Some fixed for ROS 2 jazzy:

- API changes in ROS 2 control - Fix for generate parameter library (seems to be a bug on their side)
ARC-OPT · Dec 4, 2024 · a20f6b7 · a20f6b7
1 parent 4be8db4
commit a20f6b7
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Showing 7 changed files with 15 additions and 9 deletions.
diff --git a/include/wbc_ros/cartesian_position_controller.hpp b/include/wbc_ros/cartesian_position_controller.hpp
@@ -60,7 +60,7 @@ class CartesianPositionController : public controller_interface::ChainableContro
     cartesian_position_controller::Params params;
 
     virtual std::vector<hardware_interface::CommandInterface> on_export_reference_interfaces();
-    virtual controller_interface::return_type update_reference_from_subscribers();
+    virtual controller_interface::return_type update_reference_from_subscribers(const rclcpp::Time & time, const rclcpp::Duration & period);
 
     void setpoint_callback(const RbsMsgPtr msg);
     void feedback_callback(const RbsMsgPtr msg);

diff --git a/include/wbc_ros/joint_position_controller.hpp b/include/wbc_ros/joint_position_controller.hpp
@@ -72,7 +72,7 @@ class JointPositionController : public controller_interface::ChainableController
     }
 
     virtual std::vector<hardware_interface::CommandInterface> on_export_reference_interfaces();
-    virtual controller_interface::return_type update_reference_from_subscribers();
+    virtual controller_interface::return_type update_reference_from_subscribers(const rclcpp::Time & time, const rclcpp::Duration & period);
 public:
     JointPositionController();
     ~JointPositionController(){}

diff --git a/include/wbc_ros/whole_body_controller.hpp b/include/wbc_ros/whole_body_controller.hpp
@@ -209,7 +209,7 @@ class WholeBodyController : public controller_interface::ChainableControllerInte
 
 protected:
     virtual std::vector<hardware_interface::CommandInterface> on_export_reference_interfaces();
-    virtual controller_interface::return_type update_reference_from_subscribers();
+    virtual controller_interface::return_type update_reference_from_subscribers(const rclcpp::Time & time, const rclcpp::Duration & period);
 };
 
 }

diff --git a/src/cartesian_position_controller.cpp b/src/cartesian_position_controller.cpp
@@ -59,7 +59,7 @@ vector<hardware_interface::CommandInterface> CartesianPositionController::on_exp
     return interfaces;
 }
 
-controller_interface::return_type CartesianPositionController::update_reference_from_subscribers(){
+controller_interface::return_type CartesianPositionController::update_reference_from_subscribers(const rclcpp::Time & /*time*/, const rclcpp::Duration & /*period*/){
     setpoint_msg = *rt_setpoint_buffer.readFromRT();
     if(!setpoint_msg.get())
         return controller_interface::return_type::OK;

diff --git a/src/joint_position_controller.cpp b/src/joint_position_controller.cpp
@@ -37,7 +37,7 @@ std::vector<hardware_interface::CommandInterface> JointPositionController::on_ex
     return interfaces;
 }
 
-controller_interface::return_type JointPositionController::update_reference_from_subscribers(){
+controller_interface::return_type JointPositionController::update_reference_from_subscribers(const rclcpp::Time & /*time*/, const rclcpp::Duration & /*period*/){
     setpoint_msg = *rt_setpoint_buffer.readFromRT();
     if(!setpoint_msg.get())
         return controller_interface::return_type::OK;

diff --git a/src/whole_body_controller.cpp b/src/whole_body_controller.cpp
@@ -77,7 +77,7 @@ std::vector<CommandInterface> WholeBodyController::on_export_reference_interface
     return interfaces;
 }
 
-controller_interface::return_type WholeBodyController::update_reference_from_subscribers(){
+controller_interface::return_type WholeBodyController::update_reference_from_subscribers(const rclcpp::Time & /*time*/, const rclcpp::Duration & /*period*/){
     return controller_interface::return_type::OK;
 }
 

diff --git a/src/whole_body_controller_parameters.yaml b/src/whole_body_controller_parameters.yaml
@@ -8,6 +8,14 @@ whole_body_controller:
             one_of<>: [["velocity", "acceleration"]]
         }
     }
+    robot_description: {
+        type: string,
+        default_value: "",
+        description: "Robot URDF.",
+        validation: {
+            not_empty<>: null
+        }
+    }
     command_interfaces: {
         type: string_array,
         default_value: [],
@@ -53,9 +61,7 @@ whole_body_controller:
         description: "The joint weights control the contribution of each individual joint to the solution. Values have to be within [0,1].
                       A zero means here that the joint is not used at all. Size has to be same as number of robot joints.",
         validation: {
-            not_empty<>: null,
-            lower_element_bounds: [0.0],
-            upper_element_bounds: [1.0],
+            not_empty<>: null,        
         }
     }
     robot_model: