Merge branch 'humble' into pid-with-force-output

Author: livanov93

Dockerfile/Dockerfile

@@ -2,7 +2,7 @@ FROM ubuntu:22.04
 
 ENV DEBIAN_FRONTEND noninteractive
 ENV IGNITION_VERSION fortress
-ENV ROS_DISTRO rolling
+ENV ROS_DISTRO humble
 
 # Make sure everything is up to date before building from source
 RUN apt-get update \

README.md

@@ -2,7 +2,7 @@
 
 ROS2 Distro | Build Status | Package build |
 :---------: | :----: | :----------: |
-[![Licence](https://img.shields.io/badge/License-Apache%202.0-blue.svg)](https://opensource.org/licenses/Apache-2.0) |  [![Build Status](http://build.ros2.org/buildStatus/icon?job=Gdev__ign_ros2_control__ubuntu_focal_amd64)](http://build.ros2.org/job/Gdev__ign_ros2_control__ubuntu_focal_amd64) |  [![Build Status](http://build.ros2.org/buildStatus/icon?job=Gbin_uF64__ign_ros2_control__ubuntu_focal_amd64__binary)](http://build.ros2.org/job/Gbin_uF64__ign_ros2_control__ubuntu_focal_amd64__binary) |
+[![Licence](https://img.shields.io/badge/License-Apache%202.0-blue.svg)](https://opensource.org/licenses/Apache-2.0) |  [![Build Status](http://build.ros2.org/buildStatus/icon?job=Hdev__gz_ros2_control__ubuntu_focal_amd64)](http://build.ros2.org/job/Hdev__gz_ros2_control__ubuntu_focal_amd64) |  [![Build Status](http://build.ros2.org/buildStatus/icon?job=Hbin_uF64__gz_ros2_control__ubuntu_focal_amd64__binary)](http://build.ros2.org/job/Hbin_uF64__gz_ros2_control__ubuntu_focal_amd64__binary) |
 
 This is a ROS 2 package for integrating the `ros2_control` controller architecture with the [Ignition Gazebo](http://ignitionrobotics.org/) simulator.
 More information about `ros2_control` can be found here: https://control.ros.org/
@@ -11,7 +11,7 @@ This package provides an Ignition Gazebo system plugin which instantiates a `ros
 
 [![Build Status](https://github.com/ros-controls/gz_ros2_control/actions/workflows/ci.yaml/badge.svg?branch=galactic)](https://github.com/ros-controls/gz_ros2_control/actions/workflows/ci.yaml)
 
-ROS version | Ignition version | Branch | Binaries hosted at
+ROS version | Gazebo version | Branch | Binaries hosted at
 -- | -- | -- | --
 Foxy | Citadel | [foxy](https://github.com/ros-controls/gz_ros2_control/tree/foxy) | https://packages.ros.org
 Foxy | Edifice | [foxy](https://github.com/ros-controls/gz_ros2_control/tree/foxy) | only from source

ign_ros2_control/src/ign_system.cpp

@@ -956,7 +956,6 @@ hardware_interface::return_type IgnitionSystem::write(
         *jointEffortCmd = ignition::gazebo::components::JointForceCmd(
           {this->dataPtr->joints_[i].joint_effort_cmd});
       }
-    }
   }
 
   // set values of all mimic joints with respect to mimicked joint