mobile robot base that has a computer running Ubuntu onboard and a seperate microcontroller for power management. What would be the best way to make sure that the computer has shut down ...
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ROS2 Control: Custom Controller Plugin Not Found (actuator interface)

Question edit Latest (09-Apr): I wrote my own custom hardware interface called dig_cont (actuator interface and sensor interface) and I am able to compile and run successfully. I can see two different ...
Mobile Robot's user avatar
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Can a custom hardware interface access parameters on the parameter server other than HardwareInfo?

Can a custom hardware interface access parameters on the parameter server other than HardwareInfo? For example, the parameters in the controller.yaml file? How can I access them? In ROS1 for example, ...
jiasheng pan's user avatar
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ros2_control - Hardware Interface - Write() & Moveit2 Joint Trajectory

By using ROS Humble, Moveit2, and ros2_control, I am trying to accomplish manipulation tasks with the CRX-10iA/L Fanuc robot. Currently, I am implementing ros2_control hardware_interface part. Inside ...
Oben Sustam's user avatar
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Manage ros2_control hardware_interface::return_type::ERROR

I have very similar problem as in this question: ros2_control manage hardware_interface::return_type::ERROR Basically, I use ROS2, Humble and wrote hardware interface for my controller. Everything ...
Hercogs's user avatar
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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. ...
Hem92j's user avatar
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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 ...
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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 &...
blakez13's user avatar
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2 answers
203 views

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 ...
Macedon971's user avatar
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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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1 answer
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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
513 views

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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67 views

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 ...
THA's user avatar
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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 ...
Chris's user avatar
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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
103 views

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
99 views

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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1 answer
24 views

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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1 answer
42 views

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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1 answer
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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 ...
user avatar
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1 answer
22 views

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 ...
user avatar
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1 answer
18 views

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 ...
user avatar
0 votes
1 answer
30 views

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
327 views

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 ...
user avatar
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1 answer
18 views

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 ...
user avatar
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1 answer
108 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 ...
user avatar
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1 answer
13 views

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 ...
user avatar
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1 answer
66 views

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
42 views

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
66 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
79 views

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
9 views

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
2 views

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 ...
user avatar
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1 answer
21 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
6 views

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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