Jazzy harmonic devel #34
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…s string_array again
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Hey @Kaiser1401, Oh wow, I am impressed that someone actually attempted this. Thanks a lot for your effort and for making it public via this PR. I have not used this repository for quite some time, and I am busy with other things, so I won't have time to try it anytime soon. But I can merge it into a new branch whenever you think it is ready-ish. Also — by any chance, have you checked if there are any "official" alternatives available by now? This repository was quickly put together when I needed it several years ago, but I hope/thought there would be proper support by now. Thanks again! |
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I have mainly looked around for a working example combining GazeboSim, Ros2, MoveIt and a manipulator arm interacting with something and so far this seemed to be the best starting point :D I have seen the comment that moveIt now has it's own python api but have not checked it yet. I'm fairly new to ROS2, GZ and MoveIt (but have quite som experienc from ROS1) so this is a bit my starting point. While somehting running would have been ideal to use it, fixing things also seems to teach me quite a bit. I'll probably have accompanying changes for the Also; for reference on changes to request_adapters etc in planning config: MoveIt Migration Notes |
…d after other parameters it seems
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This basically should work, not everything tidied up. |
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Thanks again for the contribution @Kaiser1401! The changes look good to me, although I didn't check the updated parameters/adapters as I do not keep up to date with their changes.
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| controller_parameters | |||
| "> | |||
| <gazebo> | |||
| <plugin filename="ign_ros2_control-system" name="ign_ros2_control::IgnitionROS2ControlPlugin"> | |||
| <!-- <plugin filename="ign_ros2_control-system" name="ign_ros2_control::IgnitionROS2ControlPlugin"> --> | |||
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No need to keep the old name
| <!-- <plugin filename="ign_ros2_control-system" name="ign_ros2_control::IgnitionROS2ControlPlugin"> --> |
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| #!/usr/bin/env -S ros2 launch | |||
| """Example of planning with MoveIt2 and executing motions using fake ROS 2 controllers within RViz2""" | |||
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Could you please move this script under panda/launch (add launch to its cmake), and call it something like gz.launch.py (suggestion)? I think that will make it more clean and discoverable.
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| #!/usr/bin/env -S ros2 launch | |||
| """Example of planning with MoveIt2 and executing motions using fake ROS 2 controllers within RViz2""" | |||
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| """Example of planning with MoveIt2 and executing motions using fake ROS 2 controllers within RViz2""" | |
| """Example of planning with MoveIt2 and executing motions using simulated Gazebo robot""" |
Attempt to take humble devel and make it run on jazzy using gz-harmonic.
not everything as i like yet, but maybe worth a branch