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Add admittance controller #370

Merged
merged 128 commits into from
Oct 10, 2022
Merged

Add admittance controller #370

merged 128 commits into from
Oct 10, 2022

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pac48
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@pac48 pac48 commented Jun 28, 2022 •
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This PR adds an admittance controller that conforms to the chained controller interface. Additionally, this depends on a PR to control_msgs.

destogl and others added 25 commits May 16, 2022 20:56
@destogl
Make forward controller chainable.
0206ee6 
Enabling chanable mode for forward command controllers.

Fix all bugs in chained-controllers mode.

Remove debug output from forwarding controller.

Updated example ffwd chainable controller for new structure.
@destogl
Enabling chanable mode for forward command controllers.
43f39a0
@destogl
Fix all bugs in chained-controllers mode.
29c4393
@destogl
Remove debug output from forwarding controller.
6f2f956
@destogl
Make forward controller chainable.
704ba5d
@destogl
Enabling chanable mode for forward command controllers.
6759bb5
@destogl
Fix all bugs in chained-controllers mode.
7afdefc
@destogl
Remove debug output from forwarding controller.
7c03f79
@destogl
Some compile fixes
f8556ea
@destogl
Fix some small issues.
d77b4b6
@destogl
Update to use class.
778ed13
@pac48
added admittance controller
39b640e
@pac48
merge fwd chainable controller
be2f308
@pac48
merged additional from fwd chainable controllers
4f3d709
@pac48
fixed interface memory bug
fcc2be2
@pac48
changed position/velocity reference fields
0aac28e
@pac48
added gravity compensation
7033048
@pac48
replaced Eigen 3.4 API with Eigen 3.3
1a266bc
@pac48
clean up and TODOs
8dc9b37
@pac48
removed reshaped operation and fix forward velocity
1563113
@pac48
code cleanup and refactored gravity compensation
5d59427
@pac48
replaced parameter handler with auto-generated struct
18097a2
@pac48
dynamic parameter updating enabled
dfc27bf
@pac48
enable/disable parameter update during execution + fill state message
2db281f
@pac48
remove unused code
9990dca
@pac48 pac48 requested a review from destogl June 28, 2022 05:00
@pac48 pac48 force-pushed the add-admittance-controller branch from a1168dd to 82c0018 Compare August 24, 2022 23:32
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mergify bot commented Aug 27, 2022

This pull request is in conflict. Could you fix it @pac48?

@AndyZe
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AndyZe commented Sep 23, 2022 •
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@destogl I can't respond to some of your individual comments because they weren't left as part of a github review. I guess I'll do it here instead:

I would still go without temporary variables. They are not necessary if used only once.

Something like this Eigen::Matrix<double, 3, 3> rot_world_sensor = has a fixed size so allocating it usually would not require any extra overhead. It's allocated in the same step as the rest of the stack memory for this function. It does help with readability though. Explanation from Gijs here:

ros-controls/ros2_control#668 (comment)

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nbbrooks commented Oct 3, 2022

It looks like these videos Paul took of the admittance controller in action on a UR-5e haven't been shared here yet - enjoy!

sjahr
sjahr approved these changes Oct 7, 2022
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I tested this PR with the admittance controller demos from ros-controls/ros2_control_demos#206 and it build and worked well for me 👍

@destogl destogl mentioned this pull request Oct 10, 2022
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destogl
destogl reviewed Oct 10, 2022
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admittance_controller/test/6d_robot_description.hpp

#include <string>

namespace ros2_control_test_assets
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Move this to the assets' folder in the ros2_control repository.

@destogl destogl mentioned this pull request Oct 10, 2022
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@destogl destogl merged commit 9be3bfe into ros-controls:master Oct 10, 2022
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destogl commented Oct 11, 2022 •
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@Mergifyio backport humble

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mergify bot commented Oct 11, 2022

backport humble

❌ No backport have been created

  • Backport to branch humble failed: Branch not found

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@sjahr sjahr sjahr approved these changes

@AndyZe AndyZe AndyZe approved these changes

@destogl destogl destogl approved these changes

@bmagyar bmagyar Awaiting requested review from bmagyar

@harderthan harderthan Awaiting requested review from harderthan

@progtologist progtologist Awaiting requested review from progtologist

@rosterloh rosterloh Awaiting requested review from rosterloh

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9 participants
@pac48 @progtologist @bmagyar @codecov-commenter @AndyZe @destogl @nbbrooks @sjahr @Schulze18