Add a custom plugin for simulating actuator dynamics to the demos by christophfroehlich · Pull Request #693 · ros-controls/gz_ros2_control

christophfroehlich · 2025-09-26T17:41:54Z

on top of #688

ahcorde · 2025-09-29T08:04:20Z

gz_ros2_control_demos/include/gz_ros2_control_demos/gz_custom_system.hpp

@@ -0,0 +1,84 @@
+// Copyright 2021 Open Source Robotics Foundation, Inc.


Suggested change

// Copyright 2021 Open Source Robotics Foundation, Inc.

// Copyright 2025 Open Source Robotics Foundation, Inc.

doc/index.rst

ahcorde · 2025-09-29T08:04:44Z

gz_ros2_control_demos/include/gz_ros2_control_demos/gz_custom_system.hpp

+#include "rclcpp_lifecycle/state.hpp"
+#include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp"


Suggested change

#include "rclcpp_lifecycle/state.hpp"

#include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp"

#include <rclcpp_lifecycle/state.hpp>

#include <rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp>

in the other repos we use the google codestyle which says:

Headers should only be included using an angle-bracketed path if the library requires you to do so.

as you prefer..

ahcorde · 2025-09-29T08:05:20Z

gz_ros2_control_demos/launch/cart_example_velocity_custom_plugin.launch.py

@@ -0,0 +1,118 @@
+# Copyright 2021 Open Source Robotics Foundation, Inc.


Suggested change

# Copyright 2021 Open Source Robotics Foundation, Inc.

# Copyright 2025 Open Source Robotics Foundation, Inc.

gz_ros2_control_demos/launch/cart_example_velocity_custom_plugin.launch.py

ahcorde · 2025-09-29T08:06:00Z

gz_ros2_control_demos/src/gz_custom_system.cpp

@@ -0,0 +1,402 @@
+// Copyright 2021 Open Source Robotics Foundation, Inc.


Suggested change

// Copyright 2021 Open Source Robotics Foundation, Inc.

// Copyright 2025 Open Source Robotics Foundation, Inc.

ahcorde · 2025-09-29T08:06:13Z

gz_ros2_control_demos/src/gz_custom_system.cpp

+#include <gz/sim/components/Name.hh>
+#include <gz/sim/components/ParentEntity.hh>
+
+#include "control_toolbox/low_pass_filter.hpp"


Suggested change

#include "control_toolbox/low_pass_filter.hpp"

#include <control_toolbox/low_pass_filter.hpp>

gz_ros2_control_tests/tests/velocity_custom_plugin_test.py

Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com>

christophfroehlich · 2026-02-22T20:28:11Z

@Mergifyio backport kilted jazzy humble

mergify · 2026-02-22T20:28:19Z

backport kilted jazzy humble

✅ Backports have been created

Details

#778 Add a custom plugin for simulating actuator dynamics to the demos (backport #693) has been created for branch kilted
#779 Add a custom plugin for simulating actuator dynamics to the demos (backport #693) has been created for branch jazzy
#780 Add a custom plugin for simulating actuator dynamics to the demos (backport #693) has been created for branch humble but encountered conflicts

Cherry-pick of 0dab1d5 has failed:

On branch mergify/bp/humble/pr-693
Your branch is up to date with 'origin/humble'.

You are currently cherry-picking commit 0dab1d5.
  (fix conflicts and run "git cherry-pick --continue")
  (use "git cherry-pick --skip" to skip this patch)
  (use "git cherry-pick --abort" to cancel the cherry-pick operation)

Changes to be committed:
	modified:   gz_ros2_control_demos/CMakeLists.txt
	new file:   gz_ros2_control_demos/gz_custom_hardware_plugins.xml
	new file:   gz_ros2_control_demos/include/gz_ros2_control_demos/gz_custom_system.hpp
	new file:   gz_ros2_control_demos/launch/cart_example_velocity_custom_plugin.launch.py
	new file:   gz_ros2_control_demos/src/gz_custom_system.cpp
	new file:   gz_ros2_control_demos/urdf/test_cart_velocity_custom_plugin.xacro.urdf
	new file:   gz_ros2_control_tests/tests/velocity_custom_plugin_test.py

Unmerged paths:
  (use "git add <file>..." to mark resolution)
	both modified:   doc/index.rst
	both modified:   gz_ros2_control_demos/package.xml
	both modified:   gz_ros2_control_tests/tests/CMakeLists.txt

To fix up this pull request, you can check it out locally. See documentation: https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/reviewing-changes-in-pull-requests/checking-out-pull-requests-locally

Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com> (cherry picked from commit 0dab1d5)

Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com> (cherry picked from commit 0dab1d5) # Conflicts: # doc/index.rst # gz_ros2_control_demos/package.xml # gz_ros2_control_tests/tests/CMakeLists.txt

…) (#778)

…) (#779)

Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com>

christophfroehlich requested a review from ahcorde as a code owner September 26, 2025 17:41

christophfroehlich added 14 commits September 26, 2025 19:48

Remove outdated comment

38d04e4

No mock target is used

28408c7

Add missing include

ce97091

Modernize gz_ros2_control CMake settings

935d094

Remove comment

0425b76

Remove HAS_LIBRARY_TARGET

b7d4021

Add initial version (copy) for custom plugin to the demos

c8b0b3b

Use velocity interface instead

31cf3db

Simplify the system

4a74aa0

Imlement LPF

10b3698

Update docs

541de5c

Add test for custom plugin

af64b58

Satisfy pre-commit

b2c9da1

Fix test

d2b0ec2

christophfroehlich force-pushed the add/custom_plugin branch from 335b5a5 to d2b0ec2 Compare September 26, 2025 17:48

christophfroehlich and others added 2 commits September 26, 2025 17:59

Satisfy pre-commit

9ab5b7b

Merge branch 'rolling' into add/custom_plugin

8d3504d

ahcorde requested changes Sep 29, 2025

View reviewed changes

christophfroehlich and others added 3 commits September 29, 2025 10:43

Apply suggestions from code review

3010bdf

Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com>

Update copyright claim

ff099e7

Cleanup includes

8960bbb

ahcorde approved these changes Sep 29, 2025

View reviewed changes

ahcorde merged commit 0dab1d5 into rolling Sep 29, 2025
6 checks passed

ahcorde deleted the add/custom_plugin branch September 29, 2025 10:26

christophfroehlich mentioned this pull request Oct 7, 2025

Added example_17: chained controllers for diff drive using effort interface and Gazebo. ros-controls/ros2_control_demos#786

Closed

5 tasks

mergify bot pushed a commit that referenced this pull request Feb 22, 2026

Add a custom plugin for simulating actuator dynamics to the demos (#693)

22e6796

Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com> (cherry picked from commit 0dab1d5)

mergify bot mentioned this pull request Feb 22, 2026

Add a custom plugin for simulating actuator dynamics to the demos (backport #693) #778

Merged

mergify bot pushed a commit that referenced this pull request Feb 22, 2026

Add a custom plugin for simulating actuator dynamics to the demos (#693)

eaac8df

Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com> (cherry picked from commit 0dab1d5)

mergify bot mentioned this pull request Feb 22, 2026

Add a custom plugin for simulating actuator dynamics to the demos (backport #693) #779

Merged

mergify bot mentioned this pull request Feb 22, 2026

Add a custom plugin for simulating actuator dynamics to the demos (backport #693) #780

Open

christophfroehlich pushed a commit that referenced this pull request Feb 22, 2026

Add a custom plugin for simulating actuator dynamics to the demos (#693…

cdc1f69

…) (#778)

christophfroehlich pushed a commit that referenced this pull request Feb 22, 2026

Add a custom plugin for simulating actuator dynamics to the demos (#693…

5a6de50

…) (#779)

christophfroehlich added a commit that referenced this pull request Feb 22, 2026

Add a custom plugin for simulating actuator dynamics to the demos (#693)

9e698b9

Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com>

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Add a custom plugin for simulating actuator dynamics to the demos#693

Add a custom plugin for simulating actuator dynamics to the demos#693
ahcorde merged 19 commits intorollingfrom
add/custom_plugin

christophfroehlich commented Sep 26, 2025

Uh oh!

ahcorde Sep 29, 2025

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ahcorde Sep 29, 2025

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christophfroehlich Sep 29, 2025

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ahcorde Sep 29, 2025

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ahcorde Sep 29, 2025

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christophfroehlich Sep 29, 2025

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christophfroehlich commented Feb 22, 2026

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mergify bot commented Feb 22, 2026 •

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		@@ -0,0 +1,84 @@
		// Copyright 2021 Open Source Robotics Foundation, Inc.

	// Copyright 2021 Open Source Robotics Foundation, Inc.
	// Copyright 2025 Open Source Robotics Foundation, Inc.

		#include "rclcpp_lifecycle/state.hpp"
		#include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp"

		@@ -0,0 +1,118 @@
		# Copyright 2021 Open Source Robotics Foundation, Inc.

	# Copyright 2021 Open Source Robotics Foundation, Inc.
	# Copyright 2025 Open Source Robotics Foundation, Inc.

		@@ -0,0 +1,402 @@
		// Copyright 2021 Open Source Robotics Foundation, Inc.

	#include "control_toolbox/low_pass_filter.hpp"
	#include <control_toolbox/low_pass_filter.hpp>

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christophfroehlich commented Sep 26, 2025

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christophfroehlich commented Feb 22, 2026

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mergify bot commented Feb 22, 2026 •

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