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Rewrite mimic joints #276

Merged
merged 6 commits into from
Apr 23, 2024
Merged

Rewrite mimic joints #276

merged 6 commits into from
Apr 23, 2024

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christophfroehlich
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@christophfroehlich christophfroehlich commented Apr 22, 2024

Similar to ros-controls/gazebo_ros2_control#297

The component_parser of the resource_manager now already parses the mimic joint information from the URDF. The old way for defining it in the ros2_control tag is deprecated, see ros-controls/ros2_control#1256.

$ ros2 control list_hardware_interfaces
command interfaces
        right_finger_joint/position [available] [claimed]
state interfaces
        left_finger_joint/effort
        left_finger_joint/position
        left_finger_joint/velocity
        right_finger_joint/effort
        right_finger_joint/position
        right_finger_joint/velocity
$ ros2 topic echo /joint_states --once
header:
  stamp:
    sec: 61
    nanosec: 200000000
  frame_id: ''
name:
- right_finger_joint
- left_finger_joint
position:
- 0.15
- 0.1500000000000001
velocity:
- 0.0
- -1.1102230246251565e-14
effort:
- 0.0
- 0.0
---

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@ahcorde ahcorde left a comment

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Just a small change, LGTM

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@saikishor saikishor left a comment

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LGTM

Co-authored-by: Alejandro Hernández Cordero <[email protected]>
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Why don't you remove _mimic suffix?
3 participants