Skip to content

Fix CLI commands #6

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Closed
christophfroehlich wants to merge 1 commit into from
Closed

Fix CLI commands #6

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
30 changes: 15 additions & 15 deletions README.md
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -579,7 +579,7 @@ Now you should also see the *RRbot* represented correctly in `RViz`.

3. Now start the controller:
```
ros2 control switch_controllers --start forward_position_controller
ros2 control switch_controllers --activate forward_position_controller
```
Check if controllers are activated:
```
Expand Down Expand Up @@ -622,7 +622,7 @@ Now you should also see the *RRbot* represented correctly in `RViz`.

2. Now start the controller (and stop other running contorller):
```
ros2 control switch_controllers --stop forward_position_controller --start position_trajectory_controller
ros2 control switch_controllers --deactivate forward_position_controller --activate position_trajectory_controller
```
Check if controllers are activated:
```
Expand Down Expand Up @@ -692,10 +692,10 @@ The output should be something like:

Configure all controllers:
```
ros2 control set_controller_state position_trajectory_controller configure
ros2 control set_controller_state position_controller configure
ros2 control set_controller_state joint1_position_controller configure
ros2 control set_controller_state joint2_position_controller configure
ros2 control set_controller_state position_trajectory_controller inactive
ros2 control set_controller_state position_controller inactive
ros2 control set_controller_state joint1_position_controller inactive
ros2 control set_controller_state joint2_position_controller inactive
```

Check states using:
Expand Down Expand Up @@ -734,15 +734,15 @@ Now, execute the following scenario to understand how chained controllers are wo

1. Activate `joint1_position_controller` and send command for it:
```
ros2 control switch_controllers --start joint1_position_controller
ros2 control switch_controllers --activate joint1_position_controller
ros2 topic pub /joint1_position_controller/commands std_msgs/msg/Float64MultiArray "data:
- 0.5"
```
The joint1 should then move to the position.

1. Activate `joint2_position_controller` and send command for it:
```
ros2 control switch_controllers --start joint2_position_controller
ros2 control switch_controllers --activate joint2_position_controller
ros2 topic pub /joint2_position_controller/commands std_msgs/msg/Float64MultiArray "data:
- -0.5"
```
Expand All @@ -752,10 +752,10 @@ Note: You can keep publishers running in a terminal so you can see the effects o

1. Activate `position_controller` and send commands to it:
```
ros2 control switch_controllers --start position_controller
ros2 control switch_controllers --activate position_controller
```

Now, the `ros2 control list_hardware_interfaces` and `ros2 control list_controller -v` will show that `joint1_position_controller/joint1/position` and `joint2_position_controller/joint2/position` are claimed by `position_controller` controller.
Now, the `ros2 control list_hardware_interfaces` and `ros2 control list_controllers -v` will show that `joint1_position_controller/joint1/position` and `joint2_position_controller/joint2/position` are claimed by `position_controller` controller.

Send a command to `position_controller` and check that `joint1` and `joint2` are moving to new position.
```
Expand All @@ -766,7 +766,7 @@ Note: You can keep publishers running in a terminal so you can see the effects o

1. Activate `position_trajectory_controller` and send commands to it:
```
ros2 control switch_controllers --start position_trajectory_controller
ros2 control switch_controllers --activate position_trajectory_controller
```

List again the interfaces to see their status changes.
Expand All @@ -780,17 +780,17 @@ Note: You can keep publishers running in a terminal so you can see the effects o
1. Deactivate `position_trajectory_controller` and robot should either stop movement or if
publishers are still active robot will end up in `[1, -1]` joint states.
```
ros2 control switch_controllers --stop position_trajectory_controller
ros2 control switch_controllers --deactivate position_trajectory_controller
```

1. Deactivate `position_controller` and robot will move to position `[0.5, -0.5]` (if publishers are still running):
```
ros2 control switch_controllers --stop position_controller
ros2 control switch_controllers --deactivate position_controller
```

1. Finally stop the other two controllers and check state of hardware interface and controllers.
Now all interfaces are "unclaimed".
```
ros2 control switch_controllers --stop joint1_position_controller
ros2 control switch_controllers --stop joint2_position_controller
ros2 control switch_controllers --deactivate joint1_position_controller
ros2 control switch_controllers --deactivate joint2_position_controller
```