Added ros2 (jazzy) stack for gazebo simulation on clearpath_manipulator_description/universal_robots.urdf.xacro. #279
Conversation
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
…or_description/universal_robots.urdf.xacro
This update integrates ROS 2 Jazzy compatibility into the Gazebo simulation stack, enhancing the clearpath_manipulator_description package with necessary configuration files and updates.
gaudelbijay
requested review from
luis-camero and
roni-kreinin
and removed request for
a team
🧪 CI InsightsHere's what we observed from your CI run for 13805f2. 🟢 All jobs passed!But CI Insights is watching 👀 |
…or_description/universal_robots.urdf.xacro
Contributor
|
It would be preferable to use the existing |
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
2 participants
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
This change adds a sim-specific ros2_control block that is only enabled when _sim_ignition is true. The block defines a ros2_control system named ${name}_hardware using the gz_ros2_control/GazeboSimSystem plugin, and registers position command/state interfaces for all six arm joints. It also loads the gz_ros2_control-system Gazebo plugin so that Ignition/Gazebo (Tested on Gazebo Harmonic) can drive these joints through ros2_control. This lets the arm be controlled in simulation with standard ros2_control controllers, without affecting the real/hardware description.