Ignition ros control hardware interface (noetic + ignition edifice)

Hello ignition community!

Noticing that currently there is no ros control plugin for ignition gazebo, resulting in most implementations using the ignition trajectory plugin along with custom moveit action servers to implement the follow_joint_trajectory , omitting the dynamic nature of ros control.

I made a custom hardware interface node that uses topic interface (pub subs) to interface with the ignition gazebo using joint-state-controller and x6 joint-position-controller plugins along with the ignition bridge.

This way we can run native ros control controllers although it is not as elegant as the whole hardware interface being as a plugin.

For more info please check the demo repository

github: ign_hw_interface

Pull requests and advice are welcomed, give it a star if you found it helpful!

Some previews

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