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Merge main#1

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henrygerardmoore merged 66 commits intomasterSchillingRobotics/ros2_controllers_schilling:masterfrom merge_mainSchillingRobotics/ros2_controllers_schilling:merge_mainCopy head branch name to clipboardJul 26, 2024

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Commits

Commits on Apr 13, 2023

• Create PID Controller package.

  destogl

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• Updated PID controller with functionality.

  destogl

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• Move parameter read and check into separate method for easier inheritance.

  destogl

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• Small fixes of pid_controller for compilation.

  destogl

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• Correct dependencies of PID controller.

  destogl

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• Debug PID controller to actually work.

  destogl

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• Remove validation file since it is not needed.

  destogl

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• Delete LICENSE

  destogl

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

  destogl

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• Update CMake export in pid-controller

  

  tylerjw

  authored and

  destogl

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• Cleaning CMakeLists and deprecation from PID controller and starting working on the tests.

  destogl

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• pid_controller compiles, tests need adjustments

  

  muritane

  authored and

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• all tests in test_pid_controller are green

  

  muritane

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  destogl

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• test_pid_controller_preceeding: all green

  

  muritane

  authored and

  destogl

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• Update pid_controller/include/pid_controller/pid_controller.hpp

  destogl

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• Apply suggestions from code review

  destogl

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• Apply suggestions from code review

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  destogl

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  christophfroehlich

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• Rename test_pid_controller_preceeding.cpp to test_pid_controller_preceding.cpp

  destogl

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• Rename pid_controller_preceeding_params.yaml to pid_controller_preceding_params.yaml

  destogl

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• Update pid_controller/CMakeLists.txt

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• Update pid_controller/test/test_pid_controller.cpp

  destogl

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• More fixups for PID after renaming stuff in the message.

  destogl

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• Apply suggestions from code review

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• Add user doc

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• Update controllers_index.rst

  destogl

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• Apply suggestions from code review

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  destogl

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  christophfroehlich

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• Fixup formatting.

  destogl

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• Squashed commit of the following:

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• Add reseting of individual DoFs to state values in JTC when using in open_loop_mode.

  destogl

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• Fix missing .cpp extension in CMakeLists for CTG

  

  bijoua29

  authored and

  destogl

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• Fix unused variable compiler warning in pid_controller tests

  

  bijoua29

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  destogl

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• Added structures for joint limits.

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Commits on May 4, 2023

• Integrate SimpleJointLimiter in to JTC.

  destogl

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• Adjust default value of limiters.

  destogl

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Commits on May 9, 2023

• Fix missing .cpp extension in CMakeLists for CTG

  

  bijoua29

  authored and

  destogl

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• Fix unused variable compiler warning in pid_controller tests

  

  bijoua29

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  destogl

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• Added support for save integral term parameter

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  Whalex451

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  destogl

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• Applied suggestions from code review

  

  Whalex451

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  destogl

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• More comment updates

  

  Whalex451

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  destogl

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• Merge pull request #5 from SchillingRobotics/Add-support-for-new-parameter-in-pid-controller-in-control-toolbox

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  Whalex451

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  destogl

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Commits on May 12, 2023

• Check measured state for null to determine if hardware state available

  

  bijoua29

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  destogl

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• Fix pre-commit warnings not related to changes in this branch

  

  bijoua29

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  destogl

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• Remove unused variable

  

  bijoua29

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  destogl

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• Fix bug in processing read of state from hardware

  

  bijoua29

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  destogl

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• Remove deprecated rclcpp/qos_event.hpp

  bijoua29

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• Remove unused free functions for resetting controlled feedback messages

  bijoua29

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Commits on Aug 30, 2023

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

  bijoua29

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

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Commits on Sep 5, 2023

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

  bijoua29

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Commits on Sep 6, 2023

• Update comment

  bijoua29

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• Merge pull request ros-controls#9 from SchillingRobotics/ctg-meas-state-twist-body

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Commits on Sep 12, 2023

• Update PIDController to enable parameter updates.

  destogl

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• Handle NaNs in measured state in CTG

  bijoua29

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• Merge pull request ros-controls#10 from SchillingRobotics/bijoua/handle_meas_state_nan

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Commits on Sep 20, 2023

• Add cartesian state into CTG.

  destogl

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Commits on Oct 3, 2023

• Fix stair step in JTC when new trajectory message received

  

  bijoua29

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  destogl

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• Reset initial value of last commanded time to 0.

  destogl

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• Use previous state for limiters.

  destogl

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Commits on Oct 18, 2023

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

  bijoua29

  committed
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• Merge pull request ros-controls#11 from SchillingRobotics/bijoua/update_reset_dofs_with_values

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Commits on Oct 20, 2023

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

  bijoua29

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• Update reset dofs output messages in JTC

  bijoua29

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• Merge pull request ros-controls#12 from SchillingRobotics/bijoua/fix_reset_dofs_bug

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  bijoua29

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Commits on Nov 1, 2023

• Remove service for setting joint limits in CTG.

  destogl

  committed
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Commits on May 9, 2024

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

  henrygerardmoore

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Commits on Jul 26, 2024

• wip JTC fix

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  Henry Moore

  authored and

  henrygerardmoore

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