Fix gz_ros2_control plugin by adding robot_param_node#8
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apirsic wants to merge 3 commits intoPavankv92:mainfrom
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Fix gz_ros2_control plugin by adding robot_param_node#8apirsic wants to merge 3 commits intoPavankv92:mainfrom
apirsic wants to merge 3 commits intoPavankv92:mainfrom
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- Added <robot_param_node>robot_state_publisher</robot_param_node> to Gazebo plugin configuration - This fixes the issue where controller_manager was not being initialized - Without this parameter, the plugin could not locate the robot_description topic - Fixes controller spawning and joint_states publishing Tested with ROS2 Jazzy and Gazebo Harmonic.
- Added TimerAction and RegisterEventHandler imports for delayed spawning - Implemented automatic spawning of joint_state_broadcaster after 5 seconds - Implemented sequential spawning of arm_controller and gripper_controller - Controllers now spawn automatically on launch, eliminating manual spawning - Improved user experience: single launch command starts everything This change ensures controllers are properly initialized after Gazebo starts, providing a seamless simulation startup experience. 🤖 Generated with Claude Code (https://claude.com/claude-code) Co-Authored-By: Claude Sonnet 4.5 <noreply@anthropic.com>
- Increased update rate for the controller manager from 10 Hz to 50 Hz - Added a new forward_position_controller for joint group position control - Changed Fixed Frame setting in RViz configuration from 'Base' to 'base' for consistency These changes enhance the performance of the robot controllers and improve visualization settings.
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Tested with ROS2 Jazzy and Gazebo Harmonic.