The dependencies are not well fulfilled. about andino

[francocipollone]

Thanks for filling up the issue @elector102 : Check #118

[francocipollone]

CI fail

What is the issue?

Now I am realizing that it is ok that andino_control is not a dependency to andino_gazebo. I think that the dependency that is missing is controller_manager

[francocipollone]

CI fail

What is the issue?

Now I am realizing that it is ok that andino_control is not a dependency to andino_gazebo. I think that the dependency that is missing is controller_manager

Oh yeat it is being used when finding the controller's parameters

andino/andino_gazebo/urdf/andino.gazebo.xacro

Line 48 in 5236b11

<parameters>$(find andino_control)/config/andino_controllers.yaml</parameters>

[agalbachicar]

There is another occurency:

https://github.com/Ekumen-OS/andino/blob/humble/andino_description/urdf/andino.urdf.xacro#L84-L87

That imports files from andino_control and if andino_description includes andino_control as a dependency, then you have a circle one.

#118 deals with the issue, but the urdf files need to be ordered to solve this problem.

[francocipollone]

There is another occurency:

https://github.com/Ekumen-OS/andino/blob/humble/andino_description/urdf/andino.urdf.xacro#L84-L87

That imports files from andino_control and if andino_description includes andino_control as a dependency, then you have a circle one.

#118 deals with the issue, but the urdf files need to be ordered to solve this problem.

<xacro:include filename="$(find ${package_name})/urdf/include/andino_control.urdf.xacro" />

Here package_name unpacks to andino_description so it isn't looking for stuff in andino_control package.
So I don't see the cycling dependency.

It is true though that if we are strict we could move the andino_control.xacro.urdf to andino_control package in order to extend the base description to ros control if needed.

However, based on taking a look at other robots descriptions, in general they add the ros control stuff within the base urdf description and it is quite accepted.

[francocipollone]

Pinging @agalbachicar to define the bug if any. I will close this otherwise