Added ros2 (jazzy) stack for gazebo simulation on clearpath_manipulator_description/universal_robots.urdf.xacro. #279
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…or_description/universal_robots.urdf.xacro
This update integrates ROS 2 Jazzy compatibility into the Gazebo simulation stack, enhancing the clearpath_manipulator_description package with necessary configuration files and updates.
gaudelbijay
requested review from
luis-camero and
roni-kreinin
and removed request for
a team
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…or_description/universal_robots.urdf.xacro
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It would be preferable to use the existing |
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This change adds a sim-specific ros2_control block that is only enabled when _sim_ignition is true. The block defines a ros2_control system named ${name}_hardware using the gz_ros2_control/GazeboSimSystem plugin, and registers position command/state interfaces for all six arm joints. It also loads the gz_ros2_control-system Gazebo plugin so that Ignition/Gazebo (Tested on Gazebo Harmonic) can drive these joints through ros2_control. This lets the arm be controlled in simulation with standard ros2_control controllers, without affecting the real/hardware description.