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3 votes
Accepted

Inconsistency between ros2 topic hz and bw

In my past experience with ROS2, ros2 topic hz cannot accurately measure high-frequency topic rates. You can perform testing by manually subscribing to the topic (...
fishros's user avatar
  • 56
3 votes

how to apply ros2_control on urdf model?

Have you had a look into the ros2_control_demos or gazebo_ros2_control_demos?
Christoph Froehlich's user avatar
2 votes
Accepted

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

There is currently no ros2_controller supporting omniwheels. If it has standard wheels, use the diff_drive controller as in this demo. Consider the wheels_per_side parameter.
Christoph Froehlich's user avatar
2 votes

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

Yes you could use ros2_control, but there is no ros2_controller available for drones -> you have to write your own. But the more challenging task will be to simulate the physics of the drone, lift, ...
Christoph Froehlich's user avatar
2 votes
Accepted

Creating a Custom Hardware Interface for a Two-Wheeled Mobile Robot for ros2_control?

Have a look at the diff_drive example, this should answer question 2. About how to write a hardware_component this video could help you with the first steps, or have a look at this step-by-step guide.
Christoph Froehlich's user avatar
2 votes

Can a custom hardware interface access parameters on the parameter server other than HardwareInfo?

The controller.yaml is not forwarded to the hardware components, but you can add parameters to the ros2_control tag inside the URDF. See the demos here. You can also parse the full original URDF (<...
Christoph Froehlich's user avatar
2 votes

Robotic arm falls on its own after spawning model in gazebo

Foxy is EOL, please use a still supported ROS distribution. There were several fixes to gazebo_ros2_control regarding sagging robots. By having a look on your console output: Why are you using ...
Christoph Froehlich's user avatar
2 votes
Accepted

How to Configure a PID controller Yaml file in ROS2_Control

See this section: You have to use type: pid_controller/PidController. (I have to admit, this could be documented clearer). ...
Christoph Froehlich's user avatar
2 votes
Accepted

Mecanum wheels not moving as per expectation

You should have a frame for each pinion. If you see the frames then they probably don't exist. If you're not defining the frames then they don't exist. You ask wouldn't it be too difficult to attach ...
Chuck's user avatar
  • 15.9k
1 vote
Accepted

ros2_control - Hardware Interface - Write() & Moveit2 Joint Trajectory

the write() method will be called with the update rate of your controller manager, if you need a different rate we added some docs here. Which sampling time has your joint_trajectory, and which one ...
Christoph Froehlich's user avatar
1 vote

Combining topic based ROS2 control, and DiffBot demo

It is a general advice not to use a node inside a ros2_control hardware_component, but if it does not harm your real-time requirements for sure you can do it -> Adapt the ...
Christoph Froehlich's user avatar
1 vote

Controlling My ROS 2 Omni-Wheeled Robot: Need Help with ros2_control and Communication

The very first entry after a google search point to this repository. It is written for ROS 1, but you can maybe directly use/adapt the URDF. If you are not familiar with this, have a look at the vast ...
Christoph Froehlich's user avatar
1 vote

ROS2 control launch freeze

I don't use the debug log-level a lot, normally I was able to solve such problems with the standard Info/Warn/Error messages. I suggest the following: Change your launch file to a minimum, i.e., do ...
Christoph Froehlich's user avatar
1 vote

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

It was just not backported to humble yet. We triggered the backport, it might be merged soon. See this issue and the linked PRs.
Christoph Froehlich's user avatar
1 vote

I am willing to implement ros2_canopen with ros2_control

If you can share the full error that will help more. Second, you have bus.yml position_mode: 1 # Profile Position Mode it would help if you changed it to ...
Mustafa Essam's user avatar
1 vote
Accepted

How to use ros2_control with actual hardware communicating via etherCAT?

Have you seen this EtherCAT driver?
Christoph Froehlich's user avatar
1 vote
Accepted

Reading a ros2_control xacro file in a regular node

Have a look at the component parser used within the controller_manager of ros2_control. It should be possible to use that in your node.
Christoph Froehlich's user avatar
1 vote

Error: Loader for controller 'asc' not found

Please be aware that Foxy is EOL and not maintained any more. Have you tested the demos shipped with gazebo_ros2_control, do they launch?
Christoph Froehlich's user avatar
1 vote
Accepted

Subscriber in Hardware Interface (ros2_control)

Have a look at this implementation of topic_based_ros2_control here. Note that in general, it is not recommended to use a node inside the hardware interface if you have realtime requirements. Write ...
Christoph Froehlich's user avatar
1 vote

Webots ros2_control and controller_manager issue

Have you tried building the webots_ros2 package from sources? I've been having the same problem with ros2 iron. Installing from sources solved it. Here's the output I got when running your project. ...
irfan's user avatar
  • 11
1 vote
Accepted

How to use `ros2_control`s `joint_limits`?

Thanks Anubhav Singh for the help, since the node parameters where now set properly, I was able to identify the problem. JointLimitsAggregator of the Pilz motion ...
NotARobot's user avatar
1 vote
Accepted

ROS2_Control question

First of all: Galactic is EOL and doesn't receive any updates any more. Please upgrade to a more recent distro. You are right. The command interfaces is of velocity type (angular speed of the wheels). ...
Christoph Froehlich's user avatar
1 vote
Accepted

Robotic arm moves on loading inside Gazebo

Include gazebo_ros2_control plugin as ...
Anubhav Singh's user avatar
1 vote

Robotic arm moves on loading inside Gazebo

Why you want to use gazebo if you take the hardware component from example_8? How do you interface gazebo at all if you use the hardware component? Use gazebo_ros2_control, because this loads the ...
Christoph Froehlich's user avatar
1 vote

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

This seems to be a bug, can you please report it in ros2_controllers repo?
Christoph Froehlich's user avatar
1 vote

design documents for ros2_control transmissions

You can find the design drafts in this repository, but not sure if you find answers to your questions. If not, feel free to post a question in the ros2_control issues.
Christoph Froehlich's user avatar
1 vote
Accepted

JTC ignores URDF velocity limit

No, JTC does not support that yet. You have to consider that while planning the trajectory which you send to it.
Christoph Froehlich's user avatar
1 vote
Accepted

ros2 ackermann robot not moving forward, left and right

The issue was in the design of the robot. The front 2 wheels were connected to the main chassi using "revolute joint" and not using "continous joint". Because of the friction of ...
Pratham's user avatar
  • 45
1 vote
Accepted

impliment car like steering in ros2_control

ackermann_steering_controller is what you are looking for. Have a look at this PR here. However, we have some issues with the controller, see e.g. here. Please report a new issue if it doesn't work as ...
Christoph Froehlich's user avatar
1 vote

Moveit2 & ros2_control, Why does it go back in the opposite direction after reaching the target value?

The description means overshooting the target position. Here are three troubleshooting tips that might help resolve the issue or give you insight into where the root cause is: Open loop control: In ...
Robotawi's user avatar
  • 510

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