Questions tagged [ros2-controllers]

Questions related to the controllers provided with ros2-control framework for ROS 2

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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
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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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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
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Ros2_control: How to increase power in angular

My robot is on the heavy side and is driving on carpet. The Ros2_control sends out weak angular speeds and spinning power. How can I increase this? Linear velocity is fine and almost too fast! I'm ...
Russ76's user avatar
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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
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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
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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
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Ros2 robot won't move sideways with dwb or mppi controllers

I am unable to get the mppi or dwb controllers to move in the Y direction. If I set a goal that is close to the current position parallel to the current robot heading, the robot will shimmy back and ...
robo-ryan's user avatar
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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
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Is cmd_vel output from Ros2_control a good way to control motors in a diff-drive robot?

Ros2_Control allows controlling motors through low-level (fast) interfaces. But these can be tricky to set up. Does the cmd_vel topic from the controller originate from the same place in code? I mean, ...
Russ76's user avatar
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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
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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
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Transform between odom and base_link not made. ros2_controller Ackermann Steering Controller

I cannot set odom as a fixed frame inside RViz. It doesn't show up at all. My robot is fully functional and visible in both Gazebo. I don't get any warnings, errors or exceptions in the log. I'm using ...
Balazs Tuba's user avatar
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Joint Trajectory Controller not working with multiple hardware interfaces

first of all merry Christmas to whoever is celebrating! I am working on adding a 7th prismatic axis to the UR10e robot and implementing a kinematic chain to synchronously control the robot. The ...
Adam's user avatar
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Moveit2 & ros2_control, Why does it go back in the opposite direction after reaching the target value?

I am using moveit2 and ros2_control (ros2-iron). I can move the actuator using interactive-Marker on Rviz, but for some reason, on actual devices, actuators moves back a little after it once reaches ...
user55147's user avatar
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Implementing a prismatic joint within a joint trajectory controller

I'm wondering if someone has some ideas about how to make a prismatic axis work with ros2 controllers. I am using a UR10e which is mountd on an igus drylin ZLW 7th Axis controlled by Dryve D1. I have ...
Adam's user avatar
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ROS2 control, how do I configure the IMU sensor broadcaster in the controller yaml?

So I've managed to implement the hardware interface/abstraction for the imu that is connected to an Arduino mega. Now I have to implement a controller and the one I'd like to use (its the only for imu)...
Anon's user avatar
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Controller Manager not available

I'm facing an issue with controlling a robot in Gazebo using ROS 2 and ros2_control. I'm running ROS 2 with the Humble distribution on Ubuntu 22.04. I have installed the necessary packages including ...
Vishaal's user avatar
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Two wheeled self balancing robot(TWSBR)

I'm trying to impliment LQR in a TWSBR, the the control input is in terms of torque for the left and right wheels. Is there a way to use diff-drive controller for this? How do i convert torque to ...
user37130's user avatar
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Creating a Custom Hardware Interface for a Two-Wheeled Mobile Robot for ros2_control?

I am in the process of developing a custom two-wheeled mobile robot with differential control, and I want to integrate it with the ROS 2 ecosystem, specifically leveraging ros2_control. I understand ...
Robotawi's user avatar
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ros2 humble with arduino uno

I am trying to do serial communication with arduino uno with ros2 humble, i have tried something with micro-ros and it didn't work. There are no clear instructions on how to do it. I just want to push ...
Ankith Samuel Abraham's user avatar
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For my 6-axis robot, goal pose accuracy +/- 0.3 degrees with any OMPL planner. How to reach at least 0.01 degrees or better?

I'm very disappointed about MoveIt planning accuracy and hope you can help me with some useful advices. Some tech. intro: Ubuntu 22.04.3 LTS ROS2 Rolling Gazebo Classic MoveIT2 (installed from source) ...
Kirill Partala's user avatar
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2 answers
146 views

Joint Trajectory Controller with velocity command interface reports success to early

I want to control a manipulator with the Joint Trajectory Controller (JTC) by using the velocity command interface. I am using ros2_control respectively ros2_controllers on the master branch and I ...
Jacob Ritterbach's user avatar
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1 answer
166 views

Joint Trajectory Controller with velocity command interface has non-zero velocity after finshed trajectory

I want to control a manipulator with the Joint Trajectory Controller by using the velocity command interface. I am planning a trajectory with with MoveIt ...
Jacob Ritterbach's user avatar
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119 views

How to set the optional parameter , "use_local_topics", of joint_state_broadcaster of ros2_control (foxy)

I'm using ros2 control foxy now,and I'm trying to define namespace for my robot. The problem is that joint_state_broadcaster doesn't publish the /joint_states to the local topic /ns/joint_states. ...
THA's user avatar
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147 views

Robotic Arm- Moveit2- Controllers spawner error

Moveit2 planning successfully but gives error at execution, also the controllers are not spawning. ...
uguryakut's user avatar
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1 answer
270 views

Differential Drive Controller 'enable_odom_tf: false' doesn't work

I have 2 wheels diff_drive robot that use diff_drive_controller from ros2_control,so this first work as diff_cont (diff_drive_controller name) publish transform from odom to base_link on /tf. Now I ...
Dandog's user avatar
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