topic_based_ros2_control¶

In-tree under arms_ros2_control/hardwares/ (not a nested gitmodule). ROS 2 topic hardware interface used when hardware:=isaac (Acone xacro: /isaac/joint_command, /isaac/joint_states).

Plugin: topic_based_ros2_control/TopicBasedSystem. No declare_parameter and no on_set_parameters.

README: topic_based_ros2_control. Source: topic_based_system.cpp at d50933d.

How to read Startup only / Runtime: Hardware Interfaces. Isaac Sim: Isaac Sim.

<ros2_control name="my_system" type="system">
  <hardware>
    <plugin>topic_based_ros2_control/TopicBasedSystem</plugin>
    <param name="joint_commands_topic">/robot_joint_commands</param>
    <param name="joint_states_topic">/robot_joint_states</param>
    <param name="initialize_commands_from_state">true</param>
  </hardware>
</ros2_control>

Parameters¶

All rows in this table are Startup only.

Parameter	Type / default	Meaning
`joint_commands_topic`	`"/robot_joint_commands"`	Command `sensor_msgs/JointState` topic
`joint_states_topic`	`"/robot_joint_states"`	State `sensor_msgs/JointState` topic
`initialize_commands_from_state`	`true` (README: recommended for real hardware)	`true`: first received state becomes the command. `false`: use state_interface `initial_value`
`trigger_joint_command_threshold`	`1e-5`	Skip publish when command vs state is below this delta; `-1` always send
`sum_wrapped_joint_states`	`false`	`true`: unwrap ±2π (Isaac-style wrapping)
`joint_name_prefix`	`""`	Strip this prefix from hardware joint names when matching topic names
`initial_value`	per `state_interface`	Used when `initialize_commands_from_state` is `false`
`mimic`	per joint	Name of the joint to mimic
`multiplier`	`1`	Mimic scale