Is topic_based_ros2_control supposed to work with ros2_controllers for Mobile Robot?

[robotcopper]

Hi @JafarAbdi,

first of all thank you for this work.

I am trying to use topic_based_ros2_control with a ros2_controllers for Mobile Robot and specifically omnidirectional_controllers.

However I was wondering if it could work because when I activate the controller and the topic_based_ros2_control hardware interface, the topics from topic_based_ros2_control appears but do not publish anything when I send commands.

[robotcopper]

Hi,

after going through the whole code and identifying the source of the problem, I can confirm that this package can be used with ros2_control for mobile robots.

In fact, as I'm working in an open loop, I thought it was clever to publish nothing on the state topic to do the trick . My problem was that the condition to avoid spamming the joint command topic when the difference between the current state of the joint and the joint command is less than trigger_joint_command_threshold blocks publication if the difference is zero. The solution to be able to publish anyway is to set trigger_joint_command_threshold to a negative value like this:

thanks anyway for this work which will enable me to use micro-ROS with ROS2_control