Add custom launch file and timing issues info to Docs#549
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zacharyyamaoka wants to merge 3 commits intoros-controls:rollingfrom
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Add custom launch file and timing issues info to Docs#549zacharyyamaoka wants to merge 3 commits intoros-controls:rollingfrom
zacharyyamaoka wants to merge 3 commits intoros-controls:rollingfrom
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btw sorry I think I should have made another branch... |
ahcorde
requested changes
Apr 14, 2025
switch single ticks to double ticks Co-authored-by: Alejandro Hernández Cordero <[email protected]>
Author
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Ok, made thoose formating changes now! |
ahcorde
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Apr 16, 2025
ahcorde
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Apr 16, 2025
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format is still failing https://github.com/ros-controls/gz_ros2_control/actions/runs/14481095782/job/40636158834?pr=549
christophfroehlich
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Apr 16, 2025
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Thanks for your effort, see my comments in the code
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| To get started with your own launch file using `gz_ros2_control`, refer to the example launch files in the repository: | ||
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| `Example launch files <https://github.com/ros-controls/gz_ros2_control/tree/rolling/gz_ros2_control_demos/launch>`_ |
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Suggested change
| To get started with your own launch file using `gz_ros2_control`, refer to the example launch files in the repository: | |
| `Example launch files <https://github.com/ros-controls/gz_ros2_control/tree/rolling/gz_ros2_control_demos/launch>`_ | |
| To get started with your own launch file using `gz_ros2_control`, refer to the `example launch files <https://github.com/ros-controls/gz_ros2_control/tree/rolling/gz_ros2_control_demos/launch>`__ in the repository. |
| .. code-block:: python | ||
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| gz_sim = IncludeLaunchDescription( | ||
| PythonLaunchDescriptionSource(gz_sim_launch), |
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will need something like
Suggested change
| PythonLaunchDescriptionSource(gz_sim_launch), | |
| PythonLaunchDescriptionSource( | |
| [PathJoinSubstitution([FindPackageShare('ros_gz_sim'), | |
| 'launch', | |
| 'gz_sim.launch.py'])]), |
| Explanation of flags: | ||
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| - ``-r``: Starts the simulator immediately. | ||
| - ``-v4``: Sets the logging verbosity to level 4. |
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I would not advertise -v4, because the console log is spammed from gazebo and no one is looking at important warnings/errors of this plugin.
| - ``-r``: Starts the simulator immediately. | ||
| - ``-v4``: Sets the logging verbosity to level 4. | ||
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| 2. **Launching the ros_gz_bridge and publishing the `/clock` topic** |
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| 2. **Launching the ros_gz_bridge and publishing the `/clock` topic** | |
| 2. **Launching the ros_gz_bridge and publishing the ``/clock`` topic** |
| Timing Issues | ||
| ------------- | ||
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| By default, the ``controller_manager`` launched by ``gz_ros2_control`` has ``use_sim_time=true``. If for any reason this is set to ``false``, it will fall back to the system clock. |
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when should this happen? This is hardcoded from the plugin?
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friendly ping @zacharyyamaoka |
Contributor
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This PR is stale because it has been open for 45 days with no activity. Please tag a maintainer for help on completing this PR, or close it if you think it has become obsolete. |
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Add some new notes to docs, that I wish were there when I first read them!
Related to: #533