Add effort command interface to hardware interface #1411
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This ensures backwards compatibility in multiple ways: - When using this with a description not containing the effort interface, it will simply not be exported. Therefore, when trying to start an effort controller that will not work, since the interfaces aren't available. - When using this with a robot software version not supporting torque control this will reject activating effort-controllers.
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* Add effort command interface to hardware interface * Add documentation for hardware interface including effort control mode * Add effort controller to controller switch test * Ensure backwards compatibility This ensures backwards compatibility in multiple ways: - When using this with a description not containing the effort interface, it will simply not be exported. Therefore, when trying to start an effort controller that will not work, since the interfaces aren't available. - When using this with a robot software version not supporting torque control this will reject activating effort-controllers. (cherry picked from commit c1cb7f2) # Conflicts: # ur_robot_driver/doc/index.rst
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* Add effort command interface to hardware interface * Add documentation for hardware interface including effort control mode * Add effort controller to controller switch test * Ensure backwards compatibility This ensures backwards compatibility in multiple ways: - When using this with a description not containing the effort interface, it will simply not be exported. Therefore, when trying to start an effort controller that will not work, since the interfaces aren't available. - When using this with a robot software version not supporting torque control this will reject activating effort-controllers. (cherry picked from commit c1cb7f2)
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#1529) * Add effort command interface to hardware interface * Add documentation for hardware interface including effort control mode * Add effort controller to controller switch test * Ensure backwards compatibility This ensures backwards compatibility in multiple ways: - When using this with a description not containing the effort interface, it will simply not be exported. Therefore, when trying to start an effort controller that will not work, since the interfaces aren't available. - When using this with a robot software version not supporting torque control this will reject activating effort-controllers.
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This is just a proof of concept to make the robot work. This still requires some work.
Requires UniversalRobots/Universal_Robots_ROS2_Description#302 to effectively work.
Update
With 9e98ec2 this should be compatible with
With those, the feature added from this PR will effectively be useless / not available with the correct user feedback where necessary. For example, when trying to activate an effort controller with a robot running 5.22.0:
ToDo's:
Test in simulation(torque control doesn't work with URSim)Write tests(torque control doesn't work with URSim -- we cannot test much)