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Add effort command interface to hardware interface #1411

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Add effort command interface to hardware interface #1411

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@urfeex urfeex commented Jun 16, 2025 •
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This is just a proof of concept to make the robot work. This still requires some work.

Requires UniversalRobots/Universal_Robots_ROS2_Description#302 to effectively work.

Update

With 9e98ec2 this should be compatible with

  • robot software versions not supporting torque control
  • descriptions not exposing an effort command interface for the joints

With those, the feature added from this PR will effectively be useless / not available with the correct user feedback where necessary. For example, when trying to activate an effort controller with a robot running 5.22.0:

[ros2_control_node-1] [ERROR 2025-10-08 09:02:09.792] [controller_manager.hardware_component.system.ur5e]: Requested to use effort interface on a robot version that doesn't support it. Torque control is available from robot software 5.23.0 / 10.10.0 on.                                                               
[ros2_control_node-1] [ERROR 2025-10-08 09:02:09.792] [controller_manager]: Component 'ur5e' did not accept command interfaces combination:                                                                                                                                                                                 
[ros2_control_node-1] Start interfaces:                                                                                                                                                                                                                                                                                     
[ros2_control_node-1] [                                                                                                                                                                                                                                                                                                     
[ros2_control_node-1]   shoulder_pan_joint/effort                                                                                                                                                                                                                                                                           
[ros2_control_node-1]   shoulder_lift_joint/effort                                                                                                                                                                                                                                                                          
[ros2_control_node-1]   elbow_joint/effort                                                                                                                                                                                                                                                                                  
[ros2_control_node-1]   wrist_1_joint/effort                                                                                                                                                                                                                                                                                
[ros2_control_node-1]   wrist_2_joint/effort                                                                                                                                                                                                                                                                                
[ros2_control_node-1]   wrist_3_joint/effort                                                                                                                                                                                                                                                                                
[ros2_control_node-1] ]                                                                                                                                                                                                                                                                                                     
[ros2_control_node-1] Stop interfaces:                                                                                                                                                                                                                                                                                      
[ros2_control_node-1] [                                                                                                                                                                                                                                                                                                     
[ros2_control_node-1] ]

ToDo's:

  • Implementation
  • Test on a real robot
  • Test in simulation (torque control doesn't work with URSim)
  • Write tests (torque control doesn't work with URSim -- we cannot test much)
  • Write documentation

@urfeex urfeex mentioned this pull request Jun 17, 2025
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@urfeex urfeex force-pushed the effort_interface branch from dfad818 to 30eeb8e Compare June 17, 2025 10:28
@urfeex urfeex requested a review from URJala June 17, 2025 10:30
@urfeex urfeex force-pushed the effort_interface branch from 30eeb8e to e910c15 Compare June 23, 2025 07:47
@urfeex
Ensure backwards compatibility
9e98ec2 
This ensures backwards compatibility in multiple ways:

- When using this with a description not containing the effort
interface, it will simply not be exported. Therefore, when trying to
start an effort controller that will not work, since the interfaces
aren't available.
- When using this with a robot software version not supporting torque
control this will reject activating effort-controllers.
@urfeex urfeex changed the title EXPERIMENTAL: Add effort command interface to hardware interface Add effort command interface to hardware interface Oct 8, 2025
@urfeex urfeex requested a review from a team October 8, 2025 09:15
@urfeex urfeex marked this pull request as ready for review October 8, 2025 09:15
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