prairie-ros-sim

Install requirements

sudo apt-get install gz-harmonic
sudo apt-get install ros-${ROS_DISTRO}-ros-gz
sudo apt install ros-${ROS_DISTRO}-ros2-control ros-${ROS_DISTRO}-ros2-controllers
sudo apt install ros-${ROS_DISTRO}-gz-ros2-control
sudo apt install ros-${ROS_DISTRO}-gz-ros2-control-demos

Launch nemo3 test

ros2 launch gz_sim empty_gz_nemo3.launch.py

Debug

ros2 control list_hardware_components # check if the urdf config for ros2_control plugin is loaded correctly

ros2 control list_controllers

ros2 param list /controller_manager
ros2 param get /controller_manager joint_trajectory_controller.joints

Example joint trajectory message

NOTE: All the joints must be sent (cannot send only subset of the joints)

ros2 topic pub /joint_trajectory_controller/joint_trajectory trajectory_msgs/msg/JointTrajectory '{
  "header": {
    "stamp": {"sec": 0, "nanosec": 0},
    "frame_id": ""
  },
  "joint_names": [
    "l_hip_pitch_joint", "l_hip_roll_joint", "l_hip_yaw_joint", "l_knee_joint", "l_foot_pitch_joint", "l_foot_roll_joint",
    "r_hip_pitch_joint", "r_hip_roll_joint", "r_hip_yaw_joint", "r_knee_joint", "r_foot_pitch_joint", "r_foot_roll_joint"
  ],
  "points": [
    {
      "positions": [-1.5, 0.1, -0.2, 0.5, -0.3, 0.0, -1.5, 0.1, -0.2, 0.5, -0.3, 0.0],
      "velocities": [],
      "accelerations": [],
      "effort": [],
      "time_from_start": {"sec": 0.5, "nanosec": 0}
    },
    {
      "positions": [0.1, -0.2, 0.3, -0.5, 0.4, -0.1, 0.1, -0.2, 0.3, -0.5, 0.4, -0.1],
      "velocities": [],
      "accelerations": [],
      "effort": [],
      "time_from_start": {"sec": 1, "nanosec": 0}
    }
  ]
}'