Topic Based Ros2 Control

Description: This is a ROS 2 package for integrating the ros2_control with any system that uses topics to command the robot and publish its state.

Documentation

• Installation
• User Guide
• Developers Guide

Changelog for package topic_based_ros2_control

0.3.0 (2025-08-16)

• Deprecation notices should be seen. Do not convert warnings into errors. (#36)

• Add integration test (#28)

  • Add ruff/ruff format to pre-commit & Add integration test
  • Set joint_states_ to initial_value as well

• Update HARDWARE_INTERFACE_VERSION_GTE from hardware_interface's version.h (#32)

• Update README.md

• Fix RessourceManager constructor (#30)

  • Fix rm() constructor
  • Enable CI on jazzy/rolling

  * Add macro to check hardware_interface version ---------Co-authored-by: JafarAbdi <<jafar.uruc@gmail.com>>

• Update README.md (#31)

• Allow publisher to always publish by setting the threshold to zero. (#22)

  * Allow publisher to always publish by setting the threshold to zero. On documentation (https://github.com/PickNikRobotics/topic_based_ros2_control/blob/main/doc/user.md) trigger_joint_command_threshold can be configuration with zero so that the allow publisher to always send the joint command. However, in the code the condition was set with: ` if (diff <= trigger_joint_command_threshold\_) { return hardware_interface::return_type::OK; }` In case trigger_joint_command_threshold_ is set to zero, diff can still be zero so it will not trigger the send. This PR tries to address the above mentioned case.

  * Revert "Allow publisher to always publish by setting the threshold to zero." This reverts commit a799b539d877d1a2ca7203f5d57bc4c805df7202.

  • Update the documentation instead (-1).

• Contributors: Bence Magyar, Christoph Fröhlich, Jafar Uruç, Yong Tang

0.2.0 (2023-09-04)

• Check the mimicked joint interface before setting them (#13)
• Check ros context is valid before spinning the node (#13)
• Enable mobile base in Isaac (#12)
• Contributors: Jafar Uruç, Marq Rasmussen

0.1.1 (2023-06-09)

• colcon: fixup missing test dependency (#9) fixes ros2_control_test_assets .hpp file was not found Co-authored-by: Jafar Uruç <<jafar.uruc@gmail.com>>
• Contributors: Alex Moriarty

0.1.0 (2023-05-23)

• Fix joint state for mimic joints & expose epsilon parameter (#7)
  • Check the difference between command and current joint state to stop command publication
  • Set mimic joints values
  • Move magic numbers to constants
  • Remove last_position_command_ variable
• Replace Isaac with TopicBased and generalize package (#5)
• Clean up documentation (#4)
• Removed unused node. (#3)
• Add issac ros2 control hardware interface (#1)
• Contributors: Alex Moriarty, Giovanni, Jafar Uruç