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state_interfaces_ empty in custom ros2_control controller

asked 2023-03-01 13:48:56 -0600

neuromancer2701 gravatar image

I have created a simple state broadcasting controller, I used the joint state broadcaster as a template. The inherited state_interfaces_ vector is empty in the controller when I try to validate the interfaces in on_config.

I have setup the interfaces in the ros2_control plugin and set the names in state_interface_configuration in the controller. I have put debug trace in both the command and sate configuration functions but I don't see the trace running.

Any ideas?

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answered 2023-03-01 14:30:52 -0600

neuromancer2701 gravatar image

The inherited state_interfaces_ is not available until on_activate and that is based on if the correct state interfaces that are setup in state_interface_configuration which takes place after on_config.

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Asked: 2023-03-01 13:48:56 -0600

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Last updated: Mar 01 '23