Gazebo ros_control Interfaces

This is a ROS 2 package for integrating the ros2_control controller architecture with the Gazebo Classic simulator.

This package provides a Gazebo plugin which instantiates a ros_control controller manager and connects it to a Gazebo model.

Changelog for package gazebo_ros2_control

0.4.10 (2024-09-17)

• Add support for getting PID parameters from loaded parameters (#374) (#375) Co-authored-by: Christoph Fröhlich <<christophfroehlich@users.noreply.github.com>> Co-authored-by: Alejandro Hernández Cordero <<ahcorde@gmail.com>> (cherry picked from commit 6a4cc84344ed1a86807dc77f23f199598a205296) Co-authored-by: Sai Kishor Kothakota <<saisastra3@gmail.com>>
• Add [hold_joints]{.title-ref} parameter (backport #251) (#353) Co-authored-by: Christoph Froehlich <<christoph.froehlich@ait.ac.at>>
• Contributors: mergify[bot]

0.4.9 (2024-07-02)

• Initialize antiwindup variable properly (#326) (#327) (cherry picked from commit 1ef9652ac34ed883dbf8fed27bcf393f78f53d52) Co-authored-by: Christoph Fröhlich <<christophfroehlich@users.noreply.github.com>>
• Contributors: mergify[bot]

0.4.8 (2024-05-14)

• Add PID controller to control joint using effort (#294) Co-authored-by: Alejandro Hernández Cordero <<ahcorde@gmail.com>> Co-authored-by: Christoph Fröhlich <<christophfroehlich@users.noreply.github.com>>
• Update precommit config (#298) (#301) Co-authored-by: Alejandro Hernández Cordero <<ahcorde@gmail.com>> (cherry picked from commit 105c0ba5b786a43e1e9266399ab027a12011c643) Co-authored-by: Christoph Fröhlich <<christophfroehlich@users.noreply.github.com>>
• Fix incorrect force-torque sensor vec population (#296) (#299) (cherry picked from commit fdcd7aa8c67ea57f44bbf2f8fba90a28d7f04b5d) Co-authored-by: Mateus Menezes <<mateusmenezes95@gmail.com>>
• Contributors: chameau5050, mergify[bot]

0.4.7 (2024-03-21)

• Update gazebo_ros2_control_plugin.cpp (#286) (#287) (cherry picked from commit 5e1f9a52bcd1bf4164186dbb3c8b5cf070ed156e) Co-authored-by: Tobias Fischer <<info@tobiasfischer.info>>
• set the robot description parameter (#277)

• Fix crashing due to an invalid parameter in the initial value. (backport #271) (#282) * Fix crashing due to an invalid parameter in the initial value. (#271) Co-authored-by: Alejandro Hernández Cordero <<ahcorde@gmail.com>> (cherry picked from commit cdae6b8a8f638d87146482e99bf76cf36530e5a6) Co-authored-by: Wiktor Bajor <<69388767+Wiktor-99@users.noreply.github.com>> Co-authored-by: Alejandro Hernandez Cordero <<ahcorde@gmail.com>>

• Contributors: AB, mergify[bot]

0.4.6 (2024-01-24)

• Load the URDF to the resource_manager before parsing it to CM (#262) (#266) * Load the URDF to the resource_manager before parsing it to CM constructor (fixes https://github.com/ros-controls/ros2_control/issues/1299) (cherry picked from commit f5baf71c4c7cb3c0a0af52f988c107b356c95ed0) Co-authored-by: Sai Kishor Kothakota <<saisastra3@gmail.com>> Co-authored-by: Alejandro Hernández Cordero <<ahcorde@gmail.com>>

• Fix links in documentation (#263) (#264) (cherry picked from commit d44b879615a539fc7c6c53707ec518df7bfd4f47) Co-authored-by: Silvio Traversaro <<silvio@traversaro.it>>
• Contributors: mergify[bot]

0.4.5 (2024-01-04)

• Fix stuck passive joints (#237) (#238) (cherry picked from commit 5dba0f95a03b136f39145c846ec5ebbfb5a09599) Co-authored-by: Johannes Huemer <<johannes.huemer@ait.ac.at>>
• Contributors: mergify[bot]

0.4.4 (2023-08-21)

• Catch pluginlib exceptions (backport #229) (#230) * Catch pluginlib exceptions (#229) Co-authored-by: Alejandro Hernández Cordero <<ahcorde@gmail.com>> (cherry picked from commit f8a475d3092e67b77846d76738ffad0861c680c1)

• Set the C++ version to 17 (#221) (#228) (cherry picked from commit 6da415cf82a75e2a5e9f9a41400957ad45b2be84) Co-authored-by: Alejandro Hernández Cordero <<ahcorde@gmail.com>>
• Removed unused var (#220) (#226) (cherry picked from commit 174e6b85f82774e9e802a5540382999066734421) Co-authored-by: Alejandro Hernández Cordero <<ahcorde@gmail.com>>
• Remove plugin export from ROS 1 (#212) (#215) (cherry picked from commit c15af63cb036cd1f36cffbc56e5e5bdb5224c7e2) Co-authored-by: Christoph Fröhlich <<christophfroehlich@users.noreply.github.com>>
• Forced zero vel in position mode to avoid sagging (#213) (#214) (cherry picked from commit 3e950618a1f82c72097f7c90a6b5d2ea2e32b7b8) Co-authored-by: gwalck <<guillaume.walck@stoglrobotics.de>>
• Various bug fixes (#177) (#208) Co-authored-by: AndyZe <<andyz@utexas.edu>>

• Add pre-commit and CI-format (#206) (#207) * Add pre-commit and ci-format (cherry picked from commit f2cf686a1a97cefc9b5e3daa115e0c4854ea5707) Co-authored-by: Christoph Fröhlich <<christophfroehlich@users.noreply.github.com>>

• Contributors: Alejandro Hernández Cordero, Christoph Fröhlich, mergify[bot]

0.4.3 (2023-05-23)

• add copy operator to SafeEnum (#197) (#198)
• Contributors: mergify[bot]

0.4.2 (2023-03-02)

• Export all dependencies (#183) The ament_export_dependencies exports dependencies to downstream packages. This is necessary so that the user of the library does not have to call find_package for those dependencies.
• Contributors: Adrian Zwiener

0.4.1 (2023-02-07)

• Force setting use_sim_time parameter when using plugin. (#171)
• Removed warning (#162)
• Mimic joint should have the same control mode as mimicked joint. (#154)
• Enable loading params from multiple yaml files (#149)
• Contributors: Alejandro Hernández Cordero, Denis Štogl, Tony Najjar

0.4.0 (2022-08-09)

• Implemented perform_command_mode_switch override in GazeboSystem (#136)
• added namespace to controller manager (#147)
• Activate all hardware in URDF (#144)
• activated all hardware by default (#143)
• Fix setting initial values if command interfaces are not defined. (#110)
• changed name to GazeboSystem (#142)
• Contributors: Denis Štogl, Keegan Sotebeer, Maciej Bednarczyk

0.3.1 (2022-07-05)

• Added logic for activating hardware interfaces (#139)
• Adjust repo URL (#134)
• Contributors: Alejandro Hernández Cordero, Bence Magyar

0.3.0 (2022-05-27)

• Merge pull request #120 from ros-simulation/ahcorde/main/117 Adapted to Humble
• make linters happy
• Merge remote-tracking branch 'denis/using-under-namespace' into ahcorde/main/117
• update read/write interface functions of ros2_control parts This is needed since the ros2_control interfaces have been update
• Declare dependency of gazebo_hardware_plugins to urdf in CMakeLists.txt (#117)
• ros2_control is now having usings under its namespace.
• Fix mimic joint for effort command (#109)
• Support for mimic joints and example with gripper. (#107)
• Contributors: Alejandro Hernández Cordero, Christoph Fröhlich, Denis Štogl, Manuel M, Martin Wudenka, ahcorde

0.0.8 (2022-01-28)

• Enable setting default position of the simulated robot using ros2_control URDF tag. (#100)
• Contributors: Denis Štogl

0.0.7 (2021-12-03)

• Pass ROS time instead of SYSTEM time to update function (#97)
• Contributors: Błażej Sowa

0.0.6 (2021-11-18)

• Fix ros2_control resource manager in galatic (#96)
• Contributors: Alejandro Hernández Cordero

0.0.4 (2021-10-26)

• Added testing CI (#93) Co-authored-by: Bence Magyar <<bence.magyar.robotics@gmail.com>> Co-authored-by: Bence Magyar <<bence.magyar.robotics@gmail.com>>
• fix maintainer email (#92)
• Galactic: Pass time and period to update function (#88)
• Export interfaces created in init (#83)
• Add Imu and FT state interfaces (#65) Co-authored-by: Jordan Palacios <<jordan.palacios@pal-robotics.com>>
• Contributors: Alejandro Hernández Cordero, Bence Magyar, Błażej Sowa, Victor Lopez

0.0.3 (2021-06-16)

• Forward sdf ros remappings to loaded controllers (#80) Co-authored-by: Jonatan Olofsson <<jonatan.olofsson@saabgroup.com>>
• Join with the controller manager's executor thread on exit (#79)
• Ensure that sim_joints_ always has the same number of elements as the… (#77)
• Write joints on each simulation update period (#78)
• Contributors: Jonatan Olofsson, Kenneth Bogert, Victor Lopez

0.0.2 (2021-04-19)

• add ros parameters file to node context (#60) Co-authored-by: ahcorde <<ahcorde@gmail.com>>
• Expose include path (#58)
• Added License file (#55)
• Fixed state interfaces (#53)
• Contributors: Alejandro Hernández Cordero, Chen Bainian, Karsten Knese

0.0.1 (2021-02-05)

• Updated with ros2-control Foxy API (#44) Co-authored-by: Karsten Knese <<Karsten1987@users.noreply.github.com>>
• Added initial version of gazebo_ros2_control (#1)
• Contributors: Alejandro Hernández Cordero, Louise Poubel, Karsten Knese, Bence Magyar