Merge main #1

henrygerardmoore · 2024-05-30T23:13:33Z

No description provided.

…ance.

…working on the tests.

Co-authored-by: Christoph Fröhlich <[email protected]>

…eding.cpp

…ing_params.yaml

Co-authored-by: Christoph Fröhlich <[email protected]>

commit 5595714ca3632b0cb437163363b4204a66a32e3c Author: Bijou <[email protected]> Date: Tue Mar 21 12:59:16 2023 -0700 Add a reliable reference topic as well commit ed915756a0ff5cb8abe9a0f9cdf69982581ce16f Author: Bijou <[email protected]> Date: Tue Mar 21 10:36:56 2023 -0700 Fix compiler warning commit 1985db1490fd5588cacfa90086ad624f6aff93b5 Author: Bijou <[email protected]> Date: Tue Mar 21 10:22:00 2023 -0700 Simplify setting of "has limits" for a particular limit commit 3e3ef86d3796c3ab3c5afd908b5f2c54e39ee31b Author: Bijou <[email protected]> Date: Mon Mar 20 12:57:01 2023 -0700 Fix service for setting joint limits in Cartesian trajectory generator commit 7df931cef8b10239da3784aba44e774aa860cceb Author: Bijou <[email protected]> Date: Sun Mar 19 14:04:18 2023 -0700 Remove position mode logic and service for setting position mode commit 33f4d5d0e1c2b7d503a99587fbc7a960eabab3e8 Author: Denis Štogl <[email protected]> Date: Thu Dec 22 09:50:23 2022 +0100 Added Cartesian Trajectory Generator. commit ccc4ab3 Author: Bence Magyar <[email protected]> Date: Sun Apr 2 08:56:45 2023 +0100 3.4.0 commit 05011b4 Author: Bence Magyar <[email protected]> Date: Sun Apr 2 08:56:12 2023 +0100 Update changelogs commit b70a8d0 Author: Christoph Fröhlich <[email protected]> Date: Thu Mar 30 07:42:27 2023 +0200 Fix broken links (ros-controls#554) commit 03dfb84 Author: Dr. Denis <[email protected]> Date: Tue Mar 28 20:46:14 2023 +0200 [AdmittanceController] Addintional argument in methods of ControllerInterface (ros-controls#553) * [AdmittanceController] Addintional argument in methods of ControllerInterface * Update admittance_controller.cpp commit eb76cd7 Author: Christoph Fröhlich <[email protected]> Date: Tue Mar 28 20:45:11 2023 +0200 Update docs (ros-controls#552) * Add missing controllers to doc index * Fix wrong forward_command controller doc

…open_loop_mode.

…-from-start Use time from start passed in from input reference if non-zero in CTG

…te-twist-body Modify CTG to expect twist in measured state input to be in body frame

…le_meas_state_nan Handle NaNs in measured state in CTG

…te_reset_dofs_with_values Use values, if present in reset dofs service, instead of fb to reset

…reset_dofs_bug Fix bug when two reset dofs requests sent to JTC without being processed in between

bijoua29

Just one minor comment

bijoua29 · 2024-07-26T06:28:37Z

joint_trajectory_controller/CMakeLists.txt

+  # TODO(henrygerardmoore): re-enable
+  # ament_add_gmock(test_trajectory test/test_trajectory.cpp)
+  # target_link_libraries(test_trajectory joint_trajectory_controller)
+  # target_compile_definitions(test_trajectory PRIVATE _USE_MATH_DEFINES)


Why is this commented out?

Let me see if it can be re-enabled. If I remember correctly, it was making the build fail.

Ah yes, the test is using the old version of trajectory.sample. There are a lot of them, so I thought I would leave re-enabling it until later (since the fix is more involved than just a find and replace, too). Is that okay?

Did we change trajectory.sample in our fork? Then it is ok as it will get fixed when we merge upstream?

Yes, we changed that in our fork and it should be fixed when we merge upstream

bijoua29 · 2024-07-26T06:38:11Z

Why are the builds failing?

Signed-off-by: Henry Moore <[email protected]>

henrygerardmoore · 2024-07-26T17:03:14Z

@bijoua29 builds are failing because of this:

Which is due to not using our fork of control_msgs here. I could change it for some of the CI checks, but it will only fix some of them (since we will not be maintaining humble etc. forks), so I think leaving it as it is upstream is fine. Does that make sense and do you agree?

bijoua29 · 2024-08-05T16:43:36Z

@bijoua29 builds are failing because of this: Which is due to not using our fork of control_msgs here. I could change it for some of the CI checks, but it will only fix some of them (since we will not be maintaining humble etc. forks), so I think leaving it as it is upstream is fine. Does that make sense and do you agree?

I guess this is fine. It should get fixed when we merge control_msgs upstream

destogl and others added 30 commits April 13, 2023 17:45

Create PID Controller package.

a7e3777

Updated PID controller with functionality.

3667a20

Move parameter read and check into separate method for easier inherit…

eb6c296

…ance.

Small fixes of pid_controller for compilation.

1b387c7

Correct dependencies of PID controller.

22f7094

Debug PID controller to actually work.

c076bda

Remove validation file since it is not needed.

3dea74c

Delete LICENSE

f451038

Simplify things in the PID controller and add some error management.

7c47ae0

Update CMake export in pid-controller

dacd8ea

Cleaning CMakeLists and deprecation from PID controller and starting …

a1eb1ac

…working on the tests.

pid_controller compiles, tests need adjustments

a423cc9

all tests in test_pid_controller are green

314adb7

test_pid_controller_preceeding: all green

4e40be8

Update pid_controller/include/pid_controller/pid_controller.hpp

edce147

Apply suggestions from code review

56e1a6e

Apply suggestions from code review

703ee25

Co-authored-by: Christoph Fröhlich <[email protected]>

Rename test_pid_controller_preceeding.cpp to test_pid_controller_prec…

b11a67c

…eding.cpp

Rename pid_controller_preceeding_params.yaml to pid_controller_preced…

d5bb3a6

…ing_params.yaml

Update pid_controller/CMakeLists.txt

9145987

Update pid_controller/test/test_pid_controller.cpp

d229ed8

More fixups for PID after renaming stuff in the message.

f1b6bca

Apply suggestions from code review

0733d01

Add user doc

2fd0490

Update controllers_index.rst

00d03b7

Apply suggestions from code review

072600e

Co-authored-by: Christoph Fröhlich <[email protected]>

Fixup formatting.

a9868dc

Add reseting of individual DoFs to state values in JTC when using in …

b84b40a

…open_loop_mode.

Fix missing .cpp extension in CMakeLists for CTG

edc703b

bijoua29 and others added 21 commits May 12, 2023 14:01

Remove deprecated rclcpp/qos_event.hpp

61f6eee

Remove unused free functions for resetting controlled feedback messages

eb1cd2b

Use time from start passed in from input reference if non-zero in CTG

e495783

Merge pull request ros-controls#8 from SchillingRobotics/ctg-use-time…

dfbd63e

…-from-start Use time from start passed in from input reference if non-zero in CTG

Modify CTG to expect twist in measured state input to be in body frame

2fb152c

Update comment

3cc05db

Merge pull request ros-controls#9 from SchillingRobotics/ctg-meas-sta…

486c078

…te-twist-body Modify CTG to expect twist in measured state input to be in body frame

Update PIDController to enable parameter updates.

92e7139

Handle NaNs in measured state in CTG

6b118f4

Merge pull request ros-controls#10 from SchillingRobotics/bijoua/hand…

8ca56ef

…le_meas_state_nan Handle NaNs in measured state in CTG

Add cartesian state into CTG.

06b35a1

Fix stair step in JTC when new trajectory message received

71c128a

Reset initial value of last commanded time to 0.

4411276

Use previous state for limiters.

0c83a41

Use values, if present in reset dofs service, instead of fb to reset

68920c4

Merge pull request ros-controls#11 from SchillingRobotics/bijoua/upda…

986de2d

…te_reset_dofs_with_values Use values, if present in reset dofs service, instead of fb to reset

Fix bug when two reset dofs req sent without being processed in between

377ebb9

Update reset dofs output messages in JTC

0756f14

Merge pull request ros-controls#12 from SchillingRobotics/bijoua/fix_…

8af535b

…reset_dofs_bug Fix bug when two reset dofs requests sent to JTC without being processed in between

Remove service for setting joint limits in CTG.

bbaee37

Merge remote-tracking branch 'upstream/master' into merge_main

b6b8ba7

henrygerardmoore requested a review from bijoua29 May 30, 2024 23:13

bijoua29 approved these changes Jul 26, 2024

View reviewed changes

wip JTC fix

17515b1

Signed-off-by: Henry Moore <[email protected]>

henrygerardmoore force-pushed the merge_main branch from 5970d61 to 17515b1 Compare July 26, 2024 16:49

henrygerardmoore merged commit 56fc64b into master Jul 26, 2024
0 of 7 checks passed

henrygerardmoore deleted the merge_main branch September 10, 2024 18:32

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Merge main #1

Merge main #1

henrygerardmoore commented May 30, 2024

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bijoua29 commented Aug 5, 2024

Merge main #1

Merge main #1

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