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Forward trajectory controller #944
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76bee81
Started work on forward position controller
URJala 686ddbb
Controller is now able to run and read from speed_scale
URJala b8ef0a7
Communication between robot and passthrough controller is now functio…
URJala ad13110
Controller will now send over all received points, before sending the…
URJala 95db48b
Created more examples for the use of the controller. Controller no…
URJala fab4316
Finished the passthrough controller
URJala 7042157
Added passthrough controller to "initially loaded controller" options.
URJala 95173af
Fix test_common
URJala 4c9d9b6
Move functionality to update method
URJala 67e5c0d
Removing examples from this PR
URJala 95da869
Implemented some realtime boxes
URJala a19ac31
Merge remote-tracking branch 'origin/main' into forward_controller
a61bd79
Updated to latest ControllerInterface API
caa8941
Rename controller's action topic to match the JTC
3d461ae
Remove duplicate controller entry
1ab4ed2
Rename controller action in tests
e1263a9
Use generate_parameters_library for joints and state interfaces
cf7aeaa
Use constants for transfer state in controller
dc85692
Use period directly instead of calculating it by hand
a050290
Change some stdout strings
569e319
Remove unnecessary check
c319be7
Remove an unnecessary comment
7b5f095
Do not require a controller active state inteface
c4a366f
Make action handling realtime-thread-safe
416e190
Fix tolerances handling
e513fc6
String formatting
a5957fc
Remove unused interfaces
5b1f7f3
Deactivate goal time check for now since ros2_control can report wron…
5078c60
Simplify joint state configuration
51fd002
Make controller robust against joint ordering
bd9652e
Make default config reflect the actual parameters
1389c3c
Fix tolerance handling
e042de9
Merge remote-tracking branch 'origin/main' into forward_controller
bc76a61
REVERT_ME: use fixed ros2_control until merged
934ccc5
Make sure the abort state is reset when sending new trajectories
0e9b37d
Restructure command interface exporting
e224dfa
REVERT_ME: Use passthrough branch of description
6eb6def
Add documentation for the passthrough controller
3a0f562
Store command interface instead of using indices
df7c9ab
Correctly handle preemptions
197552a
Correctly abort and act on deactivate
63bce67
Update documentation
d6df554
Improve result representation in example_move script
0cf3249
Merge upstream main
2121cf8
Re-Restructure command interface exporting
17ab6d0
Revert "REVERT_ME: Use passthrough branch of description"
fdfcfab
Merge remote-tracking branch 'origin/main' into forward_controller
ca7aff9
Fix command interface names
f887c09
Check passthrough trajectory controller from write function
ab62e4f
Merge remote-tracking branch 'origin/main' into forward_controller
c7ebfad
Apply suggestions from code review
fmauch 5cca2f9
Add more docs
e2343c9
Improve duration output
6b4ca4d
Revert "REVERT_ME: use fixed ros2_control until merged"
urfeex d706fa0
Fix if statement for claimed interfaces
urfeex 4b033c0
Fix interface compatibility check in prepare_switch (with tests)
urfeex f0af926
Merge remote-tracking branch 'origin/main' into forward_controller
urfeex 37d7402
Remove superflous line
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