Can this be used in ROS 2?

[heiyumiao]

Or what modifications do I need to make if I want to use it in ROS2

[matthias-mayr]

Good question. I haven't looked into ROS 2 control yet. Since the control algorithms are abstracted in a base class, these do not need to be touched. The ROS 1 integration is already a wrapper around them, so it might be comparably easy to make this ROS 2 compliant.

If you have the time to look into it, you can take a look at the cartesian_controllers library that already did the ROS 2 port.
A pull request would definitely appreciated. Unfortunately I would not have time to look into a ROS 2 port in the next months myself.

[student-0103]

any update on this one?

[matthias-mayr]

I learned a bit more about ros2_control in the meantime and it should be relatively to port this package.
However, I am afraid that I will not have any time myself to do this before February.

If anyone is interested in doing this and to send in a pull request, that would be greatly appreciated.

[mhubii]

agreed, since the code is nicely structured, this shouldn't be too difficult. Might give this a go, but currently busy doing other things as well. For reference lbr-stack/lbr_fri_ros2_stack#163