Use the urdf_ to set the robot_description in admittance controller #1094
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arne48,
bmagyar,
DasRoteSkelett,
destogl,
fmauch,
saikishor and
VanshGehlot
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No I think you are totally right. But I suggest we should change the API of kinematics_interface to take the robot_description as argument in the initalize() method. This could be done with a default empty-string with fallback to the node parameter to avoid an API break. What do you think @pac48 @destogl?
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I think this should be an API change on the kinematics_interface_kdl side. I agree with @christophfroehlich. I would simply add a new method with the URDF argument and parse it directly
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@christophfroehlich I agree that passing the robot description in the initializer makes sense. |
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@SyllogismRXS could you please add this change to the kinematics_interface first, and then update this PR here? |
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I modified the kinematics_interface package to accept the robot_description as an input argument with a fallback to using the node's parameters if the robot_description is empty: ros-controls/kinematics_interface#66 |
| @@ -51,7 +53,7 @@ controller_interface::return_type AdmittanceRule::configure( | |||
| kinematics_ = std::unique_ptr<kinematics_interface::KinematicsInterface>( | |||
| kinematics_loader_->createUnmanagedInstance(parameters_.kinematics.plugin_name)); | |||
| if (!kinematics_->initialize( | |||
| node->get_node_parameters_interface(), parameters_.kinematics.tip)) | |||
| node->get_node_parameters_interface(), parameters_.kinematics.tip, robot_description)) | |||
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| node->get_node_parameters_interface(), parameters_.kinematics.tip, robot_description)) | |
| node->get_node_parameters_interface(), "kinematics", robot_description)) |
Propose to set here param_base_name so that we search for the parameters under controller interface.kinematics. As we are doing in JointLimiters
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Closed in favor of #1247 |
I'm running ROS2 Iron, building ros2_control and ros2_controllers from their master branches, but the admittance controller was complaining about the lack of the
robot_descriptionparameter inkinematics_interface_kdl(https://github.com/ros-controls/kinematics_interface/blob/master/kinematics_interface_kdl/src/kinematics_interface_kdl.cpp#L34).The
controller_managernow requires that therobot_descriptionto not be a parameter, but come from a topic. I'm doing that. However, it seems that the admittance controller is still expectingrobot_descriptionas a parameter. In this PR, I set therobot_descriptionparameter for the admittance controller using theurdf_member variable. This feels a little hacky. Am I doing something wrong? Is anyone using the latest admittance controller successfully?Thanks!