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Extending jtc and adding ctg #15

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Extending jtc and adding ctg #15

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@destogl destogl commented Dec 11, 2023

Contributions via pull requests are much appreciated. Before sending us a pull request, please ensure that:

  1. Limited scope. Your PR should do one thing or one set of things. Avoid adding “random fixes” to PRs. Put those on separate PRs.
  2. Give your PR a descriptive title. Add a short summary, if required.
  3. Make sure the pipeline is green.
  4. Don’t be afraid to request reviews from maintainers.
  5. New code = new tests. If you are adding new functionality, always make sure to add some tests exercising the code and serving as live documentation of your original intention.

To send us a pull request, please:

  • Fork the repository.
  • Modify the source; please focus on the specific change you are contributing. If you also reformat all the code, it will be hard for us to focus on your change.
  • Ensure local tests pass. (colcon test and pre-commit run (requires you to install pre-commit by pip3 install pre-commit)
  • Commit to your fork using clear commit messages.
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mergify bot commented Dec 18, 2023

This pull request is in conflict. Could you fix it @destogl?

@destogl destogl force-pushed the extending-jtc-and-adding-ctg branch from 8903b39 to 1305057 Compare December 18, 2023 17:56
christophfroehlich and others added 28 commits January 15, 2024 10:13
@christophfroehlich
Update mergify.yml (ros-controls#974)
3809db7
@christophfroehlich
[PID] Remove joint_jog include (ros-controls#975)
d5f1eab
@dependabot
Bump actions/upload-artifact from 4.0.0 to 4.1.0 (ros-controls#976)
2f7a755
@christophfroehlich
[JTC] Convert lambda to class functions (ros-controls#945)
833ed7f 
* Convert lambdas to member functions

* Make member function const

* Add a test for compute_error function

* Make reference_wrapper argument const

* Iterate over error fields
@dependabot
Bump actions/upload-artifact from 4.1.0 to 4.2.0 (ros-controls#984)
d696767
@christophfroehlich
Update mergify.yml (ros-controls#982)
3ab3759
@christophfroehlich
[CI] debian + RHEL updates (ros-controls#985)
0bcb77b
@Noel215
Revert "[JTC] Remove read_only from 'joints', 'state_interfaces' and …
9f7e9e9 
…'command_interfaces' parameters (ros-controls#967)" (ros-controls#978)

This reverts commit 6e2736b.
@saikishor
Revert "[ForceTorqueSensorBroadcaster] Create ParamListener and get p…
7fee940 
…arameters on configure (ros-controls#698)" (ros-controls#988)

This reverts commit 32aaef7.
@christophfroehlich
[tricycle_controller] Use generate_parameter_library (ros-controls#957)
8d732f1
@dependabot
Bump ros-tooling/action-ros-ci from 0.3.5 to 0.3.6 (ros-controls#994)
ab68351 
Bumps [ros-tooling/action-ros-ci](https://github.com/ros-tooling/action-ros-ci) from 0.3.5 to 0.3.6.
- [Release notes](https://github.com/ros-tooling/action-ros-ci/releases)
- [Commits](ros-tooling/action-ros-ci@0.3.5...0.3.6)

---
updated-dependencies:
- dependency-name: ros-tooling/action-ros-ci
  dependency-type: direct:production
  update-type: version-update:semver-patch
...

Signed-off-by: dependabot[bot] <[email protected]>
Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com>
@dependabot
Bump codecov/codecov-action from 3.1.4 to 3.1.5 (ros-controls#993)
d375e43 
Bumps [codecov/codecov-action](https://github.com/codecov/codecov-action) from 3.1.4 to 3.1.5.
- [Release notes](https://github.com/codecov/codecov-action/releases)
- [Changelog](https://github.com/codecov/codecov-action/blob/main/CHANGELOG.md)
- [Commits](codecov/codecov-action@v3.1.4...v3.1.5)

---
updated-dependencies:
- dependency-name: codecov/codecov-action
  dependency-type: direct:production
  update-type: version-update:semver-patch
...

Signed-off-by: dependabot[bot] <[email protected]>
Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com>
@dependabot
Bump actions/upload-artifact from 4.2.0 to 4.3.0 (ros-controls#992)
021ccab 
Bumps [actions/upload-artifact](https://github.com/actions/upload-artifact) from 4.2.0 to 4.3.0.
- [Release notes](https://github.com/actions/upload-artifact/releases)
- [Commits](actions/upload-artifact@v4.2.0...v4.3.0)

---
updated-dependencies:
- dependency-name: actions/upload-artifact
  dependency-type: direct:production
  update-type: version-update:semver-minor
...

Signed-off-by: dependabot[bot] <[email protected]>
Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com>
@christophfroehlich
[JTC] Invalidate empty trajectory messages (ros-controls#902)
99fadce
@christophfroehlich
Let sphinx add parameter description with nested structures to docume…
f375c69 
…ntation (ros-controls#652)
@christophfroehlich
Add tests for interface_configuration_type consistently (ros-contro…
f2f36c0 
…ls#899)
@christophfroehlich
[diff_drive] Remove unused parameter and add simple validation #abi-b…
2705ca8 
…reaking (ros-controls#958)
@christophfroehlich
[JTC] Fill action error_strings (ros-controls#887)
67dbf7b
@bmagyar
Update changelogs
08ea6cf
@bmagyar
4.5.0
fd8b91f
@saikishor
Fix tests for using new get_node_options API (ros-controls#840)
2817f27
@christophfroehlich
Use correct ref for scheduled workflows (ros-controls#1013)
737a45b
@christophfroehlich
Add test_depend on hardware_interface_testing (ros-controls#1018)
8bf379b
@christophfroehlich
Add test_depend on hardware_interface_testing also for diff_drive (r…
c786604 
…os-controls#1021)
@dependabot
Bump codecov/codecov-action from 3.1.5 to 4.0.1 (ros-controls#1023)
5cde4fc 
Bumps [codecov/codecov-action](https://github.com/codecov/codecov-action) from 3.1.5 to 4.0.1.
- [Release notes](https://github.com/codecov/codecov-action/releases)
- [Changelog](https://github.com/codecov/codecov-action/blob/main/CHANGELOG.md)
- [Commits](codecov/codecov-action@v3.1.5...v4.0.1)

---
updated-dependencies:
- dependency-name: codecov/codecov-action
  dependency-type: direct:production
  update-type: version-update:semver-major
...

Signed-off-by: dependabot[bot] <[email protected]>
Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com>
@dependabot @destogl
Bump actions/upload-artifact from 4.3.0 to 4.3.1 (ros-controls#1024)
89109a0 
Bumps [actions/upload-artifact](https://github.com/actions/upload-artifact) from 4.3.0 to 4.3.1.
- [Release notes](https://github.com/actions/upload-artifact/releases)
- [Commits](actions/upload-artifact@v4.3.0...v4.3.1)

---
updated-dependencies:
- dependency-name: actions/upload-artifact
  dependency-type: direct:production
  update-type: version-update:semver-patch
...

Signed-off-by: dependabot[bot] <[email protected]>
Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com>
Co-authored-by: Dr. Denis <[email protected]>
@christophfroehlich
[CI] Improvements and Cleanups (ros-controls#1028)
1266941
@destogl
Make some methods virtual for extending of JTC. Extend caculation of …
e1647c7 
…values deduction.
destogl and others added 27 commits February 9, 2024 14:13
@destogl
Adjust method names to the JTC updates and manage errors in feedback …
3aaf388 
…values.
@bijoua29 @destogl
Remove unused variable
27dcfb8
@bijoua29 @destogl
Remove deprecated rclcpp/qos_event.hpp
fdb6e35
@bijoua29 @destogl
Remove unused free functions for resetting controlled feedback messages
5ba276e
@bijoua29 @destogl
Use time from start passed in from input reference if non-zero in CTG
b90c3e3
@bijoua29 @destogl
Modify CTG to expect twist in measured state input to be in body frame
e6fe00b
@bijoua29 @destogl
Handle NaNs in measured state in CTG
177a242
@destogl
Update JTC to be more extensible.
e178549
@destogl
Updated CTG to have custom state message.
2dfedc8
@bijoua29 @destogl
Fix stair step in JTC when new trajectory message received
9119f51
@destogl
Reset initial value of last commanded time to 0.
e506ba6
@destogl
Use previous state for limiters.
72874be
@bijoua29 @destogl
Use values, if present in reset dofs service, instead of fb to reset
3f10cd1
@bijoua29 @destogl
Fix bug when two reset dofs req sent without being processed in between
7b2b089
@bijoua29 @destogl
Update reset dofs output messages in JTC
e4054ad
@destogl
Remove service for setting joint limits in CTG.
e5edfe5
@destogl
Cleanup rucking code and add simple joint limiter.
d2717a3
@destogl
Fixup JTC and Trajectory to compile.
e31691f
@destogl
Fixup CTG to compile.
753d83b
@Whalex451 @destogl
Added support for save integral term parameter
2350810 
Added save_iterm parameter
Added check for default false in tests

Applied suggestions from code review

More comment updates
@destogl
Fix JTC crashes
f7d7466
@destogl
Fixup one crash of JTC.
b203869
@destogl
Move resetting of the axis values from lambda to a method.
cc5fc7a
@destogl
Adjust variable name to avoid shadowing.
1ed60eb
@destogl
Bugfixing.
54b195f
@destogl
Increasing code readability in JTC
34efa25
@destogl
Adjusting CTG with limiters.
1ca51d1
@destogl destogl force-pushed the extending-jtc-and-adding-ctg branch 2 times, most recently from 7e93fb0 to 1ca51d1 Compare February 11, 2024 17:14
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mergify bot commented Feb 19, 2024

This pull request is in conflict. Could you fix it @destogl?

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7 participants
@destogl @christophfroehlich @Noel215 @saikishor @bmagyar @bijoua29 @Whalex451