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Joint Tutorial needs topic_name in SDF examples. #2629

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@bperseghetti bperseghetti commented Sep 16, 2024

🦟 Bug fix

Summary

This is my bad on not pushing up the final commit on adding topic_name in a few places so that the trajectory control portion works properly. πŸ€¦πŸ»β€β™‚οΈ

This also fixes the indents so they match when copying and pasting through tutorial.

Checklist

  • Signed all commits for DCO
  • Added tests
  • Updated documentation (as needed)
  • Updated migration guide (as needed)
  • Consider updating Python bindings (if the library has them)
  • codecheck passed (See contributing)
  • All tests passed (See test coverage)
  • While waiting for a review on your PR, please help review another open pull request to support the maintainers

Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining Signed-off-by messages.

Signed-off-by: Benjamin Perseghetti <bperseghetti@rudislabs.com>
<position_i_max>1</position_i_max>
<position_cmd_min>-20</position_cmd_min>
<position_cmd_max>20</position_cmd_max>
<topic>topic_name</topic>
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So what's the behavior without <topic> specified? Can we make sure that scenario works as well?

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Sure you would need to pass it to the default topic instead. Is that preferred? Or just want it duplicated in that portion?

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I guess my question is, has the default topic changed? I ask because #2546 changed some default topics for some systems and those systems had to be updated.

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No, the default topic I don't believe has changed, the tutorial shows to publish this to control it:

gz topic -t "topic_name" -m gz.msgs.JointTrajectory -p '

Note that you need to have the topic name match that topic or it won't work.

And then it says to echo:

gz topic -e -t "/model/RR_position_control/joint_trajectory_progress"

Which once again if you change it to listen to published topic won't work. So one or the other needs to be changed/fixed to work.

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So @azeey do you want an example with only the default topic, only the "assigned topic" or one with both?

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