use gz-physics#283 to implement joint_states/effort feedback#186
use gz-physics#283 to implement joint_states/effort feedback#186ahcorde merged 2 commits intoros-controls:jazzyfrom
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ahcorde
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Thank you for the contribution.
Two comments:
- Can you review linters?
- can you add a comment related to the hardcoded
zjoint ? or do you plan to continue working on this PR ?
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I tried it and it works properly, couldn't find any problems |
christophfroehlich
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We are currently integrating Gazebo and would like to have the efforts from simulation. How is this PR going? |
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I'll take a quick look this weekend whether I can get this PR cleaned up and submitted. |
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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
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I did a bit of quick testing wrsp to joint axis. The effort seems to be reported as expected. |
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I tested this. It works for us. Thanks a lot @andreasBihlmaier |
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@ahcorde this looks good to me. Any reason for not merging? |
christophfroehlich
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https://github.com/Mergifyio backport rolling humble iron |
✅ Backports have been createdDetails
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(cherry picked from commit cc66e73)
(cherry picked from commit cc66e73) # Conflicts: # gz_ros2_control/src/gz_system.cpp
(cherry picked from commit cc66e73) # Conflicts: # ign_ros2_control/src/ign_system.cpp
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Hi guys,
I have implemented the changes in this PR in my forked Humble branch and it works fine |
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@Mergifyio backport humble |
✅ Backports have been createdDetails
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7 participants
Fixes
joint_states/effortbeing zero for joints with<state_interface name="effort" />in combination withjoint_state_broadcaster/JointStateBroadcasterby using theJointTransmittedWrenchcomponent 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.