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Questions tagged [ros2-controllers]

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

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Limit I_error in ROS2 PID Controller to Prevent Windup

I am applying ROS2 PID controller on my motors, however - due to my setup - the integral error keeps growing. I set I_clamp max and min to the controller to prevent high values but since the I_error ...
Mohamed Abduljawad's user avatar
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8 views

Is admittance control set by impedance control?

My goal is to use end effector as the ultrasound probe, so the sonographer can easily manipulate the end effector, allowing smooth motion of both translation and rotation. Franka Emika robot provides ...
bot24's user avatar
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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 ...
McQueenPC's user avatar
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Can we handle exceptions in the ros2_control control loop thread safe methods read, update, and write in a custom robot without real-time constraints?

For example, to use try/catch blocks inside these methods
Mateus Menezes's user avatar
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1 answer
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Waiting for 'controller_manager' node to exist

So I am new to ros2 and ros2_control. I am projecting a wheelchair with a rotating 2d LiDAR, to make a cheap 3d LiDAR. My problem is, I cannot solve the controller manager issue with the rotating ...
Victor Marques de Souza's user avatar
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27 views

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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1 answer
26 views

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
1 vote
1 answer
12 views

Dynamic assignment of joints to ros2_controllers

Is it possible to assign all joints of a robot (or a series of specific joints according to a pattern, e.g. left_joint_*) to a controller in the controller configuration YAML or does each joint ...
Maximilian von Unwerth's user avatar
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How to implement UM7 IMU in ros2_control

In my current setup I have a working robot that can drive with ros2_control(diff_drive_controller & joint_state_broadcaster) and my own written Hardware Component: diffdrive_roboteq. I am now ...
McQueenPC's user avatar
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1 answer
31 views

How to Configure a PID controller Yaml file in ROS2_Control

In this page of the documentation of ros2 control There is no mention of how to make the PID controller actually work. If I run the yaml file example provided ...
Mohamed Abduljawad's user avatar
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1 answer
25 views

Difference between "ParamListener" and "auto_declare" when initialising parameters in ros2_control

I am creating a custom controller using ros2_control. Going through the source code of existing controllers, I found out that there are 2 ways to initialize parameters(the one defined in controller ...
Pratham's user avatar
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Alternatives to gripper_controller on OSX

I am currently following the MoveIt tutorials using the Robostack setup on ROS 2 Humble, running on macOS. Unfortunately, the gripper controller lacks official support for macOS, as indicated here. ...
vivek mannava's user avatar
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1 answer
21 views

Issue with low odometry publish rate in ROS 2 Foxy

Description I am experiencing an issue with my robot's odometry publish rate in ROS 2 Foxy, which I have to use due to hardware setup. Despite setting the ...
Robotawi's user avatar
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28 views

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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2 answers
51 views

URDF seems to be not genuine when running with ros2_control and custom hardware interface

Whenever I start my robot I get an error regarding a not genuine URDF file, which causes the controller_manager not to spawn. I have already tried comparing my URDF with the diffbot demo but can't ...
McQueenPC's user avatar
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18 views

i hope to know the relationship of the joint name in urdf & ros2 control label & controller config file?

github issue link : https://github.com/ros-controls/ros2_control/issues/1539 I think that if the joint name in the ros2_control tag corresponds to the controller config, it can ensure that the ...
jiasheng pan's user avatar
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1 answer
90 views

Holonomic drive in Ros2 using Mecanum Wheels

I am working on a robot involving holonomic drive using 4 mecanum wheels. I have the following questions: Is there any ros2 controller for holonomic drive (like for diff drive and Ackermann Steering ...
Pratham's user avatar
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1 answer
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Planning a single goal with two hardware interfaces with different Joint Trajectory Controllers

Using ROS2 Humble I am adding a prismatic joint to the base of the UR5e, and I have successfully combined the URDFs to make a new model. However, I didn't realize until after writing the drivers for ...
quescondido's user avatar
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Wheels Not Moving in Open-Loop Configuration with ROS2 Control and Teleop

[1]I'm relatively new to ROS and have been working on a robot project. I am currently using ROS2 Humble on Ubuntu 22.04. I've been following the tutorial series from Articulated Robotics, particularly ...
Joe's user avatar
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1 vote
2 answers
90 views

ros2_control publishing NaN to /diff_controller/odom

Im trying to launch my Gazebo simulation of my 4-wheeled robot using the following launch file, but when I inspect everything, I see that the odometry is not being calculated correctly. What is going ...
McQueenPC's user avatar
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90 views

Controller Manager Not Available in ROS2 Humble

I am facing issue when using ros2_control for my robot in gazebo. I am using Ubuntu 22.04 with ROS2 Humble. When i launch my launch file it gives me below error ...
joker13's user avatar
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2 answers
150 views

Spawner waiting for '/controller_manager' services to be available when they are already available

...
Vrushab Jain's user avatar
1 vote
0 answers
36 views

MoveIt2 does not recognize when goal pose is reached (MoveIt2: Completed trajectory execution with status TIMED OUT)

Summary MoveIt2 does not seem to recognize if the robot reached the goal, resulting in the robot waiting in the reached goal pose until MoveIt2 times out. Setup We are using a UR10 in combination with ...
Valentino Geuenich's user avatar
1 vote
1 answer
33 views

ROS2 ur driver: package failed: ur_controllers

I am trying to install universal robot driver in ROS2 Humble, following this guide: https://docs.ros.org/en/ros2_packages/rolling/api/ur_robot_driver/installation/installation.html In the colcon step ...
pedro MOREO FERNANDEZ's user avatar
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1 answer
58 views

gazebo_ros2_control mimic joints not working as expected

In ros2 Humble and Gazebo (11 I think is the latest). I have a gripper as shown in the images below. The images are from a very similar robot, it basically has the same structure! It's made out of <...
M.K's user avatar
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1 vote
1 answer
41 views

/goal_pose topic in navigation2 doesn't work in ros2 humble

I have successfully installed ros2 desktop and turtlebot3 packages in my workspace (ubuntu 22.04). Now I've launched turtlebot3_gazebo and turtlebot3_navigation once i set goal in rviz /goal_pose ...
loveson vashikaran's user avatar
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22 views

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
1 vote
1 answer
36 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
150 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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127 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
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1 answer
160 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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2 answers
91 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

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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0 answers
34 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
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1 answer
53 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
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1 answer
128 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
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0 answers
93 views

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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1 answer
38 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
1 answer
143 views

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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1 vote
1 answer
39 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
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0 votes
1 answer
22 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
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0 votes
1 answer
125 views

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
0 votes
2 answers
352 views

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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0 votes
1 answer
140 views

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
0 votes
2 answers
92 views

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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0 votes
1 answer
500 views

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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0 votes
2 answers
2k views

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
  • 55
0 votes
1 answer
41 views

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
0 votes
1 answer
422 views

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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0 votes
1 answer
1k views

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