add joint velocity controller

Author: marioprats

src/lab_sim/config/config.yaml

@@ -79,6 +79,7 @@ ros2_control:
     - "servo_controller"
     - "joint_trajectory_admittance_controller"
     - "velocity_force_controller"
+    - "joint_velocity_controller"
   # Any controllers here will not be spawned by MoveIt Pro.
   # [Optional, default=[]]
   controllers_not_managed: []

src/lab_sim/config/control/picknik_ur.ros2_control.yaml

@@ -15,6 +15,8 @@ controller_manager:
       type: joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController
     velocity_force_controller:
       type: velocity_force_controller/VelocityForceController
+    joint_velocity_controller:
+      type: joint_velocity_controller/JointVelocityController
 
 
 joint_state_broadcaster:
@@ -278,3 +280,39 @@ velocity_force_controller:
     # command_joints: []
     # The type of command interface to use. Supported values are "position" and "velocity".
     command_interfaces: ["position"]
+
+
+joint_velocity_controller:
+  ros__parameters:
+    # Joints that the controller will claim.
+    planning_group_name: manipulator
+    # Maximum joint-space velocities.
+    max_joint_velocity:
+      - 1.0
+      - 1.0
+      - 1.0
+      - 1.0
+      - 1.0
+      - 1.0
+      - 1.0
+    # Maximum joint-space accelerations.
+    max_joint_acceleration:
+      - 2.0
+      - 2.0
+      - 2.0
+      - 2.0
+      - 2.0
+      - 2.0
+      - 2.0
+    # Rate in Hz at which the controller will publish the state.
+    state_publish_rate: 10
+    # Timeout in seconds after which the controller will stop motion if no new commands are received.
+    command_timeout: 0.2
+    # Padding (in radians) to add to joint position limits as a safety margin.
+    joint_limit_position_tolerance: 0.02
+    # Joints that the controller will command. If not specified, if takes the same value as `joints`.
+    # This can be useful to implement layered control, where some joints may be controlled by a different controller
+    # downstream.
+    # command_joints: []
+    # The type of command interface to use. Supported values are "position" and "velocity".
+    command_interfaces: ["position"]