The ROS2 controller should support transmissions so that it's possible to handle motors with a gear-train. I'm using a hub motor with a built-in gearing system that has a ratio of 12.6:1. From what I've understood of ROS2 control this should be done using a SimpleTransmission.
I've managed to get something implemented in a fork and it doesn't seem too difficult. Unfortunately I'm not able to sign the CLA currently. However, this is a feature that others may require as it's needed to handle gearing or certain multi-linkage actuators so I wanted to raise it as a feature request.
The ROS2 controller should support transmissions so that it's possible to handle motors with a gear-train. I'm using a hub motor with a built-in gearing system that has a ratio of 12.6:1. From what I've understood of ROS2 control this should be done using a SimpleTransmission.
I've managed to get something implemented in a fork and it doesn't seem too difficult. Unfortunately I'm not able to sign the CLA currently. However, this is a feature that others may require as it's needed to handle gearing or certain multi-linkage actuators so I wanted to raise it as a feature request.