  * [ abb_common ](/abb_common?distro=hydro)
  * [ abb_irb2400_support ](/abb_irb2400_support?distro=hydro)
  * [ abb_irb5400_support ](/abb_irb5400_support?distro=hydro)
  * [ abb_irb6600_support ](/abb_irb6600_support?distro=hydro)
  * [ app_manager ](/app_manager?distro=hydro)
  * [ bwi_gazebo_entities ](/bwi_gazebo_entities?distro=hydro)
  * [ bwi_guidance_concert... ](/bwi_guidance_concert?distro=hydro)
  * [ bwi_launch ](/bwi_launch?distro=hydro)
  * [ bwi_planning ](/bwi_planning?distro=hydro)
  * [ bwi_web ](/bwi_web?distro=hydro)
  * [ capabilities ](/capabilities?distro=hydro)
  * [ cob_default_env_conf... ](/cob_default_env_config?distro=hydro)
  * [ default_cfg_fkie ](/default_cfg_fkie?distro=hydro)
  * [ fanuc_driver ](/fanuc_driver?distro=hydro)
  * [ fanuc_lrmate200ib_su... ](/fanuc_lrmate200ib_support?distro=hydro)
  * [ fanuc_lrmate200ic_su... ](/fanuc_lrmate200ic_support?distro=hydro)
  * [ fanuc_lrmate200id_su... ](/fanuc_lrmate200id_support?distro=hydro)
  * [ fanuc_m10ia_support ](/fanuc_m10ia_support?distro=hydro)
  * [ fanuc_m16ib_support ](/fanuc_m16ib_support?distro=hydro)
  * [ fanuc_m20ia_support ](/fanuc_m20ia_support?distro=hydro)
  * [ fanuc_m430ia_support... ](/fanuc_m430ia_support?distro=hydro)
  * [ fanuc_m900ia_support... ](/fanuc_m900ia_support?distro=hydro)
  * [ flir_ptu_driver ](/flir_ptu_driver?distro=hydro)
  * [ flir_ptu_viz ](/flir_ptu_viz?distro=hydro)
  * [ grizzly_viz ](/grizzly_viz?distro=hydro)
  * [ husky_base ](/husky_base?distro=hydro)
  * [ husky_bringup ](/husky_bringup?distro=hydro)
  * [ husky_navigation ](/husky_navigation?distro=hydro)
  * [ husky_viz ](/husky_viz?distro=hydro)
  * [ jsk_topic_tools ](/jsk_topic_tools?distro=hydro)
  * [ motoman_mh5_support ](/motoman_mh5_support?distro=hydro)
  * [ motoman_sia10d_suppo... ](/motoman_sia10d_support?distro=hydro)
  * [ motoman_sia20d_suppo... ](/motoman_sia20d_support?distro=hydro)
  * [ motoman_sia5d_suppor... ](/motoman_sia5d_support?distro=hydro)
  * [ nao_audio ](/nao_audio?distro=hydro)
  * [ nao_driver ](/nao_driver?distro=hydro)
  * [ nao_vision ](/nao_vision?distro=hydro)
  * [ naoqi_driver ](/naoqi_driver?distro=hydro)
  * [ naoqi_driver_py ](/naoqi_driver_py?distro=hydro)
  * [ node_manager_fkie ](/node_manager_fkie?distro=hydro)


#  Package Summary


Documented


Welcome to AutomaticAddison.com, the largest robotics education blog online
(~50,000 unique visitors per month)!


** Used by  (28) **


![../../_images/mimic_graph.png](../../_images/mimic_graph.png)


Letâs put together a ROS 2 launch file using the ` turtlesim  ` package and
its executables.


Since you need to find ` roslaunch ` in ` find_package ` as above, you better
explicitly add a dependency in your ` package.xml ` as following:


Skip to content


[ Rolling ](../../../rolling/index.html)


` roslaunch ` uses XML files that describe the nodes that should be run,
parameters that should be set, and other attributes of launching a collection
of ROS [ nodes ](/Nodes) . For a specification of this XML format, please see:


###  Disabling


  * Maintainer status: maintained
  * Maintainer: Dirk Thomas <dthomas AT osrfoundation DOT org>
  * Author: Ken Conley
  * License: BSD
  * Source: git [ https://github.com/ros/ros_comm.git ](https://github.com/ros/ros_comm) (branch: lunar-devel)


Before uninstalling the full thing, you have to know that you can simply
disable the execution of the launch file on boot, without having to uninstall
it.


Now, when you install a ROS launch file with robot_upstart, things are
different when it comes to hardware permissions.


As a result, your program may crash because you don’t have the necessary
hardware permissions anymore!


Remember you can see all your executables in the
~/catkin_ws/devel/lib/noetic_basics_part_1/ folder. These executables were
created from your C++ programs (.cpp) when you typed the **catkin_make**
command.


_EOL distros:_ electric  fuerte  groovy  hydro  indigo  jade  kinetic  lunar


The install script has many possible arguments, here we’ll only see the basic
ones so you can quickly get started.


Client Library Support


In the tutorials up until now, you have been opening new terminals for every
new node you run. As you create more complex systems with more and more nodes
running simultaneously, opening terminals and reentering configuration details
becomes tedious.


  Command-line Tools

Packages are a very central concept to how files in ROS are organized, so
there are quite a few tools in ROS that help you manage them. This includes:

  * [ rospack ](/rospack) : find and retrieve information about packages

  * [ catkin_create_pkg ](/catkin/commands/catkin_create_pkg) : create a new package

  * [ catkin_make ](/catkin/commands/catkin_make) : build a workspace of packages

  * [ rosdep ](/rosdep) : install system dependencies of a package

  * [ rqt ](/rqt) : In [ rqt ](/rqt) there is a plugin called "Introspection/Package Graph", which visualizes package dependencies as a graph

There are also extensions to common Unix shells that provide additional
functionality to help you navigate and use packages. The most commonly used of
these is [ rosbash ](/rosbash) , which provides ROS-variants of common Unix
shell commands. The most commonly used of these is ` roscd ` , which performs
a ` cd ` to the directory of a package, e.g.

    roscd roscpp_tutorials


To go further, check out those resources:


  * [ app_manager ](/app_manager?distro=electric)
  * [ default_cfg_fkie ](/default_cfg_fkie?distro=electric)
  * [ launchman ](/launchman?distro=electric)
  * [ node_manager_fkie ](/node_manager_fkie?distro=electric)
  * [ rostest ](/rostest?distro=electric)
  * [ roswtf ](/roswtf?distro=electric)
  * [ test_roslaunch ](/test_roslaunch?distro=electric)


    import robot_upstart

    j = robot_upstart.Job(name="my_robot_ros")

    j.uninstall()


gedit noetic_basics_part_1.launch


Then, you can use the method add() to add a launch file, by giving the package
name and the file name inside this package – notice the relative path here,
from the package’s name and not from the catkin workspace src/ folder.


[ Next  Next post:  How to Find the Path of a Package in ROS Noetic
](https://automaticaddison.com/how-to-find-the-path-of-a-package-in-ros-
noetic/)


[ Previous ](../Rqt-Console/Using-Rqt-Console.html "Using rqt_console") [ Next
](../Ros2bag/Recording-And-Playing-Back-Data.html "Recording and playing back
data")


Performance


* **jade:** _Documentation generated on March 07, 2017 at 11:32 AM_ ( [ doc job ](http://build.ros.org/view/Jdoc/job/Jdoc__ros_comm__ubuntu_trusty_amd64) ).


Cookie Settings  Accept All


Continuous Integration


Search for:  Search


Basically this will remove all files created when you ran the install script.


roslaunch package-name launch-file-name


    touch launch/turtlesim_mimic_launch.py

    touch launch/turtlesim_mimic_launch.py

    type nul > launch/turtlesim_mimic_launch.py


The check runs during [ tests
](http://docs.ros.org/api/catkin/html/howto/format2/run_tests.html) . So
something like following is cleaner.


Create a new file named “local.rules” in /etc/udev/rules.d/.


Necessary


###  Testing time


###  robot_upstart install with Python API


**Package Links**


A hidden node (the ` ros2  topic  pub  ` command you ran) is publishing data
to the ` /turtlesim1/turtle1/cmd_vel  ` topic on the left, which the `
/turtlesim1/sim  ` node is subscribed to. The rest of the graph shows what was
described earlier: ` mimic  ` is subscribed to ` /turtlesim1/sim  ` âs pose
topic, and publishes to ` /turtlesim2/sim  ` âs velocity command topic.


  * [ Read the robot_upstart install script documentation ](http://docs.ros.org/indigo/api/robot_upstart/html/install.html) : some additional arguments may be useful, especially if you have a multi-machine setup.
  * [ Learn more about systemd ](https://roboticsbackend.com/make-a-raspberry-pi-3-program-start-on-boot/) , so you can better understand what’s going on under the hood.


Execute this command:


Open a new file named noetic_basics_part_1_py.launch.


Documented


![../../_images/mimic.png](../../_images/mimic.png)


melodic  noetic  _Show EOL distros:_


**type** is the name of the executable file we want ROS to run…in this case,
**simple_publisher_node.**


**[ ROS For Beginners - A Step By Step Course ](https://rbcknd.com/ros-for-
beginners) **


Always Enabled


  * [ rocon_launch ](/rocon_launch?distro=melodic)
  * [ ros_comm ](/ros_comm?distro=melodic)
  * [ rostest ](/rostest?distro=melodic)
  * [ roswtf ](/roswtf?distro=melodic)
  * [ rqt_joint_trajectory... ](/rqt_joint_trajectory_plot?distro=melodic)
  * [ rqt_launch ](/rqt_launch?distro=melodic)
  * [ rslidar_driver ](/rslidar_driver?distro=melodic)
  * [ rslidar_pointcloud ](/rslidar_pointcloud?distro=melodic)
  * [ sensehat_ros ](/sensehat_ros?distro=melodic)
  * [ sick_ldmrs_descripti... ](/sick_ldmrs_description?distro=melodic)
  * [ sick_ldmrs_driver ](/sick_ldmrs_driver?distro=melodic)
  * [ sick_ldmrs_tools ](/sick_ldmrs_tools?distro=melodic)
  * [ sick_tim ](/sick_tim?distro=melodic)
  * [ staubli_rx160_suppor... ](/staubli_rx160_support?distro=melodic)
  * [ staubli_tx60_support... ](/staubli_tx60_support?distro=melodic)
  * [ staubli_tx90_support... ](/staubli_tx90_support?distro=melodic)
  * [ teleop_twist_joy ](/teleop_twist_joy?distro=melodic)
  * [ turtlebot3_autorace_... ](/turtlebot3_autorace_core?distro=melodic)
  * [ ublox_msg_filters ](/ublox_msg_filters?distro=melodic)
  * [ urdf_tutorial ](/urdf_tutorial?distro=melodic)
  * [ volta_simulation ](/volta_simulation?distro=melodic)
  * [ warthog_control ](/warthog_control?distro=melodic)
  * [ warthog_description ](/warthog_description?distro=melodic)
  * [ warthog_gazebo ](/warthog_gazebo?distro=melodic)
  * [ warthog_viz ](/warthog_viz?distro=melodic)
  * [ xacro ](/xacro?distro=melodic)


First, open a new terminal window.


#  Package Summary


  * [ app_manager ](/app_manager?distro=diamondback)
  * [ launchman ](/launchman?distro=diamondback)
  * [ roslaunch_caller ](/roslaunch_caller?distro=diamondback)
  * [ rostest ](/rostest?distro=diamondback)
  * [ roswtf ](/roswtf?distro=diamondback)
  * [ test_roslaunch ](/test_roslaunch?distro=diamondback)


  * [ Create a Launch File for a Simulated Robotic Arm – ROS 2 ](https://automaticaddison.com/create-a-launch-file-for-a-simulated-robotic-arm-ros-2/)
  * [ Calculating Wheel Odometry for a Differential Drive Robot ](https://automaticaddison.com/calculating-wheel-odometry-for-a-differential-drive-robot/)
  * [ Calculating Wheel Velocities for a Differential Drive Robot ](https://automaticaddison.com/calculating-wheel-velocities-for-a-differential-drive-robot/)
  * [ The Complete Guide to Parameters – ROS 2 C++ ](https://automaticaddison.com/the-complete-guide-to-parameters-ros-2-c/)
  * [ The Complete Guide to Parameters – ROS 2 Python ](https://automaticaddison.com/the-complete-guide-to-parameters-ros-2-python/)


    #!/usr/bin/env python

    import rospy
    from std_msgs.msg import Int64

    if __name__ == "__main__":
        rospy.init_node("counter_publisher")

        rate = rospy.get_param("/counter_publisher_rate")
        counter = 0
        pub = rospy.Publisher("counter", Int64, queue_size=1)
        rate = rospy.Rate(rate)
        rospy.loginfo("Starting publishing...")

        while not rospy.is_shutdown():
            pub.publish(counter)
            counter += 1
            rate.sleep()


  * **[ Code API ](http://ros.org/doc/electric/api/roslaunch/html) **
  * [ Tutorials ](/roslaunch/Tutorials)
  * [ FAQ ](http://answers.ros.org/questions/scope:all/sort:activity-desc/tags:roslaunch/page:1/)
  * [ Change List ](/ros_comm/ChangeList)
  * [ Reviews ](/roslaunch/Reviews)


This tutorial uses the [ rqt_graph and turtlesim  ](../Turtlesim/Introducing-
Turtlesim.html#turtlesim) packages.


roscd noetic_basics_part_1


    [INFO] [launch]: Default logging verbosity is set to INFO
    [INFO] [turtlesim_node-1]: process started with pid [11714]
    [INFO] [turtlesim_node-2]: process started with pid [11715]
    [INFO] [mimic-3]: process started with pid [11716]


roslaunch is a tool for easily launching multiple ROS [ nodes
](http://ros.org/wiki/Nodes) locally and remotely via SSH, as well as setting
parameters on the [ Parameter Server ](http://ros.org/wiki/Parameter Server) .
It includes options to automatically respawn processes that have already died.
roslaunch takes in one or more XML configuration files (with the ` .launch `
extension) that specify the parameters to set and nodes to launch, as well as
the machines that they should be run on.


    from launch import LaunchDescription
    from launch_ros.actions import Node

    def generate_launch_description():
        return LaunchDescription([
            Node(
                package='turtlesim',
                node_namespace='turtlesim1',
                node_executable='turtlesim_node',
                node_name='sim'
            ),
            Node(
                package='turtlesim',
                node_namespace='turtlesim2',
                node_executable='turtlesim_node',
                node_name='sim'
            ),
            Node(
                package='turtlesim',
                node_executable='mimic',
                node_name='mimic',
                remappings=[
                    ('/input/pose', '/turtlesim1/turtle1/pose'),
                    ('/output/cmd_vel', '/turtlesim2/turtle1/cmd_vel'),
                ]
            )
        ])


Between the <launch> and </launch> tags, you list the nodes that you want to
launch.


**pkg** is the name of the package…in this case, **noetic_basics_part_1.**


** Used by  (106) **


Fortunately, there is a better way. ROS has a tool called the launch file that
enables you to launch more than one node at the same time.


Menu


You will have to give your user’s password to complete the installation. After
that, just run ` sudo systemctl daemon-reload ` . The launch file is now
correctly installed, but is not running yet.


But… There is still a problem. Actually you have to manually launch this file
with a command line tool (roslaunch), and you wonder how you could make your
application automatically start when you boot your computer… Or your Raspberry
Pi!


Released


  * [ abb_irb120_support ](/abb_irb120_support?distro=indigo)
  * [ abb_irb2400_support ](/abb_irb2400_support?distro=indigo)
  * [ abb_irb4400_support ](/abb_irb4400_support?distro=indigo)
  * [ abb_irb5400_support ](/abb_irb5400_support?distro=indigo)
  * [ abb_irb6600_support ](/abb_irb6600_support?distro=indigo)
  * [ abb_irb6640_support ](/abb_irb6640_support?distro=indigo)
  * [ app_manager ](/app_manager?distro=indigo)
  * [ ati_force_torque ](/ati_force_torque?distro=indigo)
  * [ bebop_description ](/bebop_description?distro=indigo)
  * [ ca_description ](/ca_description?distro=indigo)
  * [ canopen_test_utils ](/canopen_test_utils?distro=indigo)
  * [ capabilities ](/capabilities?distro=indigo)
  * [ cartographer_ros ](/cartographer_ros?distro=indigo)
  * [ cob_bringup ](/cob_bringup?distro=indigo)
  * [ cob_bringup_sim ](/cob_bringup_sim?distro=indigo)
  * [ cob_controller_confi... ](/cob_controller_configuration_gazebo?distro=indigo)
  * [ cob_default_robot_co... ](/cob_default_robot_config?distro=indigo)
  * [ cob_gazebo ](/cob_gazebo?distro=indigo)
  * [ cob_gazebo_objects ](/cob_gazebo_objects?distro=indigo)
  * [ cob_gazebo_worlds ](/cob_gazebo_worlds?distro=indigo)
  * [ cob_hardware_config ](/cob_hardware_config?distro=indigo)
  * [ concert_service_mana... ](/concert_service_manager?distro=indigo)
  * [ dataspeed_can_usb ](/dataspeed_can_usb?distro=indigo)
  * [ dataspeed_pds_can ](/dataspeed_pds_can?distro=indigo)
  * [ dataspeed_pds_lcm ](/dataspeed_pds_lcm?distro=indigo)
  * [ dbw_fca_can ](/dbw_fca_can?distro=indigo)
  * [ dbw_fca_description ](/dbw_fca_description?distro=indigo)
  * [ dbw_fca_joystick_dem... ](/dbw_fca_joystick_demo?distro=indigo)
  * [ dbw_joystick_demo ](/dbw_joystick_demo?distro=indigo)
  * [ dbw_joystick_speed_d... ](/dbw_joystick_speed_demo?distro=indigo)
  * [ dbw_mkz_can ](/dbw_mkz_can?distro=indigo)
  * [ dbw_mkz_description ](/dbw_mkz_description?distro=indigo)
  * [ dbw_mkz_joystick_dem... ](/dbw_mkz_joystick_demo?distro=indigo)
  * [ dbw_pacifica_can ](/dbw_pacifica_can?distro=indigo)
  * [ dbw_pacifica_joystic... ](/dbw_pacifica_joystick_demo?distro=indigo)
  * [ dbw_pacifica_joystic... ](/dbw_pacifica_joystick_speed_demo?distro=indigo)
  * [ default_cfg_fkie ](/default_cfg_fkie?distro=indigo)
  * [ evarobot_viz ](/evarobot_viz?distro=indigo)
  * [ flir_ptu_driver ](/flir_ptu_driver?distro=indigo)
  * [ flir_ptu_viz ](/flir_ptu_viz?distro=indigo)


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  * [ bebop_description ](/bebop_description?distro=jade)
  * [ ca_description ](/ca_description?distro=jade)
  * [ default_cfg_fkie ](/default_cfg_fkie?distro=jade)
  * [ explore_lite ](/explore_lite?distro=jade)
  * [ grizzly_navigation ](/grizzly_navigation?distro=jade)
  * [ imu_transformer ](/imu_transformer?distro=jade)
  * [ interactive_marker_t... ](/interactive_marker_twist_server?distro=jade)
  * [ multirobot_map_merge... ](/multirobot_map_merge?distro=jade)
  * [ nao_audio ](/nao_audio?distro=jade)
  * [ nao_vision ](/nao_vision?distro=jade)
  * [ naoqi_driver_py ](/naoqi_driver_py?distro=jade)
  * [ nmea_comms ](/nmea_comms?distro=jade)
  * [ node_manager_fkie ](/node_manager_fkie?distro=jade)
  * [ novatel_span_driver ](/novatel_span_driver?distro=jade)
  * [ openni_launch ](/openni_launch?distro=jade)
  * [ pyros_utils ](/pyros_utils?distro=jade)
  * [ robot_upstart ](/robot_upstart?distro=jade)
  * [ ros_comm ](/ros_comm?distro=jade)
  * [ rostest ](/rostest?distro=jade)
  * [ roswtf ](/roswtf?distro=jade)
  * [ rplidar_python ](/rplidar_python?distro=jade)
  * [ rqt_launch ](/rqt_launch?distro=jade)
  * [ rqt_launchtree ](/rqt_launchtree?distro=jade)
  * [ rsv_balance_descript... ](/rsv_balance_description?distro=jade)
  * [ rsv_balance_gazebo ](/rsv_balance_gazebo?distro=jade)
  * [ rsv_balance_viz ](/rsv_balance_viz?distro=jade)
  * [ teleop_twist_joy ](/teleop_twist_joy?distro=jade)
  * [ ueye ](/ueye?distro=jade)
  * [ urdf_tutorial ](/urdf_tutorial?distro=jade)
  * [ vrpn_client_ros ](/vrpn_client_ros?distro=jade)
  * [ xacro ](/xacro?distro=jade)


Open the new file in your preferred text editor.


  * [ roch_base ](/roch_base?distro=kinetic)
  * [ roch_bringup ](/roch_bringup?distro=kinetic)
  * [ roch_control ](/roch_control?distro=kinetic)
  * [ roch_description ](/roch_description?distro=kinetic)
  * [ roch_gazebo ](/roch_gazebo?distro=kinetic)
  * [ roch_navigation ](/roch_navigation?distro=kinetic)
  * [ roch_teleop ](/roch_teleop?distro=kinetic)
  * [ roch_viz ](/roch_viz?distro=kinetic)
  * [ rocon_app_utilities ](/rocon_app_utilities?distro=kinetic)
  * [ rocon_launch ](/rocon_launch?distro=kinetic)
  * [ rocon_test ](/rocon_test?distro=kinetic)
  * [ ros_comm ](/ros_comm?distro=kinetic)
  * [ rostest ](/rostest?distro=kinetic)
  * [ roswtf ](/roswtf?distro=kinetic)
  * [ rqt_carla_control ](/rqt_carla_control?distro=kinetic)
  * [ rqt_joint_trajectory... ](/rqt_joint_trajectory_plot?distro=kinetic)
  * [ rqt_launch ](/rqt_launch?distro=kinetic)
  * [ rqt_launchtree ](/rqt_launchtree?distro=kinetic)
  * [ rslidar_driver ](/rslidar_driver?distro=kinetic)
  * [ rslidar_pointcloud ](/rslidar_pointcloud?distro=kinetic)
  * [ rsv_balance_descript... ](/rsv_balance_description?distro=kinetic)
  * [ rsv_balance_gazebo ](/rsv_balance_gazebo?distro=kinetic)
  * [ rsv_balance_viz ](/rsv_balance_viz?distro=kinetic)
  * [ sick_ldmrs_descripti... ](/sick_ldmrs_description?distro=kinetic)
  * [ sick_ldmrs_driver ](/sick_ldmrs_driver?distro=kinetic)
  * [ sick_ldmrs_tools ](/sick_ldmrs_tools?distro=kinetic)
  * [ sick_tim ](/sick_tim?distro=kinetic)
  * [ sick_visionary_t_dri... ](/sick_visionary_t_driver?distro=kinetic)
  * [ staubli_rx160_suppor... ](/staubli_rx160_support?distro=kinetic)
  * [ staubli_tx60_support... ](/staubli_tx60_support?distro=kinetic)
  * [ staubli_tx90_support... ](/staubli_tx90_support?distro=kinetic)
  * [ summit_xl_descriptio... ](/summit_xl_description?distro=kinetic)
  * [ summit_xl_sim_bringu... ](/summit_xl_sim_bringup?distro=kinetic)
  * [ sync_params ](/sync_params?distro=kinetic)
  * [ teleop_twist_joy ](/teleop_twist_joy?distro=kinetic)
  * [ turtlebot3_autorace_... ](/turtlebot3_autorace_core?distro=kinetic)
  * [ turtlebot3_manipulat... ](/turtlebot3_manipulation_slam?distro=kinetic)
  * [ ueye ](/ueye?distro=kinetic)
  * [ urdf_tutorial ](/urdf_tutorial?distro=kinetic)
  * [ warthog_control ](/warthog_control?distro=kinetic)


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  * [ mrpt_ekf_slam_2d ](/mrpt_ekf_slam_2d?distro=indigo)
  * [ mrpt_ekf_slam_3d ](/mrpt_ekf_slam_3d?distro=indigo)
  * [ mrpt_icp_slam_2d ](/mrpt_icp_slam_2d?distro=indigo)
  * [ mrpt_rbpf_slam ](/mrpt_rbpf_slam?distro=indigo)
  * [ nao_audio ](/nao_audio?distro=indigo)
  * [ nao_vision ](/nao_vision?distro=indigo)
  * [ naoqi_driver_py ](/naoqi_driver_py?distro=indigo)
  * [ nmea_comms ](/nmea_comms?distro=indigo)
  * [ node_manager_fkie ](/node_manager_fkie?distro=indigo)
  * [ novatel_span_driver ](/novatel_span_driver?distro=indigo)
  * [ numatac_can_driver ](/numatac_can_driver?distro=indigo)
  * [ openni2_launch ](/openni2_launch?distro=indigo)
  * [ openni_launch ](/openni_launch?distro=indigo)
  * [ oxford_gps_eth ](/oxford_gps_eth?distro=indigo)
  * [ p3dx_dpl ](/p3dx_dpl?distro=indigo)
  * [ p3dx_robot ](/p3dx_robot?distro=indigo)
  * [ pr2_controller_confi... ](/pr2_controller_configuration?distro=indigo)
  * [ pyros_setup ](/pyros_setup?distro=indigo)
  * [ pyros_utils ](/pyros_utils?distro=indigo)
  * [ rb1_base_description... ](/rb1_base_description?distro=indigo)
  * [ rb1_base_sim_bringup... ](/rb1_base_sim_bringup?distro=indigo)
  * [ ridgeback_base ](/ridgeback_base?distro=indigo)
  * [ ridgeback_bringup ](/ridgeback_bringup?distro=indigo)
  * [ ridgeback_descriptio... ](/ridgeback_description?distro=indigo)
  * [ ridgeback_gazebo ](/ridgeback_gazebo?distro=indigo)
  * [ ridgeback_viz ](/ridgeback_viz?distro=indigo)
  * [ robot_upstart ](/robot_upstart?distro=indigo)
  * [ roch_base ](/roch_base?distro=indigo)
  * [ roch_bringup ](/roch_bringup?distro=indigo)
  * [ roch_control ](/roch_control?distro=indigo)
  * [ roch_description ](/roch_description?distro=indigo)
  * [ roch_gazebo ](/roch_gazebo?distro=indigo)
  * [ roch_navigation ](/roch_navigation?distro=indigo)
  * [ roch_teleop ](/roch_teleop?distro=indigo)
  * [ roch_viz ](/roch_viz?distro=indigo)
  * [ rocon_app_utilities ](/rocon_app_utilities?distro=indigo)
  * [ rocon_launch ](/rocon_launch?distro=indigo)
  * [ rocon_remocon ](/rocon_remocon?distro=indigo)


[ ![ROS For Beginners - A Step By Step Course](https://roboticsbackend.com/wp-
content/plugins/wp-fastest-cache-premium/pro/images/blank.gif)
](https://rbcknd.com/ros-for-beginners)


` mimic  ` âs ` /input/pose  ` topic is remapped to `
/turtlesim1/turtle1/pose  ` and itâs ` /output/cmd_vel  ` topic to `
/turtlesim2/turtle1/cmd_vel  ` . This means ` mimic  ` will subscribe to `
/turtlesim1/sim  ` âs pose topic and republish it for ` /turtlesim2/sim  `
âs velocity command topic to subscribe to. In other words, ` turtlesim2  `
will mimic ` turtlesim1  ` âs movements.


**If yes, this course is for you:**


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Built with [ Sphinx ](https://www.sphinx-doc.org/) using a [ theme
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](https://readthedocs.org) .


**Package Links**


Launch files simplify running complex systems with many nodes and specific
configuration details. You can create launch files using Python, and run them
using the ` ros2  launch  ` command.


##  Stability/Roadmap


** Jenkins jobs  (6) **


_**[ ros_comm ](/ros_comm?distro=electric) ** : [ cpp_common
](/cpp_common?distro=electric) | [ message_filters
](/message_filters?distro=electric) | [ perf_roscpp
](/perf_roscpp?distro=electric) | [ rosbag ](/rosbag?distro=electric) | [
rosbagmigration ](/rosbagmigration?distro=electric) | [ rosconsole
](/rosconsole?distro=electric) | [ roscore_migration_rules
](/roscore_migration_rules?distro=electric) | [ roscpp
](/roscpp?distro=electric) | [ roscpp_serialization
](/roscpp_serialization?distro=electric) | [ roscpp_traits
](/roscpp_traits?distro=electric) | [ rosgraph ](/rosgraph?distro=electric) |
[ rosgraph_msgs ](/rosgraph_msgs?distro=electric) | roslaunch | [ roslisp
](/roslisp?distro=electric) | [ rosmaster ](/rosmaster?distro=electric) | [
rosmsg ](/rosmsg?distro=electric) | [ rosnode ](/rosnode?distro=electric) | [
rosout ](/rosout?distro=electric) | [ rosparam ](/rosparam?distro=electric) |
[ rospy ](/rospy?distro=electric) | [ rosservice
](/rosservice?distro=electric) | [ rostest ](/rostest?distro=electric) | [
rostime ](/rostime?distro=electric) | [ rostopic ](/rostopic?distro=electric)
| [ roswtf ](/roswtf?distro=electric) | [ std_msgs
](/std_msgs?distro=electric) | [ std_srvs ](/std_srvs?distro=electric) | [
topic_tools ](/topic_tools?distro=electric) | [ xmlrpcpp
](/xmlrpcpp?distro=electric) _


  * [ jackal_description ](/jackal_description?distro=melodic)
  * [ jackal_gazebo ](/jackal_gazebo?distro=melodic)
  * [ jackal_navigation ](/jackal_navigation?distro=melodic)
  * [ jackal_viz ](/jackal_viz?distro=melodic)
  * [ jsk_topic_tools ](/jsk_topic_tools?distro=melodic)
  * [ khi_duaro_descriptio... ](/khi_duaro_description?distro=melodic)
  * [ khi_rs_description ](/khi_rs_description?distro=melodic)
  * [ launchfile_switcher ](/launchfile_switcher?distro=melodic)
  * [ mir_description ](/mir_description?distro=melodic)
  * [ mir_driver ](/mir_driver?distro=melodic)
  * [ mir_gazebo ](/mir_gazebo?distro=melodic)
  * [ mir_navigation ](/mir_navigation?distro=melodic)
  * [ moose_description ](/moose_description?distro=melodic)
  * [ moose_viz ](/moose_viz?distro=melodic)
  * [ mrpt_ekf_slam_2d ](/mrpt_ekf_slam_2d?distro=melodic)
  * [ mrpt_ekf_slam_3d ](/mrpt_ekf_slam_3d?distro=melodic)
  * [ mrpt_icp_slam_2d ](/mrpt_icp_slam_2d?distro=melodic)
  * [ mrpt_rbpf_slam ](/mrpt_rbpf_slam?distro=melodic)
  * [ nmea_comms ](/nmea_comms?distro=melodic)
  * [ node_manager_fkie ](/node_manager_fkie?distro=melodic)
  * [ novatel_span_driver ](/novatel_span_driver?distro=melodic)
  * [ omronsentech_camera ](/omronsentech_camera?distro=melodic)
  * [ open_manipulator_wit... ](/open_manipulator_with_tb3_tools?distro=melodic)
  * [ openni2_launch ](/openni2_launch?distro=melodic)
  * [ openni_launch ](/openni_launch?distro=melodic)
  * [ oxford_gps_eth ](/oxford_gps_eth?distro=melodic)
  * [ phidgets_imu ](/phidgets_imu?distro=melodic)
  * [ pr2_bringup ](/pr2_bringup?distro=melodic)
  * [ pr2_controller_confi... ](/pr2_controller_configuration?distro=melodic)
  * [ prbt_gazebo ](/prbt_gazebo?distro=melodic)
  * [ psen_scan ](/psen_scan?distro=melodic)
  * [ psen_scan_v2 ](/psen_scan_v2?distro=melodic)
  * [ radial_menu_example ](/radial_menu_example?distro=melodic)
  * [ raptor_dbw_can ](/raptor_dbw_can?distro=melodic)
  * [ raptor_dbw_joystick_... ](/raptor_dbw_joystick_demo?distro=melodic)
  * [ raptor_dbw_joystick_... ](/raptor_dbw_joystick_speed_demo?distro=melodic)
  * [ ridgeback_descriptio... ](/ridgeback_description?distro=melodic)
  * [ ridgeback_gazebo ](/ridgeback_gazebo?distro=melodic)
  * [ ridgeback_viz ](/ridgeback_viz?distro=melodic)
  * [ robot_upstart ](/robot_upstart?distro=melodic)


roslaunch noetic_basics_part_1 noetic_basics_part_1_py.launch


* [ rqt_launch ](/rqt_launch) (very experimental) can run launch files.


    $ sudo systemctl enable my_robot_ros.service
    Created symlink /etc/systemd/system/multi-user.target.wants/my_robot_ros.service → /lib/systemd/system/my_robot_ros.service.


##  Video Tutorial on Launch Files


###  4 Introspect the system with rqt_graph  ï


##  Prerequisites  ï


**Time:** 10 minutes


Now, if you really want to completely uninstall, run ` rosrun robot_upstart
uninstall my_robot_ros ` , where “my_robot_ros” is the name of the job you
used with the install script.


Open a new terminal window, and type:


[ The Robotics Back-End ](https://roboticsbackend.com/)


This tutorial describes some tips for writing [ roslaunch ](/roslaunch) files
for large projects. The focus is on how to structure launch files so they may
be reused as much as possible in different situations. We'll use the [
2dnav_pr2 ](/2dnav_pr2) package as a case study.


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Functional


ros2 topic pub -r 1 /turtlesim1/turtle1/cmd_vel geometry_msgs/msg/Twist "{linear: {x: 2.0, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: -1.8}}"


When you launch this file with ` roslaunch my_robot_bringup my_robot.launch `
, the node is started, gets one parameter, and starts to publish a counter at
the frequency given by the parameter, using a [ ROS Rate
](https://roboticsbackend.com/ros-rate-roscpy-roscpp/) .


It is possible to launch a launch file directly (as we do above), or provided
by a package. When it is provided by a package, the syntax is:


When debugging [ roscpp ](/roscpp) [ nodes ](/Nodes) that you are launching
with [ roslaunch ](/roslaunch) , you may wish to launch the node in a
debugging program like gdb or valgrind instead. Doing this is very simple.


You just need to create a “Job” object and give the name of the job you
previously created when installing. Then, calling the uninstall() method will
simply execute the uninstall script.


Released


###  Install robot_upstart package


[ roscore ](/roscore) is a specialization of the ` roslaunch ` tool for
bringing up the "core" ROS system. A roslaunch will automatically start
roscore if it detects that it is not already running (unless the --wait
argument is supplied). For more information, please see the [ roscore
](/roscore) documentation. Note: due to a [ race condition
](https://github.com/ros/ros_comm/issues/1831) , roslaunch should not be used
to guarantee a singleton instance of roscore.


#  Creating a launch file  ï


![](https://secure.gravatar.com/avatar/922f86e5404970e513ffabee6f5a15e3?s=49&d=mm&r=g)
Author  [ automaticaddison
](https://automaticaddison.com/author/automaticaddison/) Posted on  [ June 21,
2020  June 21, 2020  ](https://automaticaddison.com/how-to-create-a-launch-
file-in-ros-noetic/) Categories  [ Robotics
](https://automaticaddison.com/category/robotics/)


##  Uninstall


For example, in this command:


  * [ abb_irb2400_support ](/abb_irb2400_support?distro=kinetic)
  * [ abb_irb4400_support ](/abb_irb4400_support?distro=kinetic)
  * [ abb_irb5400_support ](/abb_irb5400_support?distro=kinetic)
  * [ abb_irb6600_support ](/abb_irb6600_support?distro=kinetic)
  * [ abb_irb6640_support ](/abb_irb6640_support?distro=kinetic)
  * [ app_manager ](/app_manager?distro=kinetic)
  * [ armadillo2 ](/armadillo2?distro=kinetic)
  * [ ati_force_torque ](/ati_force_torque?distro=kinetic)
  * [ bebop_description ](/bebop_description?distro=kinetic)
  * [ ca_description ](/ca_description?distro=kinetic)
  * [ capabilities ](/capabilities?distro=kinetic)
  * [ carla_ackermann_cont... ](/carla_ackermann_control?distro=kinetic)
  * [ carla_ego_vehicle ](/carla_ego_vehicle?distro=kinetic)
  * [ carla_infrastructure... ](/carla_infrastructure?distro=kinetic)
  * [ carla_manual_control... ](/carla_manual_control?distro=kinetic)
  * [ carla_ros_bridge ](/carla_ros_bridge?distro=kinetic)
  * [ carla_waypoint_publi... ](/carla_waypoint_publisher?distro=kinetic)
  * [ cartographer_ros ](/cartographer_ros?distro=kinetic)
  * [ caster_app ](/caster_app?distro=kinetic)
  * [ caster_base ](/caster_base?distro=kinetic)
  * [ caster_control ](/caster_control?distro=kinetic)
  * [ caster_description ](/caster_description?distro=kinetic)
  * [ caster_navigation ](/caster_navigation?distro=kinetic)
  * [ cnn_bridge ](/cnn_bridge?distro=kinetic)
  * [ dataspeed_can_usb ](/dataspeed_can_usb?distro=kinetic)
  * [ dataspeed_pds_can ](/dataspeed_pds_can?distro=kinetic)
  * [ dataspeed_pds_lcm ](/dataspeed_pds_lcm?distro=kinetic)
  * [ dbw_fca_can ](/dbw_fca_can?distro=kinetic)
  * [ dbw_fca_description ](/dbw_fca_description?distro=kinetic)
  * [ dbw_fca_joystick_dem... ](/dbw_fca_joystick_demo?distro=kinetic)
  * [ dbw_joystick_demo ](/dbw_joystick_demo?distro=kinetic)
  * [ dbw_joystick_speed_d... ](/dbw_joystick_speed_demo?distro=kinetic)
  * [ dbw_mkz_can ](/dbw_mkz_can?distro=kinetic)
  * [ dbw_mkz_description ](/dbw_mkz_description?distro=kinetic)
  * [ dbw_mkz_joystick_dem... ](/dbw_mkz_joystick_demo?distro=kinetic)
  * [ dbw_pacifica_can ](/dbw_pacifica_can?distro=kinetic)
  * [ dbw_pacifica_descrip... ](/dbw_pacifica_description?distro=kinetic)
  * [ dbw_pacifica_joystic... ](/dbw_pacifica_joystick_demo?distro=kinetic)
  * [ dbw_pacifica_joystic... ](/dbw_pacifica_joystick_speed_demo?distro=kinetic)
  * [ default_cfg_fkie ](/default_cfg_fkie?distro=kinetic)


Up until now, when we wanted to run a ros node, we:


  * [ source ubuntu focal ](https://build.ros.org/view/Nsrc_uF/job/Nsrc_uF__roslaunch__ubuntu_focal__source)
  * [ binary ubuntu focal amd64 ](https://build.ros.org/view/Nbin_uF64/job/Nbin_uF64__roslaunch__ubuntu_focal_amd64__binary)
  * [ binary ubuntu focal armhf ](https://build.ros.org/view/Nbin_ufhf_uFhf/job/Nbin_ufhf_uFhf__roslaunch__ubuntu_focal_armhf__binary)
  * [ binary ubuntu focal arm64 ](https://build.ros.org/view/Nbin_ufv8_uFv8/job/Nbin_ufv8_uFv8__roslaunch__ubuntu_focal_arm64__binary)
  * [ devel ubuntu focal amd64 ](https://build.ros.org/view/Ndev/job/Ndev__ros_comm__ubuntu_focal_amd64)
  * [ doc ](https://build.ros.org/view/Ndoc/job/Ndoc__ros_comm__ubuntu_focal_amd64)


* Prerequisites


    * [ CI/CD & Automation ](/solutions/ci-cd/)
    * [ DevOps ](/solutions/devops/)
    * [ DevSecOps  ](https://resources.github.com/devops/fundamentals/devsecops/)


Skip to content


There are some examples in the _Gazebo_ros2_control_demos_ package. These
examples allow to launch a cart in a 30 meter rail.
![Cart](../../../_images/cart.gif)
You can run some of the configuration running the following commands:

    ros2 launch gazebo_ros2_control_demos cart_example_position.launch.py
    ros2 launch gazebo_ros2_control_demos cart_example_velocity.launch.py
    ros2 launch gazebo_ros2_control_demos cart_example_effort.launch.py
    ros2 launch gazebo_ros2_control_demos diff_drive.launch.py
    ros2 launch gazebo_ros2_control_demos tricycle_drive.launch.py

When the Gazebo world is launched you can run some of the following commands
to move the cart.

    ros2 run gazebo_ros2_control_demos example_position
    ros2 run gazebo_ros2_control_demos example_velocity
    ros2 run gazebo_ros2_control_demos example_effort
    ros2 run gazebo_ros2_control_demos example_diff_drive
    ros2 run gazebo_ros2_control_demos example_tricycle_drive

The following example shows parallel gripper with mimic joint:
![Cart](../../../_images/gripper.gif)

    ros2 launch gazebo_ros2_control_demos gripper_mimic_joint_example.launch.py

Send example commands:

    ros2 run gazebo_ros2_control_demos example_gripper

[ Previous ](../../gz_ros2_control/doc/index.html "gz_ros2_control") [ Next
](../../differences_to_ros1/differences_to_ros1.html "Differences to
ros_control \(ROS1\)")
* * *
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](https://github.com/readthedocs/sphinx_rtd_theme) provided by [ Read the Docs
](https://readthedocs.org) .
Other Versions  v: humble
Releases
     [ Iron (latest) ](../../../../iron/doc/gazebo_ros2_control/doc/index.html)

     [ Humble ](index.html)

     [ Galactic (EOL) ](../../../../galactic/index.html)

     [ Foxy (EOL) ](../../../../foxy/index.html)

In Development
     [ Master ](../../../../master/doc/gazebo_ros2_control/doc/index.html)


I've created custom modelplugin for my model in cpp how do i add it correctly
in my urdf?


Closed


**[ ahcorde ](/ahcorde) ** commented  Feb 15, 2021


Author


Sorry, something went wrong.


##  Comments


[ ![@cco-seasony](https://avatars.githubusercontent.com/u/77270702?s=80&v=4)
](/cco-seasony)


* 👍  1 reaction


edited


By Solution


**[ destogl ](/destogl) ** commented  Oct 14, 2021


[ ![Weasfas gravatar image](/upfiles/avatars/Weasfas/resized/16/Yes-man.png)
](/users/34184/weasfas/) [ Weasfas ](/users/34184/weasfas/) (  2020-03-29
07:35:11 -0500  )  edit


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* 👀  1 reaction


**[ ahcorde ](/ahcorde) ** commented  Jan 11, 2021


Cancel  Submit feedback


Code


Query


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Cancel  Create saved search


[ .clang-format
](/UniversalRobots/Universal_Robots_ROS2_Gazebo_Simulation/blob/humble/.clang-
format ".clang-format")


**[ AureoGD ](/AureoGD) ** commented  Oct 19, 2021


It seems none of GazeboSystem::on_init, GazeboSystem::on_activate,
GazeboSystem::read, and GazeboSystem::write are ever invoked.
GazeboSystem::registerJoints is called, however.


I used the exact format as you have shown but still the gazebo is not loading
the plugin and i followed that tutorial I gave the path but still no use
gazebo is loading my model without any errors and without plugin


[ joint_limits_interface  ros-controls/ros2_control#286  ](/ros-
controls/ros2_control/issues/286)


custom gazebo plugin


#  Saved searches


None yet


**[ AureoGD ](/AureoGD) ** commented  Oct 26, 2021


Author


By clicking “Sign up for GitHub”, you agree to our [ terms of service
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Do you manage to build it?

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Sorry, something went wrong.


[ No TF is being published ](/question/315241/no-tf-is-being-published/)


Closed


Search


[ ![ gravatar image]() ]() [ ]() (  2024-04-13 19:53:58 -0500  )  edit


{{ message }}


[ ![@farbod-new](https://avatars.githubusercontent.com/u/76223948?s=80&v=4)
](/farbod-new)


[
![@oldtopos](https://avatars.githubusercontent.com/u/2193065?s=80&u=6ff065eac02ed8de6c03b677ee132dda0819a0a0&v=4)
](/oldtopos)


**[ farbod-new ](/farbod-new) ** commented  Dec 18, 2020


[ .pre-commit-config.yaml
](/UniversalRobots/Universal_Robots_ROS2_Gazebo_Simulation/blob/humble/.pre-
commit-config.yaml ".pre-commit-config.yaml")


To see all available qualifiers, see our [ documentation
](https://docs.github.com/search-github/github-code-search/understanding-
github-code-search-syntax) .


When I use the following line to install ros dependencies:


[ how to add image to model.urdf.xacro ](/question/365445/how-to-add-image-to-
modelurdfxacro/)


Copy link


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[ Notifications
](/login?return_to=%2FUniversalRobots%2FUniversal_Robots_ROS2_Gazebo_Simulation)


there are some packages that are not currently available in rosdep for ` foxy
` or ` rolling ` . ` ros2_control ` is under heavy development, you may need
to install these packages from sources.

---

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[ tags ](/tags/) [ users ](/users/) [ badges ](/badges/)


##  Running Simulation


[ cco-seasony ](/cco-seasony) opened this issue  Oct 11, 2021  · 20 comments


edited


---

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[ **21** forks
](/UniversalRobots/Universal_Robots_ROS2_Gazebo_Simulation/forks)


Sorry, something went wrong.


##  [ Contributors  3
](/UniversalRobots/Universal_Robots_ROS2_Gazebo_Simulation/graphs/contributors)


Explore


[ @AureoGD ](https://github.com/AureoGD) Just tried it; does not work for me
either. Continuing to investigate. I am starting with the position controller.

---

All reactions


**[ AureoGD ](/AureoGD) ** commented  Oct 26, 2021


* [ plugin ](/questions/scope:all/sort:activity-desc/tags:plugin/page:1/)


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Hi!
A quick update: yesterday I followed the steps described, and after some
additional changes at Update method in the gazebo_ros2_control_plugin.cpp
file, I could build the package. Then I executed the examples, but the Gazebo
did not respond to the commands (at least, it is not possible to observe the
joint movement). I will keep trying to find the cause of the problem.

---

👍  2  cco-seasony and destogl reacted with thumbs up emoji  👀  1  cco-seasony
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**[ cco-seasony ](/cco-seasony) ** commented  Oct 18, 2021


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I hope this makes sense.

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Thanks for letting us know. I thought I was doing something wrong.


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[ @cco-seasony ](https://github.com/cco-seasony) is this still a thing? If not
please close this issue.

---

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We read every piece of feedback, and take your input very seriously.


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I will have a look as soon as possible

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[ https://github.com/ros-controls/ros2_control ](https://github.com/ros-
controls/ros2_control)


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[ Any Examples of URDF/MoveIt for Parallel Robots? ](/question/217516/any-
examples-of-urdfmoveit-for-parallel-robots/)


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This seems to definitely be the root cause; in foxy the read and write
routines are invoked.

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[ .github/  workflows
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[ CONTRIBUTING.md
](/UniversalRobots/Universal_Robots_ROS2_Gazebo_Simulation/blob/humble/CONTRIBUTING.md
"CONTRIBUTING.md")


To configure and build workspace execute following commands:


[ ![@mateusz-
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##  Using the repository


[ ur_simulation_gazebo
](/UniversalRobots/Universal_Robots_ROS2_Gazebo_Simulation/tree/humble/ur_simulation_gazebo
"ur_simulation_gazebo")


  * ` <mimic> ` tag to the mimicked joint [ detailed manual ](https://wiki.ros.org/urdf/XML/joint)
  * ` mimic  ` and ` multiplier  ` parameters to joint definition in ` <ros2_control> ` tag

    <joint name="left_finger_joint" type="prismatic">
      <mimic joint="right_finger_joint"/>
      <axis xyz="0 1 0"/>
      <origin xyz="0.0 0.48 1" rpy="0.0 0.0 3.1415926535"/>
      <parent link="base"/>
      <child link="finger_left"/>
      <limit effort="1000.0" lower="0" upper="0.38" velocity="10"/>
    </joint>

    <joint name="left_finger_joint">
      <param name="mimic">right_finger_joint</param>
      <param name="multiplier">1</param>
      <command_interface name="position"/>
      <state_interface name="position"/>
      <state_interface name="velocity"/>
      <state_interface name="effort"/>
    </joint>

##  Add the gazebo_ros2_control plugin  
In addition to the _ros2_control_ tags, a Gazebo plugin needs to be added to
your URDF that actually parses the _ros2_control_ tags and loads the
appropriate hardware interfaces and controller manager. By default the
_gazebo_ros2_control_ plugin is very simple, though it is also extensible via
an additional plugin architecture to allow power users to create their own
custom robot hardware interfaces between _ros2_control_ and Gazebo Classic.

    <gazebo>
        <plugin filename="libgazebo_ros2_control.so" name="gazebo_ros2_control">
          <robot_param>robot_description</robot_param>
          <robot_param_node>robot_state_publisher</robot_param_node>
          <parameters>$(find gazebo_ros2_control_demos)/config/cart_controller.yaml</parameters>
        </plugin>
    </gazebo>

The _gazebo_ros2_control_ ` <plugin> ` tag also has the following optional
child elements:
  * ` <robot_param> ` : The location of the ` robot_description  ` (URDF) on the parameter server, defaults to ` robot_description  `
  * ` <robot_param_node> ` : Name of the node where the ` robot_param  ` is located, defaults to ` robot_state_publisher  `
  * ` <parameters> ` : YAML file with the configuration of the controllers
###  Default gazebo_ros2_control Behavior  
By default, without a ` <plugin> ` tag, _gazebo_ros2_control_ will attempt to
get all of the information it needs to interface with a ros2_control-based
controller out of the URDF. This is sufficient for most cases, and good for at
least getting started.
The default behavior provides the following ros2_control interfaces:
  * hardware_interface::JointStateInterface
  * hardware_interface::EffortJointInterface
  * hardware_interface::VelocityJointInterface
###  Advanced: custom gazebo_ros2_control Simulation Plugins  
The _gazebo_ros2_control_ Gazebo plugin also provides a pluginlib-based
interface to implement custom interfaces between Gazebo Classic and
_ros2_control_ for simulating more complex mechanisms (nonlinear springs,
linkages, etc).


joint_limits_interface and transmission_interface are copied from another
source to ros2_control (ros2_control already includes those folders). While
building the package transmission_interface is built with no problem, but
joint_limits_interface fails. Why is that?


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Closed


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It seems there is some activity on the repository. Did you try using ros-
controls/ros2_control/ [ #421 ](https://github.com/ros-
controls/ros2_control/issues/421) to check if it is working with ros2_control
and ros2_controllers master branches?

---

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I have created this new PR [ #44 ](https://github.com/ros-
controls/gazebo_ros2_control/pull/44) . This should fix the issues.

---

All reactions


[ @AureoGD ](https://github.com/AureoGD) Just reviewed the commit; I have the
same source changes on my locally built branch, using a local build of ROS2
control, and it does not work.

---

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Well, if you cannot post the description we will not be able to help you
further than this, because if it is not something related to the spurce code
of the plugin or your PC/Gazebo environment, It must be something wrong in the
robot description.


For


Email Address


Example files and configurations for Gazebo Classic simulation of Universal
Robots' manipulators.


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**[ bmagyar ](/bmagyar) ** commented  Oct 15, 2021


[ edit ](/s/answers/347423/edit/) flag offensive  delete  [ link
](/question/347179/custom-gazebo-plugin/?answer=347423#post-id-347423
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Hi!
[ @oldtopos ](https://github.com/oldtopos) , I don't have any updates, my
problems persist. I check all gazebo_ros2_control code and didn't figure out
what is the cause of this problems.

---

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So, I can't proceed correctly. If I do proceed with the build, I get


[ **asked 2020-03-20 12:03:27 -0500  ** ](/questions/347179/revisions/)


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Asked: ** 2020-03-20 12:03:27 -0500  **


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#  Universal_Robots_ROS2_Gazebo_Simulation


**[ destogl ](/destogl) ** commented  Jan 27, 2022


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> I checked the ros2_control repository. It seems that right now `
> joint_limit_interface ` it's not available [ https://github.com/ros-
> controls/ros2_control/tree/master/joint_limits_interface
> ](https://github.com/ros-
> controls/ros2_control/tree/master/joint_limits_interface) . It has a `
> COLCON_IGNORE ` inside the folder which means this package will not compile.
>
> I will have a look as soon as possible


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Password


Add the installation prefix of "joint_limits_interface" to
CMAKE_PREFIX_PATH or set "joint_limits_interface_DIR" to a directory
containing one of the above files. If "joint_limits_interface"
provides a
separate development package or SDK, be sure it has been installed.


ros2 launch ur_simulation_gazebo ur_sim_control.launch.py


Sorry, something went wrong.


Thank you so much!


i added this in my pavkage.xml file


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Seen: **1,794 times**


     joint_limits_interfaceConfig.cmake
     joint_limits_interface-config.cmake


##  Use saved searches to filter your results more quickly


  2. Download the required repositories and install package dependencies:

        cd $COLCON_WS
    git clone git@github.com:UniversalRobots/Universal_Robots_ROS2_Gazebo_Simulation.git src/Universal_Robots_ROS2_Gazebo_Simulation
    vcs import src --input src/Universal_Robots_ROS2_Gazebo_Simulation/Universal_Robots_ROS2_Gazebo_Simulation.<ros-distro>.repos
    rosdep install --ignore-src --from-paths src -y
    cd ..


    gazeboSystem->set_state(rclcpp_lifecycle::State(
          lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE, hardware_interface::lifecycle_state_names::ACTIVE));


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Hi [ @farbod-new ](https://github.com/farbod-new) ,


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[ https://github.com/ros-simulation/gazebo_ros2_control/pull/34/files
](https://github.com/ros-simulation/gazebo_ros2_control/pull/34/files)


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](/farbod-new)


[ @oldtopos ](https://github.com/oldtopos) , I'm using the
gazebo_ros2_control_demos. There are some updates at the repository of
gazebo_ros2_control, but the examples continue not working, at least for me.

---

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[ about ](/about/) |  [ faq ](/faq/) |  [ help ](/help/ "help") |  [ privacy
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**[ oldtopos ](/oldtopos) ** commented  Oct 26, 2021  •


Hello,


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[ ![me_saw gravatar image](/m/default/media/images/nophoto.png?v=28)
](/users/52338/me_saw/) [ me_saw ](/users/52338/me_saw/) (  2020-03-29
07:44:23 -0500  )  edit


No releases published


##  History


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#  problems when trying to build gazebo_ros2_control  #42


However you will need to export the plugins path to advertise Gazebo where to
find custom plugins. Take a look at this [ tutorial
](http://gazebosim.org/tutorials?tut=plugins_model&cat=write_plugin) , you
whould be able to follow it until the end, where you will find how to export
and launch the plugin.


Closed


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](/UniversalRobots/Universal_Robots_ROS2_Gazebo_Simulation/blob/humble/ci_status.md
"ci_status.md")


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Summary: 9 packages finished [3.20s]
1 package failed: gazebo_ros2_control
1 package had stderr output: gazebo_ros2_control
1 package not processed


#  Provide feedback


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Thanks,
Farbod


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Hi @ar0usel ,


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**[ farbod-new ](/farbod-new) ** commented  Dec 22, 2020


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##  Folders and files


|  Humble  |  Iron  |  Rolling
---|---|---|---
Branch  |  [ humble
](https://github.com/UniversalRobots/Universal_Robots_ROS2_Description/tree/humble)
|  [ ros2
](https://github.com/UniversalRobots/Universal_Robots_ROS2_Description/tree/ros2)
|  [ ros2
](https://github.com/UniversalRobots/Universal_Robots_ROS2_Description/tree/ros2)
Build status  |  [ ![Humble Binary
Main](https://github.com/UniversalRobots/Universal_Robots_ROS2_Gazebo_Simulation/actions/workflows/humble-
binary-main.yml/badge.svg?event=schedule)
](https://github.com/UniversalRobots/Universal_Robots_ROS2_Gazebo_Simulation/actions/workflows/humble-
binary-main.yml?query=event%3Aschedule++)
|  [ ![Iron Binary
Main](https://github.com/UniversalRobots/Universal_Robots_ROS2_Gazebo_Simulation/actions/workflows/iron-
binary-main.yml/badge.svg?event=schedule)
](https://github.com/UniversalRobots/Universal_Robots_ROS2_Gazebo_Simulation/actions/workflows/iron-
binary-main.yml?query=event%3Aschedule++)
|  [ ![Rolling Binary
Main](https://github.com/UniversalRobots/Universal_Robots_ROS2_Gazebo_Simulation/actions/workflows/rolling-
binary-main.yml/badge.svg?event=schedule)
](https://github.com/UniversalRobots/Universal_Robots_ROS2_Gazebo_Simulation/actions/workflows/rolling-
binary-main.yml?query=event%3Aschedule++)

A more [ detailed build status
](/UniversalRobots/Universal_Robots_ROS2_Gazebo_Simulation/blob/humble/ci_status.md)
shows the state of all CI workflows inside this repo. Please note that the
detailed view is intended for developers, while the one here should give end
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[ how to build rviz from source ](/question/402671/how-to-build-rviz-from-
source/)


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I just added


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Thanks so much,


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Will examine your patch

---

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Here you can find the two open PRs that fix the issue


Starting >>> hardware_interface
Starting >>> controller_manager_msgs
Starting >>> control_toolbox
Starting >>> transmission_interface
Finished <<< transmission_interface [0.23s]
Finished <<< hardware_interface [0.31s]
Starting >>> controller_interface
Starting >>> test_robot_hardware
Finished <<< control_toolbox [0.31s]
Finished <<< controller_interface [0.21s]
Finished <<< test_robot_hardware [0.23s]
Finished <<< controller_manager_msgs [0.72s]
Starting >>> controller_manager
Finished <<< controller_manager [0.35s]
Starting >>> gazebo_ros2_control
Starting >>> joint_state_controller
Starting >>> joint_trajectory_controller
Finished <<< joint_state_controller [0.27s]
Finished <<< joint_trajectory_controller [0.31s]
\--- stderr: gazebo_ros2_control
CMake Error at CMakeLists.txt:11 (find_package):
By not providing "Findjoint_limits_interface.cmake" in CMAKE_MODULE_PATH
this project has asked CMake to find a package configuration file
provided
by "joint_limits_interface", but CMake did not find one.


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](/i-khokhlov) [ i-khokhlov ](/i-khokhlov) mentioned this issue  Dec 30, 2020


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**[ ahcorde ](/ahcorde) ** commented  Dec 22, 2020


[ UniversalRobots ](/UniversalRobots) /  **[
Universal_Robots_ROS2_Gazebo_Simulation
](/UniversalRobots/Universal_Robots_ROS2_Gazebo_Simulation) ** Public


Just need to figure out how to get the state properly set ...

---

All reactions


Nonetheless, after the last update in ros2_control, an error happens in the
gazebo_ros2_control, because the base_interface.hpp was removed. I notice that
it is possible to manage this change by doing the procedure described in [
here ](hardware_interface/doc/hardware_components_userdoc.rst) , I will try to
solve this today.

---

👍  1  destogl reacted with thumbs up emoji  👀  1  cco-seasony reacted with
eyes emoji


[fatal error: hardware_interface/joint_state_handle.hpp: No such file or
directory]


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Any help is appreciated.


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###  Configure and Build Workspace:


edited


Jump to bottom


**[ AureoGD ](/AureoGD) ** commented  Oct 14, 2021


##  Comments


**[ oldtopos ](/oldtopos) ** commented  Oct 27, 2021


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Mmm, Ok. I followed the tutorial exactly as it is in case there was any
mistake in the explanation but I managed to generate the pugin and see the box
moving on Gazebo. At his point I would recommend you to use the ` --verbose `
flag with Gazebo in order to see its log E.g.: ` Gazebo --verbose
my_world.world ` and ensure you wrote the proper plugin name in the world file
( ` libmodel_push.so ` ), and the plugin has executable permissions (E.g.:
sudo chmod +x libmodel_push.so).


I get the following:


Projects


ros2 launch ur_robot_driver test_joint_trajectory_controller.launch.py


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![@ahcorde](https://avatars.githubusercontent.com/u/1933907?s=80&u=8b6fd963c321f00713621094b86dd86874e6b219&v=4)
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**[ oldtopos ](/oldtopos) ** commented  Oct 26, 2021


[ Activity
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**[ ahcorde ](/ahcorde) ** commented  Oct 27, 2021  •


Repositories


Hi,


Go to file


Sorry, something went wrong.


Last updated: **Mar 24 '20**


I also have the source building, will be testing over the next couple days. I
followed [ Post foxy control conversion
](http://control.ros.org/ros2_control/hardware_interface/doc/hardware_components_userdoc.html)
, and added the two arguments to the update() method call. [ @AureoGD
](https://github.com/AureoGD) , please update if you have new results

---

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* [ modelplugin ](/questions/scope:all/sort:activity-desc/tags:modelplugin/page:1/)


      <plugin filename="plugin_name.so" name="some_name" >
        plugin args...
      </plugin>


[ edit ](/questions/347179/edit/) [ retag ](/s/questions/347179/retag/) flag
offensive  [ close ](/questions/347179/close/) merge  delete


farbod@SavantzDev:~/ros2_control_ws$ colcon build
Starting >>> control_msgs
Starting >>> controller_manager_msgs
Starting >>> realtime_tools
Starting >>> angles
Finished <<< angles [0.18s]
Finished <<< realtime_tools [0.29s]
Finished <<< controller_manager_msgs [0.81s]
Starting >>> ros2controlcli
Finished <<< control_msgs [1.04s]
Starting >>> hardware_interface
Finished <<< hardware_interface [0.28s]
Starting >>> controller_interface
Starting >>> test_robot_hardware
Starting >>> transmission_interface
Finished <<< ros2controlcli [0.54s]
Finished <<< test_robot_hardware [0.23s]
Finished <<< controller_interface [0.25s]
Starting >>> controller_manager
Finished <<< transmission_interface [0.30s]
Finished <<< controller_manager [0.37s]
Starting >>> forward_command_controller
Starting >>> joint_state_controller
Starting >>> joint_trajectory_controller
Starting >>> ros2_control
Finished <<< ros2_control [0.17s]
Finished <<< joint_state_controller [0.30s]
Finished <<< forward_command_controller [0.34s]
Finished <<< joint_trajectory_controller [0.35s]


System::read() is checking state for
lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE ||
lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE


[ docker ros development with the RPI ](/question/338666/docker-ros-
development-with-the-rpi/)


> **NOTE:** Over time you will probably have multiple ROS workspaces, so it
> makes sense to them all in a subfolder. Also, it is good practice to put the
> ROS version in the name of the workspace, for different tests you could just
> add a suffix to the base name ` ur_gazebo ` .


[ @AureoGD ](https://github.com/AureoGD) which versions (maybe commit hashes)
of ros2_control and gazebo_ros2_control do you have? And how did you manage to
get it running? Did you have to modify the code on your own?

---

👀  1  cco-seasony reacted with eyes emoji


###  Setup ROS Workspace


**[ mateusz-lichota ](/mateusz-lichota) ** commented  Oct 14, 2021


This commit does not belong to any branch on this repository, and may belong
to a fork outside of the repository.


##  Known issues


Assignees


[ ![@farbod-new](https://avatars.githubusercontent.com/u/76223948?s=40&v=4)
](/farbod-new) [ farbod-new ](/farbod-new) changed the title ~~rosdep
dependency problems when trying to install~~ problems when trying to build
gazebo_ros2_control  Dec 23, 2020


Skip any of below steps is not applicable.


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[ Fix ros2_control resource manager in Galactic  ros-
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⚠  The UR5 (non-e-series) model seems to be broken at the moment. Please see
[ #34
](https://github.com/UniversalRobots/Universal_Robots_ROS2_Gazebo_Simulation/issues/34)
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**[ farbod-new ](/farbod-new) ** commented  Dec 23, 2020  •


Hi [ @destogl ](https://github.com/destogl) , ros2_control for galactic is
working fine for me. I was able to build the master branch which I believe it
contains the changes you mentioned.
It is just a matter of fixing the gazebo bridge (gazebo_ros2_control) to being
able to test what I need.
[ @AureoGD ](https://github.com/AureoGD) which branches or commits did you use
to make it work???

---

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**[ oldtopos ](/oldtopos) ** commented  Oct 25, 2021  •


[ README.md
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[ farbod-new ](/farbod-new) opened this issue  Dec 18, 2020  · 12 comments


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ros2 launch ur_simulation_gazebo ur_sim_moveit.launch.py


i added it but gazebo is not recognizing it and when i add <gazebo> to my
plugin its giving me an error so i removed it i started it with <plugin> with
this its not giving me an error but not gazebo is recognizing this plugin


[ ](https://github.com/)


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Sign up for GitHub


@veerte wrong approach my friend. We need a fix upstream please ;)

---

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#  gazebo_ros2_control  


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**[ oldtopos ](/oldtopos) ** commented  Oct 26, 2021


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**[ AureoGD ](/AureoGD) ** commented  Oct 25, 2021


> > Hi [ @farbod-new ](https://github.com/farbod-new) ,
>  there are some packages that are not currently available in rosdep for `
> foxy ` or ` rolling ` . ` ros2_control ` is under heavy development, you may
> need to install these packages from sources.
>
> Thanks for the reply.
>
> As I understand it joint_limits_interface is part of ros2_control (or even
> ros_control) package and is not an independent package. In other words, how
> can one install joint_limits_interface from source separately when its
> source is already included in the ros2_control package?
>
> In the line:
>  cp -r ros2_control_ddengster/joint_limits_interface
> ros2_control_ddengster/transmission_interface ros2_control
>
> joint_limits_interface and transmission_interface are copied from another
> source to ros2_control (ros2_control already includes those folders). While
> building the package transmission_interface is built with no problem, but
> joint_limits_interface fails. Why is that?
>
> Thanks,
>  Farbod


But I did use "ros2_control_ddengster/joint_limits_interface" rather than
"ros2_control/joint_limits_interface".


**[ ahcorde ](/ahcorde) ** commented  Dec 18, 2020


Hi [ @farbod-new ](https://github.com/farbod-new) ,


[
![@ahcorde](https://avatars.githubusercontent.com/u/1933907?s=80&u=8b6fd963c321f00713621094b86dd86874e6b219&v=4)
](/ahcorde)


Hi!
I know it is not the right repo BUT I few months ago I opened an [ issue
](https://github.com/ros-simulation/gazebo_ros2_control/issues/84) and I have
not received any answers.
I was wondering if anyone here knew the status of gazebo_ros2_control for
Galactic. Is it something that is being worked on?
Thanks in advance for the help!

---

The text was updated successfully, but these errors were encountered:


[ ![Weasfas gravatar image](/upfiles/avatars/Weasfas/resized/16/Yes-man.png)
](/users/34184/weasfas/) [ Weasfas ](/users/34184/weasfas/) (  2020-03-29
07:47:18 -0500  )  edit


#  Search code, repositories, users, issues, pull requests...


Right now, there are some changes that make imposible to compile the code. In
particular this issue [ ros-controls/ros2_control#279
](https://github.com/ros-controls/ros2_control/issues/279) . There is some
effort trying to revive this code [ ros-controls/ros2_control#271
](https://github.com/ros-controls/ros2_control/pull/271)


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Also, I want to mention that I used the original folder for
"ros2_control_transmission_interface" from the original ros2_control
repository, rather than "ros2_control_ddengster/transmission_interface" The
latter did not build.


Sorry, something went wrong.


I just check this [ post ](https://github.com/ros-
simulation/gazebo_ros2_control/issues/84) , appears that the version for
Galactic distro was released, but my problems persist.

---

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> **NOTE:** Feel free to change ` ~/workspaces/ur_gazebo ` to whatever
> absolute path you want.


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**[ AureoGD ](/AureoGD) ** commented  Oct 18, 2021


**[ oldtopos ](/oldtopos) ** commented  Oct 26, 2021


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**[ farbod-new ](/farbod-new) ** commented  Dec 23, 2020  •


#  Galactic: ros2_control + gazebo_ros2_control  #550


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I used this plugin it's working fine with the sdf but when I try to load it in
urdf it isn't showing any plugin loaded I even applied it to joints [ I am
using this plugin formy urdf model
](https://bitbucket.org/theconstructcore/set_speed_joint_cpp/src/master/set_speed_joint_cpp/)


[ ](https://github.com/)


rosdep install --from-paths ./ -i -y --rosdistro foxy --ignore-src


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These plugins must inherit ` gazebo_ros2_control::GazeboSystemInterface  `
which implements a simulated _ros2_control_ `
hardware_interface::SystemInterface  ` . SystemInterface provides API-level
access to read and command joint properties.
The respective GazeboSystemInterface sub-class is specified in a URDF model
and is loaded when the robot model is loaded. For example, the following XML
will load the default plugin:

    <ros2_control name="GazeboSystem" type="system">
      <hardware>
        <plugin>gazebo_ros2_control/GazeboSystem</plugin>
      </hardware>
      ...
    <ros2_control>
    <gazebo>
      <plugin name="gazebo_ros2_control" filename="libgazebo_ros2_control.so">
        ...
      </plugin>
    </gazebo>

###  Set up controllers  
Use the tag ` <parameters> ` inside ` <plugin> ` to set the YAML file with the
controller configuration.

    <gazebo>
      <plugin name="gazebo_ros2_control" filename="libgazebo_ros2_control.so">
        <parameters>$(find gazebo_ros2_control_demos)/config/cart_controller.yaml</parameters>
      </plugin>
    <gazebo>

The following is a basic configuration of the controllers:
  * ` joint_state_broadcaster  ` : This controller publishes the state of all resources registered to a ` hardware_interface::StateInterface  ` to a topic of type ` sensor_msgs/msg/JointState  ` .
  * ` joint_trajectory_controller  ` : This controller creates an action called ` /joint_trajectory_controller/follow_joint_trajectory  ` of type ` control_msgs::action::FollowJointTrajectory  ` .

    controller_manager:
      ros__parameters:
        update_rate: 100  # Hz

        joint_trajectory_controller:
          type: joint_trajectory_controller/JointTrajectoryController

        joint_state_broadcaster:
          type: joint_state_broadcaster/JointStateBroadcaster

    joint_trajectory_controller:
      ros__parameters:
        joints:
          - slider_to_cart
        command_interfaces:
          - position
        state_interfaces:
          - position
          - velocity

##  gazebo_ros2_control_demos  
This package contains the contents for testing gazebo_ros2_control. It is
running Gazebo Classic and some other ROS 2 nodes.


[ BSD-3-Clause license
](/UniversalRobots/Universal_Robots_ROS2_Gazebo_Simulation/blob/ros2/LICENSE)


Hi [ @me_saw ](/users/52338/me_saw/) ,


For


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Could not find a package configuration file provided by
"joint_limits_interface" with any of the following names:


In the line:
cp -r ros2_control_ddengster/joint_limits_interface
ros2_control_ddengster/transmission_interface ros2_control


None yet


Member


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](/cco-seasony)


Hi!
[ @cco-seasony ](https://github.com/cco-seasony) , I used the master branches
of ros2_control, ros2_controller and gazebo_ros2_control. I'm not sure which
are the commits, but I got the files in August.


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**[ i-khokhlov ](/i-khokhlov) ** commented  Dec 30, 2020


Any help is appreciated.


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> Hi @ar0usel ,
>
> Right now, there are some changes that make imposible to compile the code.
> In particular this issue [ ros-controls/ros2_control#279
> ](https://github.com/ros-controls/ros2_control/issues/279) . There is some
> effort trying to revive this code [ ros-controls/ros2_control#271
> ](https://github.com/ros-controls/ros2_control/pull/271)
>
> I will update the code when this issue is resolved.

---

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> Hi [ @farbod-new ](https://github.com/farbod-new) ,
>
> there are some packages that are not currently available in rosdep for `
> foxy ` or ` rolling ` . ` ros2_control ` is under heavy development, you may
> need to install these packages from sources.


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Ok. I just cloned your repo into my computer and launched Gazebo. When I
publish on the two wheel topic 1.00 I can see how the model moves. Maybe a
trifle but you are launching Gazebo on pause state: ` <arg name="paused"
value="true" /> ` Did you remember to click the play button in the bottom
right corner of the GUI?


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Farbod

---

The text was updated successfully, but these errors were encountered:


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I did the tutorial and the plugins that were shown there worked perfectly
fine, the box was moving as it has to.The problem arises when i create my own
plugin with the exact same method that was shown there but i attached wheels
to my robot, it isn't working and I also tried loading the launch file using
--verbose but it was clean it's not even showing the plugin part


#  Provide feedback


This is a ROS 2 package for integrating the _ros2_control_ controller
architecture with the [ Gazebo Classic ](https://classic.gazebosim.org/)
simulator.
This package provides a Gazebo plugin which instantiates a _ros2_control_
controller manager and connects it to a Gazebo model.
![Cart](../../../_images/gazebo_ros2_control_position.gif)
![DiffBot](../../../_images/gazebo_ros2_control_diff_drive.gif)
##  Usage  
###  Modifying or building your own  

    cd Docker
    docker build -t gazebo_ros2_control .

###  To run the demo  
  1. Using Docker
> Docker allows us to run the demo without GUI if we don’t configure it
> properly. The following command runs the demo without GUI:
>
>
>     docker run -it --rm --name gazebo_ros2_control_demo --net host
> gazebo_ros2_control ros2 launch gazebo_ros2_control_demos
> cart_example_position.launch.py gui:=false
>
>
> The in your local machine you can run the Gazebo Classic client:
>
>
>     gzclient
>
  2. Using Rocker
> To run the demo with GUI we are going to use [ rocker
> ](https://github.com/osrf/rocker/) which is a tool to run docker images with
> customized local support injected for things like nvidia support. And user
> id specific files for cleaner mounting file permissions. You can install
> this tool with the following [ instructions
> ](https://github.com/osrf/rocker/#installation) .
>
> The following command will launch Gazebo Classic:
>
>
>     rocker --x11 --nvidia --name gazebo_ros2_control_demo
> gazebo_ros2_control:latest
>
>
> The following commands allow to move the cart in the rail:
>
>
>     docker exec -it gazebo_ros2_control_demo bash
>     source /home/ros2_ws/install/setup.bash
>     ros2 run gazebo_ros2_control_demos example_position
>
##  Add ros2_control tag to a URDF  
###  Simple setup  
To use _ros2_control_ with your robot, you need to add some additional
elements to your URDF. You should include the tag ` <ros2_control> ` to access
and control the robot interfaces. We should include
  * a specific ` <plugin> ` for our robot
  * ` <joint> ` tag including the robot controllers: commands and states.

    <ros2_control name="GazeboSystem" type="system">
      <hardware>
        <plugin>gazebo_ros2_control/GazeboSystem</plugin>
      </hardware>
      <joint name="slider_to_cart">
        <command_interface name="effort">
          <param name="min">-1000</param>
          <param name="max">1000</param>
        </command_interface>
        <state_interface name="position">
          <param name="initial_value">1.0</param>
        </state_interface>
        <state_interface name="velocity"/>
        <state_interface name="effort"/>
      </joint>
    </ros2_control>

###  Using mimic joints in simulation  
To use ` mimic  ` joints in _gazebo_ros2_control_ you should define its
parameters to your URDF. We should include:


Development


[ __ ](/questions/) |


I just created a [ patch ](https://github.com/ros-
controls/ros2_control/pull/566) to fix this problem, Probably is not the final
solution but it makes it work.

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[ ![@destogl](https://avatars.githubusercontent.com/u/1918204?s=80&v=4)
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edited


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](/ahcorde)


Thanks,
Farbod

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#  Saved searches


As I understand it joint_limits_interface is part of ros2_control (or even
ros_control) package and is not an independent package. In other words, how
can one install joint_limits_interface from source separately when its source
is already included in the ros2_control package?


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I will update the code when this issue is resolved.

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[ ![@cco-seasony](https://avatars.githubusercontent.com/u/77270702?s=40&v=4)
](/cco-seasony) [ cco-seasony ](/cco-seasony) closed this as [ completed
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Jan 28, 2022


humble


**[ cco-seasony ](/cco-seasony) ** commented  Oct 11, 2021


[ ](https://github.com/)


Summary: 14 packages finished [2.48s]

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[ **answered 2020-03-24 14:52:08 -0500  ** ](/answers/347423/revisions/)


This was referenced  Oct 28, 2021


Aa, ok. But that is different. In that case the [ URDF
](http://gazebosim.org/tutorials?tut=ros_urdf) has a set of links and joints.
For that to work you need to use the joints not the link. For instance,
imagine you have a basic robot with a ` base_link ` and two ` wheel_links `
the descriptino will be somewhat to: ` base_link --> wheel_left_link ` (joined
by ` left_wheel_joint ` : ` continuous ` ) ` base_link --> right_wheel_link `
(joined by ` right_wheel_joint ` : ` continuous ` ) Then you need to load a
plugin that uses that joints setting the velocity to move the model. Take a
look at the [ diff_drive_plugin
](http://docs.ros.org/melodic/api/gazebo_plugins/html/gazebo__ros__diff__drive_8cpp_source.html)
source code, in line 280 and 281 is doing exactly that to assign wheel
velocities.


Move robot using test script from ` ur_robot_driver ` package (if you've
installed that one):


Merged


[ **updated 2020-03-24 14:53:47 -0500  ** ](/answers/347423/revisions/)


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##  Comments


**[ ahcorde ](/ahcorde) ** commented  Dec 30, 2020


[ farbod-new ](/farbod-new) opened this issue  Dec 18, 2020  · 12 comments


  * [ Import and Initialize components  #566  ](https://github.com/ros-controls/ros2_control/pull/566)
  * [ Fix ros2_control resource manager in Galactic  gazebo_ros2_control#96  ](https://github.com/ros-controls/gazebo_ros2_control/pull/96)


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ERROR: the following packages/stacks could not have their rosdep keys
resolved
to system dependencies:
gazebo_ros2_control: Cannot locate rosdep definition for
[joint_limits_interface]
gazebo_ros2_control_demos: Cannot locate rosdep definition for
[velocity_controllers]
ros2_control: Cannot locate rosdep definition for
[controller_parameter_server]


to GazeboRosControlPlugin::Load just prior to
resource_manager_->import_component(std::move(gazeboSystem));


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](/oldtopos) [
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](/bmagyar) [
![@AureoGD](https://avatars.githubusercontent.com/u/26886685?s=52&v=4)
](/AureoGD) [ ![@mateusz-
lichota](https://avatars.githubusercontent.com/u/35239916?s=52&v=4)
](/mateusz-lichota) [ ![@cco-
seasony](https://avatars.githubusercontent.com/u/77270702?s=52&v=4) ](/cco-
seasony)


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](/oldtopos)


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