Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Simplify access for robot description from CM by overriding RM #349

Merged
merged 7 commits into from
Jul 8, 2024
Merged

Simplify access for robot description from CM by overriding RM #349

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
7 commits
Select commit Hold shift + click to select a range
9afe634
First attempt of fixing the API
christophfroehlich Jul 3, 2024
f2fe3d3
FIx linters
christophfroehlich Jul 5, 2024
f321671
Remove parameters from docs
christophfroehlich Jul 5, 2024
9ddc200
Add namespace/remapping to docs
christophfroehlich Jul 5, 2024
cf1eeb1
Specify parameters tag
christophfroehlich Jul 5, 2024
5f68129
Fix typo
christophfroehlich Jul 5, 2024
2153cd5
Reformat
christophfroehlich Jul 5, 2024
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
27 changes: 18 additions & 9 deletions doc/index.rst
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -197,22 +197,31 @@ robot hardware interfaces between *ros2_control* and Gazebo Classic.
.. code-block:: xml

<gazebo>
<plugin filename="libgazebo_ros2_control.so" name="gazebo_ros2_control">
<robot_param>robot_description</robot_param>
<robot_param_node>robot_state_publisher</robot_param_node>
<parameters>$(find gazebo_ros2_control_demos)/config/cart_controller.yaml</parameters>
<controller_manager_name>simulation_controller_manager</controller_manager_name>
</plugin>
<plugin filename="libgazebo_ros2_control.so" name="gazebo_ros2_control">
<parameters>$(find gazebo_ros2_control_demos)/config/cart_controller.yaml</parameters>
</plugin>
</gazebo>

The *gazebo_ros2_control* ``<plugin>`` tag also has the following optional child elements:

* ``<robot_param>``: The location of the ``robot_description`` (URDF) on the parameter server, defaults to ``robot_description``
* ``<robot_param_node>``: Name of the node where the ``robot_param`` is located, defaults to ``robot_state_publisher``
* ``<parameters>``: YAML file with the configuration of the controllers
* ``<parameters>``: A YAML file with the configuration of the controllers. This element can be given multiple times to load multiple files.
* ``<hold_joints>``: if set to true (default), it will hold the joints' position if their interface was not claimed, e.g., the controller hasn't been activated yet.
* ``<controller_manager_name>``: Set controller manager name (default: ``controller_manager``)

Additionally, one can specify a namespace and remapping rules, which will be forwarded to the controller_manager and loaded controllers. Add the following ``<ros>`` section:

.. code-block:: xml

<gazebo>
<plugin filename="libgazebo_ros2_control.so" name="gazebo_ros2_control">
...
<ros>
<namespace>my_namespace</namespace>
<remapping>/robot_description:=/robot_description_full</remapping>
</ros>
</plugin>
</gazebo>

Default gazebo_ros2_control Behavior
-----------------------------------------------------------

Expand Down
Loading