hardware_interface/EffortJointInterface hasn't been implemented yet?

[JaehyunShim]

Hi,

As the question says, hardware_interface/EffortJointInterface seems to not work yet. Changing it to hardware_interface/PositionJointInterface makes everything work but that is not what I need to use in my software. Any advice?

Thank you very much,
Jaehyun

[bmagyar]

Which version of ros2_control are you trying to use for this? The one from the master branch? There's currently no working version of gazebo_ros2_control with the Foxy released version. The code you can find in this repo is an early attempt that is now very much out of date.

[Drojas251]

@bmagyar do you know which ros2 version is this repo working with?

[JaehyunShim]

@bmagyar As below.

$ git clone https://github.com/ros-controls/ros2_control.git
$ git clone https://github.com/ros-controls/ros2_controllers.git
$ git clone https://github.com/ros-simulation/gazebo_ros2_control.git
$ cd ros2_control && git reset --hard 3dc62e28e3bc8cf636275825526c11d13b554bb6 && cd ..
$ cd ros2_controllers && git reset --hard 83c494f460f1c8675f4fdd6fb8707b87e81cb197 && cd ..
$ cd gazebo_ros2_control && git reset --hard 3dfe04d412d5be4540752e9c1165ccf25d7c51fb && cd ..

The reason seems to be that hardware_interface/EffortJointInterface is not compatible with even joint_state_controller/JointStateController, whereas PositionJointInterface and VelocityJointInterface are.

@Drojas251
I am testing with ROS2 Foxy.

[JaehyunShim]

Hi @ahcorde

Any advice? I see sample codes added by you for the position and velocity controls in the demo package but not for the effort control.

Thank you in advance,
Jaehyun

[bmagyar]

@bmagyar do you know which ros2 version is this repo working with?

Excellent question. The plugin here is in a proof of concept stage, it worked at some point, my best guess would be to try matching the time of this repo to some checkout of ros2_control and ros2_controllers but it's very manual and not a way forward as we did major changes since then so whatever you do on top, it will break as soon as you try using a released version.

[JaehyunShim]

ping @ahcorde

[ahcorde]

The effortJointInterface is already coded but I didn't add any test. I will try to add one today

[ahcorde]

Hi @JaehyunShim,

In this PR #44 you will find a working effort example 2933f8d

[JaehyunShim]

@ahcorde
Thank you very much. I will test it and get back to you soon.

[JaehyunShim]

Thank you. It works!