joint_effort_trajectory_controllers package is probably obsolete

[destogl]

Hi,

Friendly ros2_control maintainer here :) Recently we merged support for effort interfaces into joint_trajectory_controller from ros2_controllers repository. I think and (hope) this makes your joint_effort_trajectory_controllers obsolete. Maybe I am missing something, and you have a bit of different functionality of it which I didn't see scoping the code. Fell free to ask any questions about functionality or features on ros2_controllers repository.

P.S. Please don't hesitate to close this issue if you find it irrelevant.

[ntorresalberto]

I'm not sure if it's related but I just tried to build this against ros2 and I'm getting a lot of is private within this context from joint_effort_trajectory_controller files.

[BarisYazici]

As soon as we have this ros-controls/ros2_controllers#558 merged, we can migrate to the official JTC.

[VladimirFokow]

Hi, I've noticed that this issue can proceed - ros-controls/ros2_controllers#558 has been merged,
and backported to ros2_controllers (humble) in 2.30.0 (2023-12-20).

[TomCC7]

Hi, a stupid question here. How do I use the ros2_controller's joint_trajectory_controller package instead of the one in the repo? They share the same package name and even the controller name. Is there an elegant way to do that without modifying files in this repo?

[VladimirFokow]

@TomCC7 I'm not advanced myself but here's my suggestion:

• delete (or add a file COLCON_IGNORE to) the joint_trajectory_controller folder of this repo

• install ros2-controllers, e.g.:

sudo apt update && sudo apt install ros-${ROS_DISTRO}-ros2-control ros-${ROS_DISTRO}-ros2-controllers 

• (remember to delete files that previous colcon build created (in build and install directories)), and
  rosdep install and colcon build

[TomCC7]

Thanks for replying! That certainly works and I'm currently using this method. Just don't want to configure this manually every time lol.