[Example 17] RRBot with Hardware Component that publishes diagnostics #840
Conversation
github-actions
bot
requested review from
anfemosa,
bmagyar,
destogl,
erickisos,
fmauch,
qiayuanl and
Raivias
There was a problem hiding this comment.
Thanks for the nice demo.
diagnostics usually refers to ros/diagnostics. Should we include this here instead of simple rclcpp publishers, or rename the demo to something else?
|
ooh, I think since this is not particularly about diagnostics maybe it would be better to rename. would |
|
I like diagnostics and use it from my hardware components, so maybe this would be also good to use here? we have it already in the CM, this is no new dependency then. |
|
makes sense, I will use diagnostive for one of the publishers then, does that make sense? or both? |
|
The new functionality of the executor/node won't be backported to jazzy, right? so we have to branch the demos for jazzy before merging this PR. |
|
actually the executor approach is in works to be backported at ros-controls/ros2_control#2339, I think the default node will be as well after that, what do you say @saikishor @bmagyar |
Yes, it will be backported. Just waiting for one cycle of release of rolling, which happened this morning. We wait few days and release it |
|
so we should do a release of ros2_control soon. |
Co-authored-by: Christoph Fröhlich <christophfroehlich@users.noreply.github.com>
Co-authored-by: Sai Kishor Kothakota <saisastra3@gmail.com>
Co-authored-by: Sai Kishor Kothakota <saisastra3@gmail.com>
General
This is an example to document the usage of the Executor passed from Controller Manager through the recently added Struct based
on_init()methods. Made possible by ros-controls/ros2_control#2323as a further update that will be added in ros-controls/ros2_control#2348, this will also show how to use the default node added by the framework
This allows the user to add nodes of their own to the CMs executor and publish as necessary