cannot make JointGroupVelocityController work

[muttistefano]

Hi all,
i'm using ros2_controllers on rolling to control a robot with the velocity interface.

My controllers config looks like this :

forward_velocity_controller:
      type: velocity_controllers/JointGroupVelocityController

forward_velocity_controller:
  ros__parameters:
    joints:
      - shoulder_pan_joint
      - shoulder_lift_joint
      - elbow_joint
      - wrist_1_joint
      - wrist_2_joint
      - wrist_3_joint
      # interface_name: velocity

when I show the hardware interfaces with the CLI command, it shows:

command interfaces
	elbow_joint/position [available] [unclaimed]
	elbow_joint/velocity [available] [claimed]
	shoulder_lift_joint/position [available] [unclaimed]
	shoulder_lift_joint/velocity [available] [claimed]
	shoulder_pan_joint/position [available] [unclaimed]
	shoulder_pan_joint/velocity [available] [claimed]
	wrist_1_joint/position [available] [unclaimed]
	wrist_1_joint/velocity [available] [claimed]
	wrist_2_joint/position [available] [unclaimed]
	wrist_2_joint/velocity [available] [claimed]
	wrist_3_joint/position [available] [unclaimed]
	wrist_3_joint/velocity [available] [claimed]

The controller picks up the commands published on "/forward_velocity_controller/commands", I checked by printing them in the forwardcommandcontroller Update call.
After the controller receives the commands, they are not passed down to the hardware interface.
I also tested the hardware interface extensively, and I never receive commands from the controller.
Am I doing something wrong?

[muttistefano]

Running the controller manager with level debug, shows this:

Deduced interface prefix 'shoulder_pan_joint' - searching for the controller with the same name.
[ros2_control_node-1] [DEBUG] [1677662455.266703502] [ControllerManager::utils]: Required command interface 'shoulder_pan_joint/velocity' with prefix 'shoulder_pan_joint' is not reference interface.
[ros2_control_node-1] [DEBUG] [1677662455.266711384] [ControllerManager::utils]: Deduced interface prefix 'shoulder_lift_joint' - searching for the controller with the same name.
[ros2_control_node-1] [DEBUG] [1677662455.266718056] [ControllerManager::utils]: Required command interface 'shoulder_lift_joint/velocity' with prefix 'shoulder_lift_joint' is not reference interface.
[ros2_control_node-1] [DEBUG] [1677662455.266725295] [ControllerManager::utils]: Deduced interface prefix 'elbow_joint' - searching for the controller with the same name.
[ros2_control_node-1] [DEBUG] [1677662455.266731897] [ControllerManager::utils]: Required command interface 'elbow_joint/velocity' with prefix 'elbow_joint' is not reference interface.
[ros2_control_node-1] [DEBUG] [1677662455.266739593] [ControllerManager::utils]: Deduced interface prefix 'wrist_1_joint' - searching for the controller with the same name.
[ros2_control_node-1] [DEBUG] [1677662455.266746390] [ControllerManager::utils]: Required command interface 'wrist_1_joint/velocity' with prefix 'wrist_1_joint' is not reference interface.
[ros2_control_node-1] [DEBUG] [1677662455.266753378] [ControllerManager::utils]: Deduced interface prefix 'wrist_2_joint' - searching for the controller with the same name.
[ros2_control_node-1] [DEBUG] [1677662455.266759739] [ControllerManager::utils]: Required command interface 'wrist_2_joint/velocity' with prefix 'wrist_2_joint' is not reference interface.
[ros2_control_node-1] [DEBUG] [1677662455.266766476] [ControllerManager::utils]: Deduced interface prefix 'wrist_3_joint' - searching for the controller with the same name.
[ros2_control_node-1] [DEBUG] [1677662455.266772893] [ControllerManager::utils]: Required command interface 'wrist_3_joint/velocity' with prefix 'wrist_3_joint' is not reference interface.

I cannot tell if it's related.
Thanks

[destogl]

You interfaces are claimed. Therefore, they are passed. (I am quite certain because having a bug there would influence all the tests and users we have).

Which version, hardware interface are you using. What other relevant details you can provide?

[daihen-hijikata]

I'm using version 2.37.1.
The commands I published with "ros2 topic pub" were often ignored.
I could see the commands with "ros2 topic echo", so I think this is JointGroupVelocityController's problem.

[christophfroehlich]

Hi @daihen-hijikata. Can you reproduce your issue with ros2_control_demos? If not, can you create a MWE for us to reproduce it?

[daihen-hijikata]

Hi @christophfroehlich .
Thank you for your reply.

I cannot reproduce with ros2_control_demos.
Maybe the reason for my issue is because my robot has 41 joints.
But I cannot send raw URDF data.
MWE? How can I create MWE?

[christophfroehlich]

a mimimum working example, something you can share with us where we can reproduce your issue. otherwise we cannot help you..

[daihen-hijikata]

I created 41joint sample robot. But my issue was not reproduced. I cannot understand that my robot often ignore the command...

[christophfroehlich]

are you using the same environment (DDS vendor, network setup etc)?

[daihen-hijikata]

I'm using Isaac Sim.
The control_manager run very high frequency when I set use_sim_time parameter.
similar to ros-controls/ros2_control#859
At very high frequencies, the commands may be often ignored.

My sample is here.
https://github.com/hijimasa/isaac-ros2-control-sample/tree/control_manager_high_freq_issue
diffbot often ignore the command at very high frequencies.

[daihen-hijikata]

I can reproduce my issue.
Below is the example.
issue_sample.zip
This video was taken when the command was ignored.
https://github.com/user-attachments/assets/91c35172-17fc-46b9-bb3a-4e55f182128c

[christophfroehlich]

I was not able to reproduce it with this publisher
test_publisher.zip

I've read the linked PR above and this is for sure related to the update rate of the cm, and subsequently, the controllers. In my environment, the joint_states are sent with ~1600Hz. I guess you are using the topic_based_ros2_control with isaac sim?

[christophfroehlich]

I'll close this issue here as the new issue seems to be not related at all to the initial question, and there was no update for 1.5 years now.

[daihen-hijikata]

Where should I comment? Should I create new issue in ros2_controllers repo?

[christophfroehlich]

IMHO that the behavior you encountered is a consequence of the update rate issue with use_sim_time and not related to the ros2_controllers repo.