Questions tagged [ros2-control]

Questions related to the ros2-control framework for ROS 2

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Gazebo Crashing cmd 'gzserver -slibgazebo_ros_init.so -slibgazebo_ros_factory.so -slibgazebo_ros_force_system.so']

i’m working on a 2 wheel autonomous robot simulation with ROS2 and Gazebo. when never I launch this file gazebo sever crashing error Therefore im trying to setup ros2_control, but i got quiet some ...
Vrushab Jain's user avatar
1 vote
1 answer
61 views

Inconsistency between ros2 topic hz and bw

I have run into some unexpected behavior reflected in the outputs of ros2 topic hz and ros2 topic bw. Context: I am building a ...
John B's user avatar
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1 vote
2 answers
42 views

Robotic arm falls on its own after spawning model in gazebo

I'm trying to make an environment for a simulation with a robotic arm (github repo of the 3 packages). Ubuntu 20 with ros foxy. This repo when running ...
M.K's user avatar
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2 votes
0 answers
29 views

Extern Controller, Cannot connect to Webots instance

I installed ROS2 on WSL2, Ubuntu22.04, and follow the tutorial in this link, which helped me install webots on Win11. But when I execute this command ...
flying_doraemon's user avatar
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ros2 node/param list shows no infomation, ros2 topic/action/service list shows infoamation, why? what is wrong?

here is the log info: ...
jiasheng pan's user avatar
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1 answer
19 views

Error output "command size does not match number of interfaces "

OS: Ubuntu 22.04.4 LTS ROS2 Version: Humble ros2_control install: used apt I am writing a custom gpio controller for ros2_control with the purpose of controlling the outputs of some Beckhoff modules. ...
langoustine's user avatar
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1 answer
42 views

How do I resolve the issue "The 'type' param was not defined for 'gpio_controller'" for my custom ontroller gpio_controller?

OS: Ubuntu 22.04.4 LTS ROS2 Version: Humble ros2_control install: used apt I am writing a custom gpio controller for ros2_control with the purpose of controlling the outputs of some Beckhoff modules. ...
langoustine's user avatar
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2 answers
38 views

I work with Humble ROS and I want to use ros_control

I installed all packages I need and write my controll.xacro file and my_controller.yaml file and write launch file correctly and ...
Omar Taha's user avatar
1 vote
1 answer
54 views

gazebo_ros2_control does not load joints or sensors from URDF

Following along with the ros2_control demonstration from ROSCon 2022, I am attempting to run step 5, simulation in Gazebo. The system successfully responds to Joint Trajectory commands, both through ...
quescondido's user avatar
0 votes
0 answers
11 views

How to handle drives with a predefined speed profile in MoveIt 2?

Speed limits of the MoveIt 2 packages in ros2 are normally defined in kinematics.yaml. In my case, a body is given which is ...
Dr. No's user avatar
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Difference between libgazebo_ros2_control.so and libgazebo_ros_diif_drive.so plugin [duplicate]

What is difference between libgazebo_ros2_control.so and libgazebo_ros_diff_drive.so plugin? How this two plugins are used to control the robot?
Santosh Konduskar's user avatar
1 vote
1 answer
22 views

ROS2 Controller does not configure correctly

I'm trying to set up a Velocity Controller for my Drone Propellers. When i start the controller.launch the JointStateBroadcaster configures correctly while the Rotor_controller fails. Terminal says ...
lukaz55's user avatar
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1 answer
66 views

ROS2 controller manager doesn´t work

currently I am working on visualizing a drone in Gazebo. My base is the sjtu_drone. I am trying to control the propellers of my drone with ros2_control but when i start the ros2 controller manager the ...
lukaz55's user avatar
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-1 votes
1 answer
35 views

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
1 vote
1 answer
32 views

restart ros2 controller

I am working on a 4 wheel ackermann steering car which is expected to respawn on the track once it moves out of the track. I am able to respawn it successfully with "delete_entity" and "...
Pratham's user avatar
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What is the right way to implement an inverted pendulum controller for real HW and simulation in ROS2 and Gazebo Sim

Context : I have been using ROS in hobby projects for the last 10 years but keep in mind I'm not a professionnal software developper. I would like to step-up my game by implementing a "teen size&...
Luczia's user avatar
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1 answer
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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
0 votes
1 answer
46 views

micro_ros and control

I am working with ROS2 but im new to a uROS. Currently I am doubting about a control of cleaning robot. There is a uC and high-level PC inside. I have a few questions: Which logic should be on the uC ...
SKJQ's user avatar
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0 votes
1 answer
67 views

How i can build a drone using ROS2 Humble and Gazebo? [closed]

I´m very new to the game. Currently I´m trying to simulate a drone with ROS2 Humble and Gazebo 11. I have already build a URDF File and launch file to visualize it in Gazebo. I searched on Youtube and ...
lukaz55's user avatar
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0 votes
1 answer
44 views

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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0 votes
2 answers
49 views

why my ros2 control has no fun“joint_limits_urdf.hpp”

i use cli sudo apt install ros-humble-ros2-control* to install the ros2 control,but has no fun "joint_limits_urdf.hpp” in package joint_limit ,why ?????? i check source package in https://github....
jiasheng Pan's user avatar
1 vote
1 answer
108 views

I am willing to implement ros2_canopen with ros2_control

I am willing to implement ros2_canopen with ros2_control. I am new to ros2_canopen. I have four wheels robot (in simulation) and using diff_drive as ros2_control. Everthing is working fine but when I ...
whiz's user avatar
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0 votes
1 answer
46 views

Different turn rates in rviz and gazebo leading to big desync between them

I've been building a 4 wheel differential drive robot (all 4 wheels have motors) and I've noticed that when I control the robot, in Gazebo it barely turns while in RViz it turns a lot more. This ...
Lokplart's user avatar
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0 answers
103 views

Using ros2_control with both position and velocity controller

I have eight motors, 4 for steering and 4 for driving mobile robot. I would like to control steering motor with position controller and driving motor with velocity controller...is this possible? I ...
Branimir Caran's user avatar
0 votes
1 answer
74 views

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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0 votes
2 answers
58 views

joint_trajectory_controller returns SUCCEED but does not move joints

I use Universal_Robots_ROS2_Driver in order to do motion planning with MoveIt in ROS Humble. I use the Pilz Industrial Motion Planner as planning pipeline, which seems to work after some addition to ...
NotARobot's user avatar
0 votes
1 answer
30 views

Reading a ros2_control xacro file in a regular node

I have a xacro file that I used for a specific piece of hardware. I figured out how to store custom data structures within the gpio framework within ros2_control example: ...
Seth's user avatar
  • 103
0 votes
1 answer
43 views

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 ...
Benno's user avatar
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0 votes
1 answer
62 views

Ros2_control PID controller

I have a ros2_control hardware interface that I made based on the ros2 control demos repo. However it's just an open loop controller and I'm trying to figure out how to implement the PID portion based ...
Matt Williamson's user avatar
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2 answers
50 views

Error: Loader for controller 'asc' not found

I have a ros2 project which is running in one system(with ros2 humble) perfectly but i am getting error on other system(with ros2 foxy). I need to run it on 2nd system as my first system dosen't has a ...
Pratham's user avatar
  • 35
0 votes
1 answer
110 views

Ros2 Controller Manager inavailable for spawner

Recently I upgraded from Foxy to Humble. When launching my application the controller_manager...
NotARobot's user avatar
0 votes
1 answer
63 views

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
  • 17
0 votes
2 answers
48 views

What is params of <sensor> in ros2_control use for?

I'm follow the example 4 in ros2_control_demos, and in file, there have following lines: ...
HieuHIenHoa's user avatar
0 votes
1 answer
135 views

Webots ros2_control and controller_manager issue

I have been trying for the past week searching forums and documentation to solve this issue. I am trying to make a simple simulation using ros2 humble and webots 2023b. I had switched from Gazebo ...
hylander's user avatar
0 votes
1 answer
41 views

Unusual Robot Behavior in RViz when Launching Multiple Robots in Gazebo and ROS 2

I am currently facing an issue when attempting to launch two robots simultaneously in Gazebo Classic using ROS 2. In my setup, the first robot (Frank's Emika) is successfully launched in a Gazebo ...
Vishaal's user avatar
  • 55
0 votes
0 answers
31 views

How can I make my "two legged" modular robot to move in Gazebo (it seems "pinned" by a fixed joint and unmovable)?

I am currently working on a "two legs" modular robot (cuboctaedric units with some revolute joints) and I have to make it move in Gazebo. Here is what it looks like : I built this model ...
user38346's user avatar
0 votes
2 answers
94 views

How to use `ros2_control`s `joint_limits`?

I want to control a UR5 using Universal Robots Driver and MoveIt2 using Pilz Industrial Motion Planner (ROS2 Humble). If I plan a path using RViz with e.g. PTP I receive errors which disable ...
NotARobot's user avatar
1 vote
1 answer
56 views

the class gazebo_ros2_control/GazeboSystem with base class type hardware_interface::SystemInterface does not exist

I have seen two posts with talking about this issue but none of them have been answered. class gazebo_ros2_control/GazeboSystem with base class type hardware_interface::SystemInterface does not exist ...
Gideon's user avatar
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0 votes
1 answer
43 views

ROS2_Control question

Can anyone clarify the units of diff_drive_controller, Command interfaces in velocity are in rad/sec ? and state interfaces for encoders are rotations ? and velocity is again rad/sec ? Also is there a ...
Ani's user avatar
  • 17
1 vote
1 answer
294 views

How to make 4 wheeled robot work with DiffDrive plugin and ROS2 Control?

I have a 4 wheeled robot with mecanum wheels (in real life), I have been able to simulate it and get it to work with the ROS2 DiffDrive plugin (replicating the skid steer plugin from ROS1) but now ...
Balen's user avatar
  • 29
0 votes
0 answers
18 views

Ros2_control rover examples have odom processing in user supplied code

However, in the code of Ros2_control I see odom processing in detail. Why does the user also have to duplicate this processing? Velocities, times, encoder ticks, etc. Doesn't all this get processed in ...
Russ76's user avatar
  • 54
0 votes
1 answer
74 views

ROS2 - Humble - ros2_control Possible to use position and velocity forward controller at same time?

Is it possible to spawn and use both a forward position controller and a forward velocity controller at the same time? My hardware interface supports torque, speed, and position (feedforward PID ...
Nathan's user avatar
  • 1
0 votes
2 answers
54 views

Robotic arm moves on loading inside Gazebo

I am trying to run the ros2_control_demo_example_7 package of ros2_control_demos with some modifications to spawn r6bot robot ...
Anubhav Singh's user avatar
2 votes
1 answer
50 views

Best practise for read method in ros2 control hw interface for real robots

so I am trying to implement a ros2 control hw interface for a real robot. The robot communicates over TCP/IP and I can change the protocol. When I googled how the method read is implemented for real ...
Lenka Mudrich's user avatar
0 votes
1 answer
32 views

Are hardware components in ros2_control designed to include a ROS 2 node as a member?

I need to transmit high-level status updates strings about my hardware to another node using a publisher. Recognizing that blocking calls are not welcome within the read/write methods, I intend to ...
Mateus Menezes's user avatar
0 votes
0 answers
27 views

Robot not moving in Rviz [duplicate]

I am working on a 4 wheel ackemann steering robot. The robot is working fine and is moving as expected in Gazebo but it is not moving at all in rviz. Even its wheels are not moving (by looking at TF ...
Pratham's user avatar
  • 35
0 votes
1 answer
35 views

ros2_control_node crashes abruptly with error "what(): Taking data from action server but nothing is ready

I am building an application with ros2 iron using moveit and ros2control. The application I created usually works without errors, but "sometimes" it crashes abruptly. The errors at that time ...
user55147's user avatar
0 votes
1 answer
21 views

What is the difference between JointJog msgs and JointTrajectory msg in ros2?

I am learning ros2_control and have encountered a JointJog message. Can anyone explain in what context both messages are used? Is it possible to convert JointTrajectory msgs to Jointjog message? Thank ...
Hem92j's user avatar
  • 86
0 votes
1 answer
72 views

design documents for ros2_control transmissions

Does anybody know where I can find architecture design documents for ros2_control transmissions? I'm interested to know: Why ReadOnlyHandle uses a pointer to ...
Yasushi Shoji's user avatar
0 votes
1 answer
19 views

JTC ignores URDF velocity limit

having setup my igus axis to control it with the joint_trajectory controller it seems that it completely ignores any limits i set in the urdf file. Is there a fix for this? urdf joint: ...
Adam's user avatar
  • 15