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Examples can't be "Reset" #189
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Problem:
Both the
ros2 launch gz_ros2_control_demos diff_drive_example.launch.py
andros2 launch gz_ros2_control_demos gripper_mimic_joint_example.launch.py
commands can't be "Reset" through Gazebo.Expected Behavior:
There is a default "Panda Teleop" tutorial which I believe ROS Gz Control should have similar behavior to. If you run Gazebo and hit the "Panda Teleop" tutorial, it will open (slowly) and allow you to control the joints, when I hit the reset button the joints go back to their initial configuration with their initial velocities.
I would expect the joints to go back to their initial configuration with their initial velocities awhen using ROS2 Gz Control.
What I am seeing:
I am seeing the robot disappear in the examples provided above in the "Problem" section.
In my own simulation with ROS GZ Control I am just seeing it hang.
What I have tried:
I have tried two things:
ISystemReset
Interface for the Gz Ros2 control plugin and doing nothing, i.e. just seeing if we can pass through a reset without hanging. But, this doesn't seem to work when there is a command actively being executed, still not sure why its hanging here.switch_controllers
command inside ros control. This is the recommended way to reset ROS2 control: https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html#restarting-all-controllers. But, this also seems to not be able to finish turning off/on the controllers when they are currently executing a command. I have also tried manually running these commands from the terminal before a reset, but still it doesn't work during command execution inside ROS Control.What would help me:
Besides just outright fixing this somehow (which would be great!), a couple things would help me fix this myself:
Any extra ideas or pointers you have would be helpful.
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