Comments (5)
I think this would be a minimal change and could be useful. E.g., just used the robot_state_publisher in a manual composition.
Would you like to create a PR?
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Duplicate of #330 ?
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The ros2_control offers the ros2_control_node as start point and user friendly to run the ros2_control stuffs. However, nothing stops you from creating your own node. Take a look in the ros2_control_node.cpp. You can embed the same logic in a composition node. Just make sure you create the controller manager object and the control loop thread.
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Thank you for coming back. You are 100% correct @mateusmenezes95.
The question is more whether this should be provided, and why it is not.
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thank you for coming back @christophfroehlich . Yes, I will have a look at that tomorrow/ early next week, unless someone jumps ahead
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Related Issues (20)
- Segfault in hardware interface when reading robot_description from topic HOT 21
- Controller requiring robot_description parameter does not load anymore after switch to loading robot_description from topic HOT 4
- A problem with Controller_manager HOT 2
- After latest update controller manager not working HOT 24
- Hardware grouping to trigger errors in whole HW group when one of them is in error
- Remove deprecated `mimic` options
- Acquiring System State Variables from ROS Ecosystem (From other nodes and services) - DIFFBOT HOT 3
- Joint Limiters: Saturation (current PR971 - will be renamed) and Soft Limiter HOT 3
- Changing how handles are used (in stages and PRs) HOT 1
- Fallback controllers HOT 1
- Integrate SideloadControllers - controllers that do longer calculations in a separate thread but data access is synchronized
- release_interfaces does not seem to work (or not work as expected) HOT 17
- not able to activate 2 controllers HOT 3
- `KeyboardInterrupt` exception if shutdown before controller manager is found HOT 1
- Passing data to multiple instances of HardwareInterface from control node HOT 8
- Handling of exclusive command interfaces HOT 12
- Document `calculate_dynamics` of mock hardware HOT 3
- Spawner waiting for '/controller_manager' services to be available when they are already available HOT 1
- spawner.py parse parameters with namespace wrong HOT 2
- CI build job humble/testing failed! HOT 1
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