Code

Add admittance controller#370

Code

Merged

destogl merged 128 commits intoros-controls:masterros-controls/ros2_controllers:masterfrom pac48:add-admittance-controllerpac48/ros2_controllers:add-admittance-controllerCopy head branch name to clipboardOct 10, 2022

+3,098-19

Commits

Commits on May 16, 2022

• Make forward controller chainable.

  Show description for 0206ee6
  destogl

  committed
  0206ee6

• Enabling chanable mode for forward command controllers.

  destogl

  committed
  43f39a0

• Fix all bugs in chained-controllers mode.

  destogl

  committed
  29c4393

• Remove debug output from forwarding controller.

  destogl

  committed
  6f2f956

• Make forward controller chainable.

  destogl

  committed
  704ba5d

• Enabling chanable mode for forward command controllers.

  destogl

  committed
  6759bb5

• Fix all bugs in chained-controllers mode.

  destogl

  committed
  7afdefc

• Remove debug output from forwarding controller.

  destogl

  committed
  7c03f79

• Some compile fixes

  destogl

  committed
  f8556ea

• Fix some small issues.

  destogl

  committed
  d77b4b6

• Update to use class.

  destogl

  committed
  778ed13

Commits on Jun 19, 2022

• added admittance controller

  pac48

  committed
  39b640e

Commits on Jun 20, 2022

• merge fwd chainable controller

  pac48

  committed
  be2f308

• merged additional from fwd chainable controllers

  pac48

  committed
  4f3d709

• fixed interface memory bug

  pac48

  committed
  fcc2be2

• changed position/velocity reference fields

  pac48

  committed
  0aac28e

• added gravity compensation

  pac48

  committed
  7033048

• replaced Eigen 3.4 API with Eigen 3.3

  pac48

  committed
  1a266bc

• clean up and TODOs

  pac48

  committed
  8dc9b37

Commits on Jun 21, 2022

• removed reshaped operation and fix forward velocity

  pac48

  committed
  1563113

Commits on Jun 22, 2022

• code cleanup and refactored gravity compensation

  pac48

  committed
  5d59427

Commits on Jun 25, 2022

• replaced parameter handler with auto-generated struct

  pac48

  committed
  18097a2

• dynamic parameter updating enabled

  pac48

  committed
  dfc27bf

Commits on Jun 27, 2022

• enable/disable parameter update during execution + fill state message

  pac48

  committed
  2db281f

Commits on Jun 28, 2022

• remove unused code

  pac48

  committed
  9990dca

• eliminate ik drift: broken

  pac48

  committed
  690b89b

• correct drift from integrating position

  pac48

  committed
  0e6cfb1

Commits on Jun 29, 2022

• working drift correction for position and rotation

  pac48

  committed
  79a54dc

Commits on Jun 30, 2022

• Merge branch 'master' into add-admittance-controller

  pac48

  authored
  23ed194

• fix pparameter copying behaviour

  pac48

  committed
  c54d46c

Commits on Jul 1, 2022

• add parameter field for IK package

  pac48

  committed
  906c602

• fix struct formatting

  pac48

  committed
  4a6f779

Commits on Jul 4, 2022

• enable tests: currently failing

  pac48

  committed
  84ccdde

Commits on Jul 5, 2022

• updated auto generated struct with parameter validation

  pac48

  committed
  976d286

Commits on Jul 6, 2022

• added parameter validation and descriptions

  pac48

  committed
  965c226

• general code clean up

  pac48

  committed
  a0f4bae

Commits on Jul 7, 2022

• parameter handling tests passing

  pac48

  committed
  27ea60f

Commits on Jul 19, 2022

• declare parameters in test

  pac48

  committed
  737363c

Commits on Jul 27, 2022

• change parameter struct format

  pac48

  committed
  6936c5d

Commits on Jul 28, 2022

• passing tests

  pac48

  committed
  382a1b6

• add error checks on all public methods

  pac48

  committed
  cbd124c

• code clean up

  pac48

  committed
  967f64f

Commits on Jul 31, 2022

• added parameters for drift correction

  pac48

  committed
  bcac129

Commits on Aug 1, 2022

• Update controllers with new get_name hardware interfaces (ros-controls#369)

  

  Schulze18

  authored and

  pac48

  committed
  7b29386

Commits on Aug 3, 2022

• integrate motion in joint space to eliminate drift error

  pac48

  committed
  da52b32

• remove drift correction parameters

  pac48

  committed
  0951605

• Merge branch 'add-admittance-controller' of https://github.com/pac48/ros2_controllers into add-admittance-controller

  pac48

  committed
  f2acf62

• move interface vector reset to on_activate

  pac48

  committed
  9885432

Commits on Aug 4, 2022

• remove interface maps

  pac48

  committed
  7d5fcf2

• Merge branch 'master' of https://github.com/ros-controls/ros2_controllers into add-admittance-controller

  Show description for f19b096
  pac48

  committed
  f19b096

• fix JTC with newest ros_control

  pac48

  committed
  cf7031f

Commits on Aug 5, 2022

• mend

  pac48

  committed
  bdb32b4

• revert forward command controller changes

  pac48

  committed
  ed37061

• update force reading in hardware read function

  pac48

  committed
  c7c7312

• Merge branch 'add-admittance-controller' of https://github.com/pac48/ros2_controllers into add-admittance-controller

  pac48

  committed
  7a3ecf9

Commits on Aug 6, 2022

• initialize reference vectors properly

  pac48

  committed
  45b8afd

• resize states in activate

  pac48

  committed
  893cea6

Commits on Aug 8, 2022

• Merge branch 'add-admittance-controller' of https://github.com/pac48/ros2_controllers into add-admittance-controller

  pac48

  committed
  13959e1

• use reference wrapper instead of double pointer

  pac48

  committed
  911ecdd

• remove rotation struct

  pac48

  committed
  d8999a5

• Merge branch 'add-admittance-controller' of github.com:pac48/ros2_controllers into add-admittance-controller

  pac48

  committed
  6c4bf66

• update test

  pac48

  committed
  4833f4a

• remove generated code

  pac48

  committed
  7f22790

Commits on Aug 9, 2022

• use Eigen tranformation types

  pac48

  committed
  451f6d4

• update state message

  pac48

  committed
  8c1bcf4

• remove warnings

  pac48

  committed
  bff17df

Commits on Aug 10, 2022

• implement state message information and enable selected axes

  pac48

  committed
  2c1282e

• add test

  pac48

  committed
  cc90178

• Merge branch 'master' of https://github.com/ros-controls/ros2_controllers into add-admittance-controller

  Show description for 3086290
  pac48

  committed
  3086290

• update README

  pac48

  committed
  d850b47

• update variable names

  pac48

  committed
  51e85c6

Commits on Aug 11, 2022

• update kinematics interface use

  pac48

  committed
  1541318

Commits on Aug 20, 2022

• Make tricycle controller the same as master.

  destogl

  committed
  932a554

• Revert "Make tricycle controller the same as master."

  Show description for a15728e
  destogl

  committed
  a15728e

• Merge remote-tracking branch 'upstream/master' into add-admittance-controller

  destogl

  committed
  f97f7d9

Commits on Aug 21, 2022

• Correct formatting and linting issues.

  destogl

  committed
  ccec03d

• Merge remote-tracking branch 'upstream/master' into add-admittance-controller

  destogl

  committed
  01f5e3e

• JTC should be the same as on master.

  destogl

  committed
  9760b92

• A bit more code cleaning and polishing.

  destogl

  committed
  6ba8bcc

Commits on Aug 22, 2022

• update control_msgs repo

  pac48

  committed
  9a08f77

• Merge branch 'add-admittance-controller' of github.com:pac48/ros2_controllers into add-admittance-controller

  pac48

  committed
  8011760

• remove joint limits from package

  pac48

  committed
  4b0b4b2

• add kinematics_interface to not released .repo files

  pac48

  committed
  8f85ead

• add tf2_kdl to admittance package.xml

  pac48

  committed
  742b252

• add kinematics_interface to all .repo files

  pac48

  committed
  9774584

• add generate_parameter_library to .repos

  pac48

  committed
  a225c17

• fix url

  pac48

  committed
  dc1641b

• add control_msgs to not-released .repos

  pac48

  committed
  84fa4fe

• update kinematics plugin name

  pac48

  committed
  8ae5090

• fix parameter update on restart

  pac48

  committed
  e323d14

• update repos

  pac48

  committed
  9c148a0

• Precommit

  pac48

  committed
  795cdce

• update repos

  pac48

  committed
  2f609be

Commits on Aug 23, 2022

• fix test output

  pac48

  committed
  7710448

• move parameter initialization to controller class

  pac48

  committed
  a5847a2

• use single admittance transforms struct

  pac48

  committed
  d8674cd

• rename cog_ and ee_weight_ variables

  pac48

  committed
  d1d42df

• Update admittance_controller/include/admittance_controller/admittance_rule_impl.hpp

  Show description for d6050dd
  

  pac48

  and

  destogl

  authored
  d6050dd

• reset on values deactivate

  pac48

  committed
  93bd627

• fix admittance reset

  pac48

  committed
  ac307ce

• add joint damping parameter

  pac48

  committed
  ed0b014

• update documenation in admittance_rule

  pac48

  committed
  ba73aee

• Update comments

  pac48

  committed
  c61217b

• update descriptions for the admittance parameters

  pac48

  committed
  dacd8bb

• refactor indexing to be like JTC

  pac48

  committed
  ce583b0

Commits on Aug 24, 2022

• clear joint_command_interface_ and joint_state_interface_ in deactivate

  pac48

  committed
  d814028

• fix include for rolling

  pac48

  committed
  c4ae3da

• update README

  pac48

  committed
  3dc1816

• update comments

  pac48

  committed
  3287740

• Update admittance_controller/include/admittance_controller/admittance_rule_impl.hpp

  Show description for bde3d39
  

  pac48

  and

  destogl

  authored
  bde3d39

• Update admittance_controller/src/admittance_controller.cpp

  Show description for f23b6a6
  

  pac48

  and

  destogl

  authored
  f23b6a6

• Update admittance_controller/src/admittance_controller.cpp

  Show description for bbdc506
  

  pac48

  and

  destogl

  authored
  bbdc506

• move dynamic allocations in state message to reset method

  pac48

  committed
  c45b668

• Merge branch 'add-admittance-controller' of github.com:pac48/ros2_controllers into add-admittance-controller

  pac48

  committed
  a4817c1

• Update admittance_controller/src/admittance_controller.cpp

  Show description for ea59076
  

  pac48

  and

  destogl

  authored
  ea59076

• Update admittance_controller/include/admittance_controller/admittance_controller.hpp

  Show description for f94ca25
  

  pac48

  and

  destogl

  authored
  f94ca25

• Remove unneeded code and chnage field name

  pac48

  committed
  6a0281f

• update comments/docs

  pac48

  committed
  4346e3d

• remove tmp variables

  pac48

  committed
  82c0018

Commits on Aug 31, 2022

• Merge branch 'master' into add-admittance-controller

  destogl

  authored
  2855cc7

Commits on Sep 23, 2022

• Merge branch 'master' into add-admittance-controller

  

  AndyZe

  committed
  91af1ac

• Improve some comments

  

  AndyZe

  committed
  2644a4e

Commits on Oct 6, 2022

• Merge branch 'master' into add-admittance-controller

  destogl

  authored
  ec55e5c

Commits on Oct 10, 2022

• Merge branch 'master' into add-admittance-controller

  destogl

  authored
  08b3909

• Updated documentation.

  destogl

  committed
  83c6e5d

• Fixing linters.

  destogl

  committed
  2e57e4a

• Small polishing

  destogl

  committed
  28c5665

• Update upstream repo.

  destogl

  committed
  e9c7432