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Update docs and cleanup member of GazeboSimROS2ControlPluginPrivate (backport #363) #367

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Jul 8, 2024
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Update docs and cleanup member of GazeboSimROS2ControlPluginPrivate (backport #363) #367

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25 changes: 19 additions & 6 deletions doc/index.rst
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Original file line number Diff line number Diff line change
Expand Up @@ -131,17 +131,30 @@ robot hardware interfaces between *ros2_control* and Gazebo.
.. code-block:: xml

<gazebo>
<plugin filename="libgz_ros2_control-system.so" name="gz_ros2_control::GazeboSimROS2ControlPlugin">
<robot_param>robot_description</robot_param>
<robot_param_node>robot_state_publisher</robot_param_node>
<parameters>$(find gz_ros2_control_demos)/config/cart_controller.yaml</parameters>
</plugin>
<plugin filename="libgz_ros2_control-system.so" name="gz_ros2_control::GazeboSimROS2ControlPlugin">
<parameters>$(find gz_ros2_control_demos)/config/cart_controller.yaml</parameters>
</plugin>
</gazebo>

The *gz_ros2_control* ``<plugin>`` tag also has the following optional child elements:

* ``<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="libgz_ros2_control-system.so" name="gz_ros2_control::GazeboSimROS2ControlPlugin">
...
<ros>
<namespace>my_namespace</namespace>
<remapping>/robot_description:=/robot_description_full</remapping>
</ros>
</plugin>
</gazebo>

Default gz_ros2_control Behavior
-----------------------------------------------------------
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5 changes: 0 additions & 5 deletions gz_ros2_control/src/gz_ros2_control_plugin.cpp
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Expand Up @@ -79,11 +79,6 @@ class GazeboSimROS2ControlPluginPrivate
/// \brief Timing
rclcpp::Duration control_period_ = rclcpp::Duration(1, 0);

/// \brief Interface loader
std::shared_ptr<pluginlib::ClassLoader<
gz_ros2_control::GazeboSimSystemInterface>>
robot_hw_sim_loader_{nullptr};

/// \brief Controller manager
std::shared_ptr<controller_manager::ControllerManager>
controller_manager_{nullptr};
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