You're reading the documentation for a development version. For the latest released version, please have a look at Iron.

Iron to Jazzy

controller_manager

• Rename class_type to plugin_name (#780)

• CM now subscribes to robot_description topic instead of ~/robot_description (#1410). As a consequence, when using multiple controller managers, you have to remap the topic within the launch file, an example for a python launch file:

  remappings=[
              ('/robot_description', '/custom_1/robot_description'),
          ]
  

• Changes from (PR #1256)

  • All joints defined in the <ros2_control>-tag have to be present in the URDF received by the controller manager, otherwise the following error is shown:

    The published robot description file (URDF) seems not to be genuine. The following error was caught: <unknown_joint> not found in URDF.

    This is to ensure that the URDF and the <ros2_control>-tag are consistent. E.g., for configuration ports use gpio interface types instead.

  • The syntax for mimic joints is changed to the official URDF specification. The parameters within the ros2_control tag are not supported any more. Instead of

    <ros2_control name="GazeboSystem" type="system">
      <joint name="right_finger_joint">
        <command_interface name="position"/>
        <state_interface name="position">
          <param name="initial_value">0.15</param>
        </state_interface>
        <state_interface name="velocity"/>
        <state_interface name="effort"/>
      </joint>
      <joint name="left_finger_joint">
        <param name="mimic">right_finger_joint</param>
        <param name="multiplier">1</param>
        <command_interface name="position"/>
        <state_interface name="position"/>
        <state_interface name="velocity"/>
        <state_interface name="effort"/>
      </joint>
    </ros2_control>
    

    define your mimic joints directly in the joint definitions:

    <joint name="right_finger_joint" type="prismatic">
      <axis xyz="0 1 0"/>
      <origin xyz="0.0 -0.48 1" rpy="0.0 0.0 0.0"/>
      <parent link="base"/>
      <child link="finger_right"/>
      <limit effort="1000.0" lower="0" upper="0.38" velocity="10"/>
    </joint>
    <joint name="left_finger_joint" type="prismatic">
      <mimic joint="right_finger_joint" multiplier="1" offset="0"/>
      <axis xyz="0 1 0"/>
      <origin xyz="0.0 0.48 1" rpy="0.0 0.0 3.1415926535"/>
      <parent link="base"/>
      <child link="finger_left"/>
      <limit effort="1000.0" lower="0" upper="0.38" velocity="10"/>
    </joint>
    

hardware_interface

• test_components was moved to its own package. Update the dependencies if you are using them. (#1325)