CLOiSim-ROS JoinControl

Package Summary

Tags	No category tags.
Version	4.7.1
License	MIT
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description	ROS2 simulation device packages to connect unity based multi-robot simulator CLOisim.
Checkout URI	https://github.com/lge-ros2/cloisim_ros.git
VCS Type	git
VCS Version	main
Last Updated	2025-03-17
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	docker device robot robotics simulation sensor ros bridge ros2 robotics-simulation foxy cloisim multi-robot-simulator cloisim-ros
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

joint_control package for simulator

Additional Links

No additional links.

Maintainers

Hyunseok Yang

Authors

Hyunseok Yang

CLOiSim-ROS JoinControl

Control Wheel and update odometry info through joint control.

support ros remapping, –ros-args -r /test:=test

ros2 run cloisim_ros_joint_control standalone

Single mode

ros2 run cloisim_ros_joint_control standalone --ros-args -p single_mode:=True -p target_model:=cloi1 -p target_parts_name:=joint_control

Namespaced mode for multi-robot

ros2 run cloisim_ros_joint_control standalone --ros-args -p target_model:=cloi1 -p target_parts_name:=joint_control

disable publishing TF(+TF static)

ros2 run cloisim_ros_joint_control standalone --ros-args -p enable_tf:=False -p target_model:=cloi1 -p target_parts_name:=joint_control

Example Usage for Joint

State

ros2 topic echo /franka/joint_states

Command

Displacement

ros2 topic pub -1 /FnB/joint_command control_msgs/msg/JointJog '{joint_names: ["link_Display_JOINT"], displacements: [-1.5708]}'

Velocity

ros2 topic pub -1 /FnB/joint_command control_msgs/msg/JointJog '{joint_names: ["link_Display_JOINT"], velocities: [2.0]}'

Displacement and Velocity

ros2 topic pub -1 /FnB/joint_command control_msgs/msg/JointJog '{joint_names: ["link_Display_JOINT"], displacements: [-1.5708], velocities: [2.0]}'

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	cloisim_ros_bringup_param
	cloisim_ros_base
	std_srvs
	std_msgs
	sensor_msgs
	control_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
cloisim_ros_bringup

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `cloisim_ros_joint_control` at Robotics Stack Exchange

No version for distro jazzy showing github. Known supported distros are highlighted in the buttons above.

cloisim_ros_joint_control package from cloisim_ros repo

cloisim_ros_actor cloisim_ros_base cloisim_ros_bridge_zmq cloisim_ros_bringup cloisim_ros_bringup_param cloisim_ros_camera cloisim_ros_contact cloisim_ros_elevator_system cloisim_ros_gps cloisim_ros_ground_truth cloisim_ros_imu cloisim_ros_joint_control cloisim_ros_lidar cloisim_ros_micom cloisim_ros_msgs cloisim_ros_multicamera cloisim_ros_protobuf_msgs cloisim_ros_range cloisim_ros_realsense cloisim_ros_websocket_service cloisim_ros_world

ROS Distro
github

Package Summary

Tags	No category tags.
Version	4.7.1
License	MIT
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description	ROS2 simulation device packages to connect unity based multi-robot simulator CLOisim.
Checkout URI	https://github.com/lge-ros2/cloisim_ros.git
VCS Type	git
VCS Version	main
Last Updated	2025-03-17
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	docker device robot robotics simulation sensor ros bridge ros2 robotics-simulation foxy cloisim multi-robot-simulator cloisim-ros
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

joint_control package for simulator

Additional Links

No additional links.

Maintainers

Hyunseok Yang

Authors

Hyunseok Yang

CLOiSim-ROS JoinControl

Control Wheel and update odometry info through joint control.

support ros remapping, –ros-args -r /test:=test

ros2 run cloisim_ros_joint_control standalone

Single mode

ros2 run cloisim_ros_joint_control standalone --ros-args -p single_mode:=True -p target_model:=cloi1 -p target_parts_name:=joint_control

Namespaced mode for multi-robot

ros2 run cloisim_ros_joint_control standalone --ros-args -p target_model:=cloi1 -p target_parts_name:=joint_control

disable publishing TF(+TF static)

ros2 run cloisim_ros_joint_control standalone --ros-args -p enable_tf:=False -p target_model:=cloi1 -p target_parts_name:=joint_control

Example Usage for Joint

State

ros2 topic echo /franka/joint_states

Command

Displacement

ros2 topic pub -1 /FnB/joint_command control_msgs/msg/JointJog '{joint_names: ["link_Display_JOINT"], displacements: [-1.5708]}'

Velocity

ros2 topic pub -1 /FnB/joint_command control_msgs/msg/JointJog '{joint_names: ["link_Display_JOINT"], velocities: [2.0]}'

Displacement and Velocity

ros2 topic pub -1 /FnB/joint_command control_msgs/msg/JointJog '{joint_names: ["link_Display_JOINT"], displacements: [-1.5708], velocities: [2.0]}'

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	cloisim_ros_bringup_param
	cloisim_ros_base
	std_srvs
	std_msgs
	sensor_msgs
	control_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
cloisim_ros_bringup

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `cloisim_ros_joint_control` at Robotics Stack Exchange

No version for distro kilted showing github. Known supported distros are highlighted in the buttons above.

cloisim_ros_joint_control package from cloisim_ros repo

cloisim_ros_actor cloisim_ros_base cloisim_ros_bridge_zmq cloisim_ros_bringup cloisim_ros_bringup_param cloisim_ros_camera cloisim_ros_contact cloisim_ros_elevator_system cloisim_ros_gps cloisim_ros_ground_truth cloisim_ros_imu cloisim_ros_joint_control cloisim_ros_lidar cloisim_ros_micom cloisim_ros_msgs cloisim_ros_multicamera cloisim_ros_protobuf_msgs cloisim_ros_range cloisim_ros_realsense cloisim_ros_websocket_service cloisim_ros_world

ROS Distro
github

Package Summary

Tags	No category tags.
Version	4.7.1
License	MIT
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description	ROS2 simulation device packages to connect unity based multi-robot simulator CLOisim.
Checkout URI	https://github.com/lge-ros2/cloisim_ros.git
VCS Type	git
VCS Version	main
Last Updated	2025-03-17
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	docker device robot robotics simulation sensor ros bridge ros2 robotics-simulation foxy cloisim multi-robot-simulator cloisim-ros
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

joint_control package for simulator

Additional Links

No additional links.

Maintainers

Hyunseok Yang

Authors

Hyunseok Yang

CLOiSim-ROS JoinControl

Control Wheel and update odometry info through joint control.

support ros remapping, –ros-args -r /test:=test

ros2 run cloisim_ros_joint_control standalone

Single mode

ros2 run cloisim_ros_joint_control standalone --ros-args -p single_mode:=True -p target_model:=cloi1 -p target_parts_name:=joint_control

Namespaced mode for multi-robot

ros2 run cloisim_ros_joint_control standalone --ros-args -p target_model:=cloi1 -p target_parts_name:=joint_control

disable publishing TF(+TF static)

ros2 run cloisim_ros_joint_control standalone --ros-args -p enable_tf:=False -p target_model:=cloi1 -p target_parts_name:=joint_control

Example Usage for Joint

State

ros2 topic echo /franka/joint_states

Command

Displacement

ros2 topic pub -1 /FnB/joint_command control_msgs/msg/JointJog '{joint_names: ["link_Display_JOINT"], displacements: [-1.5708]}'

Velocity

ros2 topic pub -1 /FnB/joint_command control_msgs/msg/JointJog '{joint_names: ["link_Display_JOINT"], velocities: [2.0]}'

Displacement and Velocity

ros2 topic pub -1 /FnB/joint_command control_msgs/msg/JointJog '{joint_names: ["link_Display_JOINT"], displacements: [-1.5708], velocities: [2.0]}'

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	cloisim_ros_bringup_param
	cloisim_ros_base
	std_srvs
	std_msgs
	sensor_msgs
	control_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
cloisim_ros_bringup

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `cloisim_ros_joint_control` at Robotics Stack Exchange

No version for distro rolling showing github. Known supported distros are highlighted in the buttons above.

cloisim_ros_joint_control package from cloisim_ros repo

cloisim_ros_actor cloisim_ros_base cloisim_ros_bridge_zmq cloisim_ros_bringup cloisim_ros_bringup_param cloisim_ros_camera cloisim_ros_contact cloisim_ros_elevator_system cloisim_ros_gps cloisim_ros_ground_truth cloisim_ros_imu cloisim_ros_joint_control cloisim_ros_lidar cloisim_ros_micom cloisim_ros_msgs cloisim_ros_multicamera cloisim_ros_protobuf_msgs cloisim_ros_range cloisim_ros_realsense cloisim_ros_websocket_service cloisim_ros_world

ROS Distro
github

Package Summary

Tags	No category tags.
Version	4.7.1
License	MIT
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description	ROS2 simulation device packages to connect unity based multi-robot simulator CLOisim.
Checkout URI	https://github.com/lge-ros2/cloisim_ros.git
VCS Type	git
VCS Version	main
Last Updated	2025-03-17
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	docker device robot robotics simulation sensor ros bridge ros2 robotics-simulation foxy cloisim multi-robot-simulator cloisim-ros
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

joint_control package for simulator

Additional Links

No additional links.

Maintainers

Hyunseok Yang

Authors

Hyunseok Yang

CLOiSim-ROS JoinControl

Control Wheel and update odometry info through joint control.

support ros remapping, –ros-args -r /test:=test

ros2 run cloisim_ros_joint_control standalone

Single mode

ros2 run cloisim_ros_joint_control standalone --ros-args -p single_mode:=True -p target_model:=cloi1 -p target_parts_name:=joint_control

Namespaced mode for multi-robot

ros2 run cloisim_ros_joint_control standalone --ros-args -p target_model:=cloi1 -p target_parts_name:=joint_control

disable publishing TF(+TF static)

ros2 run cloisim_ros_joint_control standalone --ros-args -p enable_tf:=False -p target_model:=cloi1 -p target_parts_name:=joint_control

Example Usage for Joint

State

ros2 topic echo /franka/joint_states

Command

Displacement

ros2 topic pub -1 /FnB/joint_command control_msgs/msg/JointJog '{joint_names: ["link_Display_JOINT"], displacements: [-1.5708]}'

Velocity

ros2 topic pub -1 /FnB/joint_command control_msgs/msg/JointJog '{joint_names: ["link_Display_JOINT"], velocities: [2.0]}'

Displacement and Velocity

ros2 topic pub -1 /FnB/joint_command control_msgs/msg/JointJog '{joint_names: ["link_Display_JOINT"], displacements: [-1.5708], velocities: [2.0]}'

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	cloisim_ros_bringup_param
	cloisim_ros_base
	std_srvs
	std_msgs
	sensor_msgs
	control_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
cloisim_ros_bringup

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `cloisim_ros_joint_control` at Robotics Stack Exchange

cloisim_ros_joint_control package from cloisim_ros repo

cloisim_ros_actor cloisim_ros_base cloisim_ros_bridge_zmq cloisim_ros_bringup cloisim_ros_bringup_param cloisim_ros_camera cloisim_ros_contact cloisim_ros_elevator_system cloisim_ros_gps cloisim_ros_ground_truth cloisim_ros_imu cloisim_ros_joint_control cloisim_ros_lidar cloisim_ros_micom cloisim_ros_msgs cloisim_ros_multicamera cloisim_ros_protobuf_msgs cloisim_ros_range cloisim_ros_realsense cloisim_ros_websocket_service cloisim_ros_world

ROS Distro
github

Package Summary

Tags	No category tags.
Version	4.7.1
License	MIT
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description	ROS2 simulation device packages to connect unity based multi-robot simulator CLOisim.
Checkout URI	https://github.com/lge-ros2/cloisim_ros.git
VCS Type	git
VCS Version	main
Last Updated	2025-03-17
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	docker device robot robotics simulation sensor ros bridge ros2 robotics-simulation foxy cloisim multi-robot-simulator cloisim-ros
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

joint_control package for simulator

Additional Links

No additional links.

Maintainers

Hyunseok Yang

Authors

Hyunseok Yang

CLOiSim-ROS JoinControl

Control Wheel and update odometry info through joint control.

support ros remapping, –ros-args -r /test:=test

ros2 run cloisim_ros_joint_control standalone

Single mode

ros2 run cloisim_ros_joint_control standalone --ros-args -p single_mode:=True -p target_model:=cloi1 -p target_parts_name:=joint_control

Namespaced mode for multi-robot

ros2 run cloisim_ros_joint_control standalone --ros-args -p target_model:=cloi1 -p target_parts_name:=joint_control

disable publishing TF(+TF static)

ros2 run cloisim_ros_joint_control standalone --ros-args -p enable_tf:=False -p target_model:=cloi1 -p target_parts_name:=joint_control

Example Usage for Joint

State

ros2 topic echo /franka/joint_states

Command

Displacement

ros2 topic pub -1 /FnB/joint_command control_msgs/msg/JointJog '{joint_names: ["link_Display_JOINT"], displacements: [-1.5708]}'

Velocity

ros2 topic pub -1 /FnB/joint_command control_msgs/msg/JointJog '{joint_names: ["link_Display_JOINT"], velocities: [2.0]}'

Displacement and Velocity

ros2 topic pub -1 /FnB/joint_command control_msgs/msg/JointJog '{joint_names: ["link_Display_JOINT"], displacements: [-1.5708], velocities: [2.0]}'

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	cloisim_ros_bringup_param
	cloisim_ros_base
	std_srvs
	std_msgs
	sensor_msgs
	control_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
cloisim_ros_bringup

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `cloisim_ros_joint_control` at Robotics Stack Exchange

No version for distro galactic showing github. Known supported distros are highlighted in the buttons above.

cloisim_ros_joint_control package from cloisim_ros repo

cloisim_ros_actor cloisim_ros_base cloisim_ros_bridge_zmq cloisim_ros_bringup cloisim_ros_bringup_param cloisim_ros_camera cloisim_ros_contact cloisim_ros_elevator_system cloisim_ros_gps cloisim_ros_ground_truth cloisim_ros_imu cloisim_ros_joint_control cloisim_ros_lidar cloisim_ros_micom cloisim_ros_msgs cloisim_ros_multicamera cloisim_ros_protobuf_msgs cloisim_ros_range cloisim_ros_realsense cloisim_ros_websocket_service cloisim_ros_world

ROS Distro
github

Package Summary

Tags	No category tags.
Version	4.7.1
License	MIT
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description	ROS2 simulation device packages to connect unity based multi-robot simulator CLOisim.
Checkout URI	https://github.com/lge-ros2/cloisim_ros.git
VCS Type	git
VCS Version	main
Last Updated	2025-03-17
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	docker device robot robotics simulation sensor ros bridge ros2 robotics-simulation foxy cloisim multi-robot-simulator cloisim-ros
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

joint_control package for simulator

Additional Links

No additional links.

Maintainers

Hyunseok Yang

Authors

Hyunseok Yang

CLOiSim-ROS JoinControl

Control Wheel and update odometry info through joint control.

support ros remapping, –ros-args -r /test:=test

ros2 run cloisim_ros_joint_control standalone

Single mode

ros2 run cloisim_ros_joint_control standalone --ros-args -p single_mode:=True -p target_model:=cloi1 -p target_parts_name:=joint_control

Namespaced mode for multi-robot

ros2 run cloisim_ros_joint_control standalone --ros-args -p target_model:=cloi1 -p target_parts_name:=joint_control

disable publishing TF(+TF static)

ros2 run cloisim_ros_joint_control standalone --ros-args -p enable_tf:=False -p target_model:=cloi1 -p target_parts_name:=joint_control

Example Usage for Joint

State

ros2 topic echo /franka/joint_states

Command

Displacement

ros2 topic pub -1 /FnB/joint_command control_msgs/msg/JointJog '{joint_names: ["link_Display_JOINT"], displacements: [-1.5708]}'

Velocity

ros2 topic pub -1 /FnB/joint_command control_msgs/msg/JointJog '{joint_names: ["link_Display_JOINT"], velocities: [2.0]}'

Displacement and Velocity

ros2 topic pub -1 /FnB/joint_command control_msgs/msg/JointJog '{joint_names: ["link_Display_JOINT"], displacements: [-1.5708], velocities: [2.0]}'

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	cloisim_ros_bringup_param
	cloisim_ros_base
	std_srvs
	std_msgs
	sensor_msgs
	control_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
cloisim_ros_bringup

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `cloisim_ros_joint_control` at Robotics Stack Exchange

No version for distro iron showing github. Known supported distros are highlighted in the buttons above.

cloisim_ros_joint_control package from cloisim_ros repo

cloisim_ros_actor cloisim_ros_base cloisim_ros_bridge_zmq cloisim_ros_bringup cloisim_ros_bringup_param cloisim_ros_camera cloisim_ros_contact cloisim_ros_elevator_system cloisim_ros_gps cloisim_ros_ground_truth cloisim_ros_imu cloisim_ros_joint_control cloisim_ros_lidar cloisim_ros_micom cloisim_ros_msgs cloisim_ros_multicamera cloisim_ros_protobuf_msgs cloisim_ros_range cloisim_ros_realsense cloisim_ros_websocket_service cloisim_ros_world

ROS Distro
github

Package Summary

Tags	No category tags.
Version	4.7.1
License	MIT
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description	ROS2 simulation device packages to connect unity based multi-robot simulator CLOisim.
Checkout URI	https://github.com/lge-ros2/cloisim_ros.git
VCS Type	git
VCS Version	main
Last Updated	2025-03-17
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	docker device robot robotics simulation sensor ros bridge ros2 robotics-simulation foxy cloisim multi-robot-simulator cloisim-ros
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

joint_control package for simulator

Additional Links

No additional links.

Maintainers

Hyunseok Yang

Authors

Hyunseok Yang

CLOiSim-ROS JoinControl

Control Wheel and update odometry info through joint control.

support ros remapping, –ros-args -r /test:=test

ros2 run cloisim_ros_joint_control standalone

Single mode

ros2 run cloisim_ros_joint_control standalone --ros-args -p single_mode:=True -p target_model:=cloi1 -p target_parts_name:=joint_control

Namespaced mode for multi-robot

ros2 run cloisim_ros_joint_control standalone --ros-args -p target_model:=cloi1 -p target_parts_name:=joint_control

disable publishing TF(+TF static)

ros2 run cloisim_ros_joint_control standalone --ros-args -p enable_tf:=False -p target_model:=cloi1 -p target_parts_name:=joint_control

Example Usage for Joint

State

ros2 topic echo /franka/joint_states

Command

Displacement

ros2 topic pub -1 /FnB/joint_command control_msgs/msg/JointJog '{joint_names: ["link_Display_JOINT"], displacements: [-1.5708]}'

Velocity

ros2 topic pub -1 /FnB/joint_command control_msgs/msg/JointJog '{joint_names: ["link_Display_JOINT"], velocities: [2.0]}'

Displacement and Velocity

ros2 topic pub -1 /FnB/joint_command control_msgs/msg/JointJog '{joint_names: ["link_Display_JOINT"], displacements: [-1.5708], velocities: [2.0]}'

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	cloisim_ros_bringup_param
	cloisim_ros_base
	std_srvs
	std_msgs
	sensor_msgs
	control_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
cloisim_ros_bringup

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `cloisim_ros_joint_control` at Robotics Stack Exchange

No version for distro melodic showing github. Known supported distros are highlighted in the buttons above.

cloisim_ros_joint_control package from cloisim_ros repo

cloisim_ros_actor cloisim_ros_base cloisim_ros_bridge_zmq cloisim_ros_bringup cloisim_ros_bringup_param cloisim_ros_camera cloisim_ros_contact cloisim_ros_elevator_system cloisim_ros_gps cloisim_ros_ground_truth cloisim_ros_imu cloisim_ros_joint_control cloisim_ros_lidar cloisim_ros_micom cloisim_ros_msgs cloisim_ros_multicamera cloisim_ros_protobuf_msgs cloisim_ros_range cloisim_ros_realsense cloisim_ros_websocket_service cloisim_ros_world

ROS Distro
github

API Docs
Browse Code
Wiki

Package Summary

Tags	No category tags.
Version	4.7.1
License	MIT
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description	ROS2 simulation device packages to connect unity based multi-robot simulator CLOisim.
Checkout URI	https://github.com/lge-ros2/cloisim_ros.git
VCS Type	git
VCS Version	main
Last Updated	2025-03-17
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	docker device robot robotics simulation sensor ros bridge ros2 robotics-simulation foxy cloisim multi-robot-simulator cloisim-ros
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

joint_control package for simulator

Additional Links

No additional links.

Maintainers

Hyunseok Yang

Authors

Hyunseok Yang

CLOiSim-ROS JoinControl

Control Wheel and update odometry info through joint control.

support ros remapping, –ros-args -r /test:=test

ros2 run cloisim_ros_joint_control standalone

Single mode

ros2 run cloisim_ros_joint_control standalone --ros-args -p single_mode:=True -p target_model:=cloi1 -p target_parts_name:=joint_control

Namespaced mode for multi-robot

ros2 run cloisim_ros_joint_control standalone --ros-args -p target_model:=cloi1 -p target_parts_name:=joint_control

disable publishing TF(+TF static)

ros2 run cloisim_ros_joint_control standalone --ros-args -p enable_tf:=False -p target_model:=cloi1 -p target_parts_name:=joint_control

Example Usage for Joint

State

ros2 topic echo /franka/joint_states

Command

Displacement

ros2 topic pub -1 /FnB/joint_command control_msgs/msg/JointJog '{joint_names: ["link_Display_JOINT"], displacements: [-1.5708]}'

Velocity

ros2 topic pub -1 /FnB/joint_command control_msgs/msg/JointJog '{joint_names: ["link_Display_JOINT"], velocities: [2.0]}'

Displacement and Velocity

ros2 topic pub -1 /FnB/joint_command control_msgs/msg/JointJog '{joint_names: ["link_Display_JOINT"], displacements: [-1.5708], velocities: [2.0]}'

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	cloisim_ros_bringup_param
	cloisim_ros_base
	std_srvs
	std_msgs
	sensor_msgs
	control_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
cloisim_ros_bringup

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `cloisim_ros_joint_control` at Robotics Stack Exchange

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cloisim_ros_joint_control package from cloisim_ros repo

cloisim_ros_actor cloisim_ros_base cloisim_ros_bridge_zmq cloisim_ros_bringup cloisim_ros_bringup_param cloisim_ros_camera cloisim_ros_contact cloisim_ros_elevator_system cloisim_ros_gps cloisim_ros_ground_truth cloisim_ros_imu cloisim_ros_joint_control cloisim_ros_lidar cloisim_ros_micom cloisim_ros_msgs cloisim_ros_multicamera cloisim_ros_protobuf_msgs cloisim_ros_range cloisim_ros_realsense cloisim_ros_websocket_service cloisim_ros_world

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Package Summary

Tags	No category tags.
Version	4.7.1
License	MIT
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description	ROS2 simulation device packages to connect unity based multi-robot simulator CLOisim.
Checkout URI	https://github.com/lge-ros2/cloisim_ros.git
VCS Type	git
VCS Version	main
Last Updated	2025-03-17
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	docker device robot robotics simulation sensor ros bridge ros2 robotics-simulation foxy cloisim multi-robot-simulator cloisim-ros
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

joint_control package for simulator

Additional Links

No additional links.

Maintainers

Hyunseok Yang

Authors

Hyunseok Yang