Forward trajectory controller#944

Merged

urfeex merged 58 commits intoUniversalRobots:mainfrom

URJala:forward_controller

Nov 11, 2024

Commits on Sep 3, 2024

Commits on Sep 18, 2024

Commits on Sep 25, 2024

Merge remote-tracking branch 'origin/main' into forward_controller
Felix Exner
committed
Updated to latest ControllerInterface API
Felix Exner
committed
Rename controller's action topic to match the JTC
Felix Exner
committed
Remove duplicate controller entry
Felix Exner
committed

Commits on Sep 26, 2024

Rename controller action in tests
Felix Exner
committed

Commits on Sep 27, 2024

Use generate_parameters_library for joints and state interfaces
Felix Exner
committed
Use constants for transfer state in controller
Felix Exner
committed
Use period directly instead of calculating it by hand
Felix Exner
committed
Change some stdout strings
Felix Exner
committed
Remove unnecessary check
Felix Exner
committed
Remove an unnecessary comment
Felix Exner
committed
Do not require a controller active state inteface
Felix Exner
committed

Commits on Sep 30, 2024

Make action handling realtime-thread-safe
Felix Exner
committed
Fix tolerances handling
Felix Exner
committed
String formatting
Felix Exner
committed
Remove unused interfaces
Felix Exner
committed

Commits on Oct 1, 2024

Deactivate goal time check for now since ros2_control can report wrong periods
Felix Exner
committed
Simplify joint state configuration
Felix Exner
committed

Commits on Oct 2, 2024

Make controller robust against joint ordering
Felix Exner
committed
Make default config reflect the actual parameters
Felix Exner
committed
Fix tolerance handling
Felix Exner
committed
Merge remote-tracking branch 'origin/main' into forward_controller
Felix Exner
committed
REVERT_ME: use fixed ros2_control until merged
Felix Exner
committed
Make sure the abort state is reset when sending new trajectories
Felix Exner
committed

Commits on Oct 3, 2024

Restructure command interface exporting
Felix Exner
committed
REVERT_ME: Use passthrough branch of description
Felix Exner
committed
Add documentation for the passthrough controller
Felix Exner
committed
Store command interface instead of using indices
Felix Exner
committed
Correctly handle preemptions
Felix Exner
committed
Correctly abort and act on deactivate
Felix Exner
committed
Update documentation
Felix Exner
committed
Improve result representation in example_move script
Felix Exner
committed
Merge upstream main
Felix Exner
committed

Commits on Oct 14, 2024

Re-Restructure command interface exporting
Felix Exner
committed
Revert "REVERT_ME: Use passthrough branch of description"
Felix Exner
committed

Commits on Oct 16, 2024

Merge remote-tracking branch 'origin/main' into forward_controller
Felix Exner
committed
Fix command interface names
Felix Exner
committed
Check passthrough trajectory controller from write function
Felix Exner
committed

Commits on Oct 23, 2024

Merge remote-tracking branch 'origin/main' into forward_controller
Felix Exner
committed

Commits on Oct 26, 2024

Apply suggestions from code review

fmauch
and
VinDp
authored
Add more docs
Felix Exner
committed
Improve duration output
Felix Exner
committed

Commits on Nov 6, 2024

Revert "REVERT_ME: use fixed ros2_control until merged"
urfeex
committed

Commits on Nov 7, 2024

Fix if statement for claimed interfaces
urfeex
committed

Commits on Nov 11, 2024