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use gz-physics#283 to implement joint_states/effort feedback #186

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merged 2 commits into from
Oct 28, 2024
Merged

use gz-physics#283 to implement joint_states/effort feedback #186

merged 2 commits into from
Oct 28, 2024

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andreasBihlmaier
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@andreasBihlmaier andreasBihlmaier commented Oct 7, 2023 •
edited by christophfroehlich
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Fixes joint_states/effort being zero for joints with <state_interface name="effort" /> in combination with joint_state_broadcaster/JointStateBroadcaster by using the JointTransmittedWrench component introduced by gazebosim/gz-physics#283.

The joint axis is hard coded to z. I did not yet look into reading out the actual <axis> of the joint and extracting the respective force/torque component of the wrench.

ahcorde
ahcorde requested changes Oct 9, 2023
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Thank you for the contribution.
Two comments:

  • Can you review linters?
  • can you add a comment related to the hardcoded z joint ? or do you plan to continue working on this PR ?

@Nemantor
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I tried it and it works properly, couldn't find any problems

@azeey azeey mentioned this pull request May 20, 2024
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@christophfroehlich christophfroehlich linked an issue May 21, 2024 that may be closed by this pull request
Effort Values are 0 #169
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@BarisYazici
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We are currently integrating Gazebo and would like to have the efforts from simulation. How is this PR going?

@andreasBihlmaier
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I'll take a quick look this weekend whether I can get this PR cleaned up and submitted.

@andreasBihlmaier
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This should do it (further testing strongly recommended): andreasBihlmaier@59ef8f0

I'll try to either update this PR or create a new one in the next days.

@andreasBihlmaier andreasBihlmaier changed the base branch from humble to jazzy June 16, 2024 19:59
@andreasBihlmaier
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I did a bit of quick testing wrsp to joint axis. The effort seems to be reported as expected.
I force pushed https://github.com/andreasBihlmaier/gz_ros2_control/tree/fix-effort-state-jazzy onto the fix-effort-state branch (GitHub does not allow to change PR source branches) and retargeted this PR to jazzy branch.

@BarisYazici
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I tested this. It works for us. Thanks a lot @andreasBihlmaier

@azeey
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azeey commented Oct 2, 2024

@ahcorde this looks good to me. Any reason for not merging?

@ahcorde ahcorde merged commit cc66e73 into ros-controls:jazzy Oct 28, 2024
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ahcorde commented Oct 28, 2024

https://github.com/Mergifyio backport rolling humble iron

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mergify bot commented Oct 28, 2024 •
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backport rolling humble iron

✅ Backports have been created

mergify bot pushed a commit that referenced this pull request Oct 28, 2024
@andreasBihlmaier @mergify
use gz-physics#283 to implement joint_states/effort feedback (#186)
6c5fbd0 
(cherry picked from commit cc66e73)
mergify bot pushed a commit that referenced this pull request Oct 28, 2024
@andreasBihlmaier @mergify
use gz-physics#283 to implement joint_states/effort feedback (#186)
fb1c767 
(cherry picked from commit cc66e73)

# Conflicts:
#	gz_ros2_control/src/gz_system.cpp
mergify bot pushed a commit that referenced this pull request Oct 28, 2024
@andreasBihlmaier @mergify
use gz-physics#283 to implement joint_states/effort feedback (#186)
8fddce4 
(cherry picked from commit cc66e73)

# Conflicts:
#	ign_ros2_control/src/ign_system.cpp
This was referenced Oct 28, 2024
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ahcorde pushed a commit that referenced this pull request Oct 28, 2024
@mergify @andreasBihlmaier
use gz-physics#283 to implement joint_states/effort feedback (#186) (#…
fe1f7ee 
…430)

(cherry picked from commit cc66e73)

Co-authored-by: Andreas Bihlmaier <[email protected]>
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Effort Values are 0
5 participants
@andreasBihlmaier @Nemantor @BarisYazici @azeey @ahcorde