Add custom launch file and timing issues info to Docs #549
Conversation
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
|
btw sorry I think I should have made another branch... |
ahcorde
requested changes
Apr 14, 2025
switch single ticks to double ticks Co-authored-by: Alejandro Hernández Cordero <[email protected]>
|
Ok, made thoose formating changes now! |
ahcorde
approved these changes
Apr 16, 2025
ahcorde
requested changes
Apr 16, 2025
There was a problem hiding this comment.
format is still failing https://github.com/ros-controls/gz_ros2_control/actions/runs/14481095782/job/40636158834?pr=549
christophfroehlich
requested changes
Apr 16, 2025
Comment on lines
+408
to
+410
| To get started with your own launch file using `gz_ros2_control`, refer to the example launch files in the repository: | ||
|
|
||
| `Example launch files <https://github.com/ros-controls/gz_ros2_control/tree/rolling/gz_ros2_control_demos/launch>`_ |
There was a problem hiding this comment.
Suggested change
| To get started with your own launch file using `gz_ros2_control`, refer to the example launch files in the repository: | |
| `Example launch files <https://github.com/ros-controls/gz_ros2_control/tree/rolling/gz_ros2_control_demos/launch>`_ | |
| To get started with your own launch file using `gz_ros2_control`, refer to the `example launch files <https://github.com/ros-controls/gz_ros2_control/tree/rolling/gz_ros2_control_demos/launch>`__ in the repository. |
| .. code-block:: python | ||
|
|
||
| gz_sim = IncludeLaunchDescription( | ||
| PythonLaunchDescriptionSource(gz_sim_launch), |
There was a problem hiding this comment.
will need something like
Suggested change
| PythonLaunchDescriptionSource(gz_sim_launch), | |
| PythonLaunchDescriptionSource( | |
| [PathJoinSubstitution([FindPackageShare('ros_gz_sim'), | |
| 'launch', | |
| 'gz_sim.launch.py'])]), |
| Explanation of flags: | ||
|
|
||
| - ``-r``: Starts the simulator immediately. | ||
| - ``-v4``: Sets the logging verbosity to level 4. |
There was a problem hiding this comment.
I would not advertise -v4, because the console log is spammed from gazebo and no one is looking at important warnings/errors of this plugin.
| - ``-r``: Starts the simulator immediately. | ||
| - ``-v4``: Sets the logging verbosity to level 4. | ||
|
|
||
| 2. **Launching the ros_gz_bridge and publishing the `/clock` topic** |
There was a problem hiding this comment.
Suggested change
| 2. **Launching the ros_gz_bridge and publishing the `/clock` topic** | |
| 2. **Launching the ros_gz_bridge and publishing the ``/clock`` topic** |
| Timing Issues | ||
| ------------- | ||
|
|
||
| By default, the ``controller_manager`` launched by ``gz_ros2_control`` has ``use_sim_time=true``. If for any reason this is set to ``false``, it will fall back to the system clock. |
There was a problem hiding this comment.
when should this happen? This is hardcoded from the plugin?
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
Add some new notes to docs, that I wish were there when I first read them!
Related to: #533