Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Forward trajectory controller #944

Open
wants to merge 50 commits into
base: main
Choose a base branch
from
+1,430 −42
Open

Forward trajectory controller #944

Show file tree
Hide file tree
Changes from 2 commits
Commits
Show all changes
50 commits
Select commit Hold shift + click to select a range
76bee81
Started work on forward position controller
URJala Mar 11, 2024
686ddbb
Controller is now able to run and read from speed_scale
URJala Mar 11, 2024
b8ef0a7
Communication between robot and passthrough controller is now functio…
URJala Mar 25, 2024
ad13110
Controller will now send over all received points, before sending the…
URJala Apr 11, 2024
95db48b
Created more examples for the use of the controller. Controller no…
URJala May 2, 2024
fab4316
Finished the passthrough controller
URJala May 2, 2024
7042157
Added passthrough controller to "initially loaded controller" options.
URJala Jul 15, 2024
95173af
Fix test_common
URJala Jul 15, 2024
4c9d9b6
Move functionality to update method
URJala Sep 3, 2024
67e5c0d
Removing examples from this PR
URJala Sep 18, 2024
95da869
Implemented some realtime boxes
URJala Sep 18, 2024
a19ac31
Merge remote-tracking branch 'origin/main' into forward_controller
fmauch Sep 25, 2024
a61bd79
Updated to latest ControllerInterface API
fmauch Sep 25, 2024
caa8941
Rename controller's action topic to match the JTC
fmauch Sep 25, 2024
3d461ae
Remove duplicate controller entry
fmauch Sep 25, 2024
1ab4ed2
Rename controller action in tests
fmauch Sep 26, 2024
e1263a9
Use generate_parameters_library for joints and state interfaces
fmauch Sep 27, 2024
cf7aeaa
Use constants for transfer state in controller
fmauch Sep 27, 2024
dc85692
Use period directly instead of calculating it by hand
fmauch Sep 27, 2024
a050290
Change some stdout strings
fmauch Sep 27, 2024
569e319
Remove unnecessary check
fmauch Sep 27, 2024
c319be7
Remove an unnecessary comment
fmauch Sep 27, 2024
7b5f095
Do not require a controller active state inteface
fmauch Sep 27, 2024
c4a366f
Make action handling realtime-thread-safe
fmauch Sep 30, 2024
416e190
Fix tolerances handling
fmauch Sep 30, 2024
e513fc6
String formatting
fmauch Sep 30, 2024
a5957fc
Remove unused interfaces
fmauch Sep 30, 2024
5b1f7f3
Deactivate goal time check for now since ros2_control can report wron…
fmauch Oct 1, 2024
5078c60
Simplify joint state configuration
fmauch Oct 1, 2024
51fd002
Make controller robust against joint ordering
fmauch Oct 2, 2024
bd9652e
Make default config reflect the actual parameters
fmauch Oct 2, 2024
1389c3c
Fix tolerance handling
fmauch Oct 2, 2024
e042de9
Merge remote-tracking branch 'origin/main' into forward_controller
fmauch Oct 2, 2024
bc76a61
REVERT_ME: use fixed ros2_control until merged
fmauch Oct 2, 2024
934ccc5
Make sure the abort state is reset when sending new trajectories
fmauch Oct 2, 2024
0e9b37d
Restructure command interface exporting
fmauch Oct 3, 2024
e224dfa
REVERT_ME: Use passthrough branch of description
fmauch Oct 3, 2024
6eb6def
Add documentation for the passthrough controller
fmauch Oct 3, 2024
3a0f562
Store command interface instead of using indices
fmauch Oct 3, 2024
df7c9ab
Correctly handle preemptions
fmauch Oct 3, 2024
197552a
Correctly abort and act on deactivate
fmauch Oct 3, 2024
63bce67
Update documentation
fmauch Oct 3, 2024
d6df554
Improve result representation in example_move script
fmauch Oct 3, 2024
0cf3249
Merge upstream main
fmauch Oct 3, 2024
2121cf8
Re-Restructure command interface exporting
fmauch Oct 14, 2024
17ab6d0
Revert "REVERT_ME: Use passthrough branch of description"
fmauch Oct 14, 2024
fdfcfab
Merge remote-tracking branch 'origin/main' into forward_controller
fmauch Oct 16, 2024
ca7aff9
Fix command interface names
fmauch Oct 16, 2024
f887c09
Check passthrough trajectory controller from write function
fmauch Oct 16, 2024
ab62e4f
Merge remote-tracking branch 'origin/main' into forward_controller
fmauch Oct 23, 2024
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
69 changes: 0 additions & 69 deletions examples/passthrough_example.py
View file
Open in desktop
fmauch marked this conversation as resolved.
Outdated Show resolved Hide resolved

This file was deleted.

294 changes: 0 additions & 294 deletions examples/robot_class.py
View file
Open in desktop
fmauch marked this conversation as resolved.
Outdated Show resolved Hide resolved

This file was deleted.

Loading
Loading