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Add hold_joints parameter (backport #251) #354

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merged 2 commits into from
Jul 8, 2024
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@mergify mergify bot commented Jul 6, 2024

@HPCLOL posted a use case of gazebo in ros-controls/ros2_controllers#875:
If the simulation is started with an inactive controller, the robot should move with gravity as if the joints were passive.

As discussed with #250 this is currently not possible. This PR adds an parameter to enable this behavior (again).

  • I'm not sure if this should be default true or false.
  • I haven't found a different solution to tell GazeboSystem this parameter parsed from the gazebo plugin without changing API. Therefore, I used a ROS parameter of the gazebo_ros2_control node to pass the information.

The result looks like this if no controller was spawned:

passive_rrbot.mp4

This is an automatic backport of pull request #251 done by [Mergify](https://mergify.com).

(cherry picked from commit 7682dce)

# Conflicts:
#	gazebo_ros2_control/src/gazebo_system.cpp
@mergify mergify bot added the conflicts label Jul 6, 2024
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mergify bot commented Jul 6, 2024

Cherry-pick of 7682dce has failed:

On branch mergify/bp/iron/pr-251
Your branch is up to date with 'origin/iron'.

You are currently cherry-picking commit 7682dce.
  (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:   doc/index.rst
	modified:   gazebo_ros2_control/src/gazebo_ros2_control_plugin.cpp

Unmerged paths:
  (use "git add <file>..." to mark resolution)
	both modified:   gazebo_ros2_control/src/gazebo_system.cpp

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

@mergify mergify bot mentioned this pull request Jul 6, 2024
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@saikishor saikishor left a comment

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LGTM

@ahcorde ahcorde merged commit 4d6234a into iron Jul 8, 2024
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@ahcorde ahcorde deleted the mergify/bp/iron/pr-251 branch July 8, 2024 08:08
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3 participants