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Rolling -> Humble backport #225

Merged
merged 47 commits into from
Nov 20, 2024
Merged

Rolling -> Humble backport #225

merged 47 commits into from
Nov 20, 2024

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mhubii
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@mhubii mhubii commented Nov 20, 2024 •
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This PR backports some of the rolling functionality to humble. Doing this backport wasn't planned but a current projects requires the new functionalities on humble. Following this PR, a new release should be created.

As a general note, the "redundant" implementation of the admittance controller is done due to dynamic memory allocation in the ROS 2 kinematics interface

https://github.com/ros-controls/kinematics_interface/blob/20be1ee1b680f26db288cbed468a1ed8d492ef0a/kinematics_interface_kdl/src/kinematics_interface_kdl.cpp#L115C25-L115C32

mhubii and others added 30 commits October 19, 2024 10:55
@mhubii
humble -> rolling, ubuntu 22.04 -> 24.04 (#180)
03cd753
@mhubii
ign -> gz
a5071d9
@mhubii
moved configuration files to lbr_description for stand-alone urdf use
9f7d243
@mhubii
moved configuration files to lbr_description for stand-alone urdf use
8832fc0
@mhubii
updated moveit
4c02bef
@mhubii
robot name prefix in config files (#189)
9b65978
@mhubii
controller modifications for name prefix (#189)
f76be58
@mhubii
fixed lambda capture for rt prio
b33aec2
@mhubii
fixed licenses
88bd630
@mhubii
added system config to launch arguments
5e21032
@mhubii
fixed the default path to system config
62a5cfa
@mhubii
rviz_config -> rviz_cfg
0115ba2
@mhubii
added a kinematics class
dae64a8
@mhubii
added a twist controller
ffe3fac
@mhubii
turn off controller in case to command are received
b9c1c43
@mhubii
added default values for sys cfg
27fcbd4
@mhubii
added a floating link with name prefix (#189)
bb31bcc
@mhubii
bundling types in shared header
079232b
@mhubii
replaced types among interfaces
ea11f1e
@mhubii
added a N_JNTS alias to types
2171bd8
@mhubii
added a worker class
ac36e53
@mhubii
removed redundant members
74afbb8
@mhubii
Merge pull request #214 from lbr-stack/dev-rolling-worker
ebe74f6 
Adds a worker class for re-use in asynchronous FT estimation
@mhubii
moved the FT estimation into an asynchronous thread (#213)
48f92c1
@mhubii
Merge pull request #213 from lbr-stack/dev-rolling-admittance
acde47a 
LGTM
@mhubii
added prefix (#189)
88945b6
@mhubii
added unique name to system interface (#189)
218d723
@mhubii
updating doi (openjournals/joss-reviews#6138)
cb113b1
@mhubii
tip frame twist command support (#163)
5fdaed9
@mhubii
initial admittance controller impl (#163)
836f30c
mhubii and others added 13 commits November 19, 2024 16:24
@mhubii
pid -> exp smooth + exp smooth with time constant (#163)
ccab2db
@mhubii
addressed review (#220 (review))
78462d4
@mhubii
moved controller config for standalone URDF use
412922e
@mhubii
moved controller config for standalone URDF use
afda9c9
@mhubii
updated documentation (#163)
26f5022
@mhubii
Merge pull request #220 from lbr-stack/dev-rolling-admittance
a058918 
Add admittance as ros2 controller
@mhubii
added backport workflow
5c84eb1
@mhubii
Merge pull request #222 from lbr-stack/dev-rolling-backport
f92ee26 
Adding a backport action
@mhubii
added merge commit skip
eff5a63
@mhubii
added multi-dof gains (#163)
7c00ac9
@mhubii
Merge pull request #224 from lbr-stack/dev-rolling-gains
8749b09 
Multi-dof gains
@mhubii
Revert "humble -> rolling, ubuntu 22.04 -> 24.04 (#180)"
5bc524c 
This reverts commit 03cd753.
@mhubii
Revert "ign -> gz"
cf4030e 
This reverts commit a5071d9.
mhubii
mhubii commented Nov 20, 2024
View reviewed changes
lbr_ros2_control/src/controllers/twist_controller.cpp Outdated Show resolved Hide resolved
lbr_ros2_control/src/controllers/admittance_controller.cpp Outdated Show resolved Hide resolved
.github/workflows/backport.yaml Outdated Show resolved Hide resolved
@mhubii mhubii merged commit 86f0c97 into humble Nov 20, 2024
8 checks passed
@mhubii mhubii deleted the dev-humble-rolling-backport branch November 20, 2024 19:57
mhubii added a commit that referenced this pull request Nov 20, 2024
@mhubii
updated moveit servo config (#225)
32d8c78
This was referenced Nov 27, 2024
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Closed
matteodv99tn pushed a commit to idra-lab/lbr_fri_ros2_stack that referenced this pull request Dec 4, 2024
@mhubii @matteodv99tn
addressed humble compatability (lbr-stack#225 (comment))
aef2610
matteodv99tn pushed a commit to idra-lab/lbr_fri_ros2_stack that referenced this pull request Dec 4, 2024
@mhubii @matteodv99tn
updated moveit servo config (lbr-stack#225)
f3b9f40
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