Is there an implementation of JointStateInterface, EffortJointInterface, PositionJointInterface and VelocityJointInterface in ros2?

asked 2022-10-13 06:00:39 -0500

Edvard
95 ●18 ●39 ●46

updated 2022-10-13 06:02:56 -0500

Hi. Sorry for all mistakes, English is not my native language. So, I have folloing lines of code in my ros1 project

hardware_interface::JointStateInterface js_interface_;
hardware_interface::EffortJointInterface ej_interface_;
hardware_interface::PositionJointInterface pj_interface_;
hardware_interface::VelocityJointInterface vj_interface_;

I have a problem with understanding, how this lines should look in ros2 Foxy. I'll appreciate any help. As far as I know EffortJointInterface can be used in Galactic and all newer version, but I could be wrong.

answered 2022-10-13 09:23:58 -0500

duck-development

1999 ●4 ●160 ●25

You may start with https://control.ros.org/master/doc/ge... And https://control.ros.org/master/doc/di...

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Thank you for reply. I read those two yesterday, and maybe I miss something, but there are no answer for this particular question in there. All that I get is assumption, that JointTrajectoryController is doing something similar to JointStateInterface, but still, maybe I am wrong here

Edvard ( 2022-10-14 02:06:23 -0500 )edit

As here written github

ros_control's JointStateInterface, EffortJointInterface, 
PositionJointInterface, VelocityJointInterface, *InterfaceProvider 
functionalities have been replaced by RobotHardware.

duck-development ( 2022-10-14 09:19:19 -0500 )edit

Oh, I see. Thank you for your help. You already answered my question, but still do you happen to know where to look this RobotHardware? I't is a little strange for me, but there are no RobotHardware in hardware_interface or joint_limits_interface.

Edvard ( 2022-10-16 09:23:11 -0500 )edit

You may find something here: demo hardware

duck-development ( 2022-10-16 10:24:35 -0500 )edit

I couldn't find any RobotHardware uses there. Still, thank you for your help.

Edvard ( 2022-10-16 11:26:00 -0500 )edit

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Is there an implementation of JointStateInterface, EffortJointInterface, PositionJointInterface and VelocityJointInterface in ros2?

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Is there an implementation of JointStateInterface, EffortJointInterface, PositionJointInterface and VelocityJointInterface in ros2?