Suggestion for new dynamic detachable joint plugin #533

AdarshKaran · 2025-09-11T14:53:10Z

🎉 New feature

Closes -

Summary

Added a new protobuf defn to support the dynamic_detachable_joint system discussed in Issue gazebosim/gz-sim#2362

NOTE: the header data part hasn't been implemented yet

Test it

Adding the plugin to robot model URDF/SDF

    <gazebo>
      <plugin filename="gz-sim-dynamic-detachable-joint-system"
            name="gz::sim::systems::DynamicDetachableJoint">
        <parent_link>robotiq_85_left_finger_tip_link</parent_link>
        <service_name>/payload/attach_detach</service_name>
        <output_topic>/child_state</output_topic>
        <attach_distance>0.25</attach_distance>
      </plugin>
    </gazebo>

GZ Service call command

# Attach
gz service -s /payload/attach_detach \
    --reqtype gz.msgs.AttachDetachRequest \
    --reptype gz.msgs.AttachDetachResponse \
    --timeout 3000 \
    --req 'child_model_name: "cube", 
           child_link_name: "link", 
           command: "attach"'

# Detach
gz service -s /payload/attach_detach \
    --reqtype gz.msgs.AttachDetachRequest \
    --reptype gz.msgs.AttachDetachResponse \
    --timeout 2000 \
    --req 'child_model_name: "cube", 
           child_link_name: "link", 
           command: "detach"'

ROS2 Service call command

# Attach
ros2 service call /payload/attach_detach \
    ros_gz_interfaces/srv/AttachDetach \
    "{child_model_name: 'cube', 
      child_link_name: 'link', 
      command: 'attach'}"

# Detach  
ros2 service call /payload/attach_detach \
    ros_gz_interfaces/srv/AttachDetach \
    "{child_model_name: 'cube', 
      child_link_name: 'link', 
      command: 'detach'}"

Checklist

Signed all commits for DCO
Added tests
Added example and/or tutorial
Updated documentation (as needed)
Updated migration guide (as needed)
Consider updating Python bindings (if the library has them)
codecheck passed (See contributing)
All tests passed (See test coverage)
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ahcorde · 2025-09-12T08:25:58Z

proto/gz/msgs/dynamic_detachable_joint.proto

+  // TODO: Add optional header data
+  // gz.msgs.Header header = 1;


Consider to add or remove this, otherwise If we enable in the future this we will break ABI and it couldn't be backported

ahcorde · 2025-09-12T08:26:11Z

proto/gz/msgs/dynamic_detachable_joint.proto

+  // TODO: Add optional header data
+  // gz.msgs.Header header = 1;


Same comment

arjo129 · 2025-10-07T06:57:52Z

Can you fix the DCO on this commit?
https://github.com/gazebosim/gz-msgs/pull/533/checks?check_run_id=50152792187

AdarshKaran · 2025-10-13T09:27:59Z

I have signed it off and also addressed the comments. Kindly let me know once u test it

caguero

Thanks for the message!

azeey · 2025-11-26T15:43:25Z

@Mergifyio rebase

Signed-off-by: Adarsh Karan Kesavadas Prasanth <[email protected]>

mergify · 2025-11-26T15:43:34Z

rebase

✅ Branch has been successfully rebased

azeey

Thanks for the contribution! I have a few comments, but hopefully, they should not be difficult to address.

azeey · 2025-11-26T15:48:43Z

proto/gz/msgs/dynamic_detachable_joint.proto

+  string child_link_name = 2;
+
+  /// \brief Command to attach or detach
+  string command = 3;


Since there is a limited list of commands here, I suggest we change this to an enum, see

gz-msgs/proto/gz/msgs/user_cmd.proto

Line 36 in 989f1fd

enum Type

.

azeey · 2025-11-26T15:51:39Z

proto/gz/msgs/dynamic_detachable_joint.proto

+message AttachDetachResponse
+{
+  /// \brief True if the operation was successful
+  bool success = 1;
+
+  /// \brief Additional message or error description
+  string message = 2;
+}


This looks like it could be a generic Result type. How about:

in proto/gz/msgs/result.proto

message Result { /// \brief 0 if the operation was successful int error_code = 1; /// \brief Additional message or error description string message = 2; }

azeey · 2025-11-26T15:53:10Z

proto/gz/msgs/dynamic_detachable_joint.proto

+/// \interface DynamicDetachableJoint
+/// \brief Message for dynamic detachable joint
+
+import "gz/msgs/header.proto";


The header is imported here, but it's not being used.

azeey · 2025-11-26T15:53:46Z

proto/gz/msgs/dynamic_detachable_joint.proto

+package gz.msgs;
+
+option java_package = "com.gz.msgs";
+option java_outer_classname = "DynamicDetachableJointProtos";


If we move the AttachDetachResponse to Result, this will just be AttachDetachRequest

azeey · 2025-11-26T15:53:55Z

proto/gz/msgs/dynamic_detachable_joint.proto

+
+message AttachDetachRequest
+{
+  /// \brief Name of the child model


Add header here?

AdarshKaran requested a review from caguero as a code owner September 11, 2025 14:53

github-actions bot added the 🪵 jetty Gazebo Jetty label Sep 11, 2025

azeey added this to Core development Sep 11, 2025

github-project-automation bot moved this to Inbox in Core development Sep 11, 2025

AdarshKaran mentioned this pull request Sep 11, 2025

Make child model and link configurable in DetachableJoint System gazebosim/gz-sim#2362

Open

ahcorde requested changes Sep 12, 2025

View reviewed changes

github-project-automation bot moved this from Inbox to In review in Core development Sep 12, 2025

AdarshKaran force-pushed the plugin/dynamic_detachable_joint branch from b81297a to b959d86 Compare October 13, 2025 09:26

caguero approved these changes Oct 16, 2025

View reviewed changes

AdarshKaran added 4 commits November 26, 2025 15:43

init

a337eb6

Signed-off-by: Adarsh Karan Kesavadas Prasanth <[email protected]>

updated comments

8fc2b59

Signed-off-by: Adarsh Karan Kesavadas Prasanth <[email protected]>

fixed missing semicolon

fdf6346

Signed-off-by: Adarsh Karan Kesavadas Prasanth <[email protected]>

removed header comments

d43f7ad

Signed-off-by: Adarsh Karan Kesavadas Prasanth <[email protected]>

azeey force-pushed the plugin/dynamic_detachable_joint branch from 8ae6452 to d43f7ad Compare November 26, 2025 15:43

azeey requested changes Nov 26, 2025

View reviewed changes

		// TODO: Add optional header data
		// gz.msgs.Header header = 1;

Suggestion for new dynamic detachable joint plugin #533

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AdarshKaran commented Sep 11, 2025

🎉 New feature

Summary

Test it

Checklist

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ahcorde Sep 12, 2025

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ahcorde Sep 12, 2025

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arjo129 commented Oct 7, 2025

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azeey commented Nov 26, 2025

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✅ Branch has been successfully rebased

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