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Hydran00
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Add CI workflows for prop-ctrl and update README with badges
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.github/workflows/KUKA-Prop_Humble.yml renamed to .github/workflows/humble-prop-ctrl.yml

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name: KUKA Prop Humble
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name: Humble prop-ctrl CI
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on:
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push:
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branches:
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- "kuka-prop-ctrl"
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pull_request:
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branches:
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- "kuka-prop-ctrl"
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jobs:
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industrial_ci:
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strategy:
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fail-fast: false
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matrix:
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env:
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- {ROS_DISTRO: humble, ROS_REPO: testing}
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- {ROS_DISTRO: humble, ROS_REPO: main}
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runs-on: ubuntu-latest
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steps:

‎.github/workflows/humble.yml‎

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on:
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push:
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branches:
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- "main"
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pull_request:
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branches:
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- "main"
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jobs:
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industrial_ci:
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strategy:
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fail-fast: false
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matrix:
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env:
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- {ROS_DISTRO: humble, ROS_REPO: testing}
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- {ROS_DISTRO: humble, ROS_REPO: main}
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runs-on: ubuntu-latest
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steps:

‎.github/workflows/jazzy-prop-ctrl.yml‎

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name: Jazzy prop-ctrl CI
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on:
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push:
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branches:
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- "kuka-prop-ctrl"
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pull_request:
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branches:
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- "kuka-prop-ctrl"
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jobs:
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industrial_ci:
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strategy:
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fail-fast: false
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matrix:
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env:
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- {ROS_DISTRO: jazzy, ROS_REPO: main}
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runs-on: ubuntu-latest
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steps:
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- uses: actions/checkout@v4
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with:
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ref: kuka-prop-ctrl
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- uses: 'ros-industrial/industrial_ci@master'
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env: ${{ matrix.env }}

‎.github/workflows/jazzy.yml‎

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@@ -2,15 +2,18 @@ name: Jazzy CI
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on:
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push:
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branches:
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- "main"
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pull_request:
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branches:
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- "main"
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jobs:
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industrial_ci:
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strategy:
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fail-fast: false
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matrix:
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env:
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- {ROS_DISTRO: jazzy, ROS_REPO: testing}
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- {ROS_DISTRO: jazzy, ROS_REPO: main}
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runs-on: ubuntu-latest
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steps:

‎.github/workflows/rolling-prop-ctrl.yml‎

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name: Rolling prop-ctrl CI
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on:
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push:
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branches:
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- "kuka-prop-ctrl"
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pull_request:
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branches:
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- "kuka-prop-ctrl"
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jobs:
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industrial_ci:
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strategy:
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fail-fast: false
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matrix:
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env:
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- {ROS_DISTRO: rolling, ROS_REPO: main}
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runs-on: ubuntu-latest
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steps:
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- uses: actions/checkout@v4
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with:
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ref: kuka-prop-ctrl
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- uses: 'ros-industrial/industrial_ci@master'
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env: ${{ matrix.env }}

‎.github/workflows/rolling.yml‎

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on:
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push:
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branches:
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- "main"
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pull_request:
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branches:
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- "main"
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jobs:
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industrial_ci:
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strategy:
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fail-fast: false
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matrix:
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env:
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- {ROS_DISTRO: rolling, ROS_REPO: testing}
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- {ROS_DISTRO: rolling, ROS_REPO: main}
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runs-on: ubuntu-latest
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steps:

‎README.md‎

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![build badge](https://github.com/lucabeber/effort_controller/actions/workflows/humble.yml/badge.svg)
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![build badge](https://github.com/lucabeber/effort_controller/actions/workflows/jazzy.yml/badge.svg)
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![build badge](https://github.com/lucabeber/effort_controller/actions/workflows/rolling.yml/badge.svg)
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# ROS2 Effort Controller
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<table>
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<tr>
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<td>Humble</td>
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<td>Jazzy</td>
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<td>Rolling</td>
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</tr>
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<td>
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![badge humble main](https://github.com/lucabeber/effort_controller/actions/workflows/humble.yml/badge.svg)
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</td>
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<td>
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![badge jazzy main](https://github.com/lucabeber/effort_controller/actions/workflows/jazzy.yml/badge.svg)
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</td>
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<td>u
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![badge rolling main](https://github.com/lucabeber/effort_controller/actions/workflows/rolling.yml/badge.svg)
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</td>
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</tr>
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<tr>
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<td>![badge humble prop-ctrl](https://github.com/lucabeber/effort_controller/actions/workflows/humble-prop-ctrl.yml/badge.svg)
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</td>
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<td>![badge jazzy prop-ctrl](https://github.com/lucabeber/effort_controller/actions/workflows/jazzy-prop-ctrl.yml/badge.svg)
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</td>
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<td>![badge rolling prop-ctrl](https://github.com/lucabeber/effort_controller/actions/workflows/rolling-prop-ctrl.yml/badge.svg)
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</td>
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</table>
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This repository aim to create a robot independent torque controller based on ROS2 controllers.
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There is a base controller that communicate with the hardware interface of the robot, on top of that controller different types of controllers can be implemented.
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For now only a cartesian impedance controller is implemented but also other type of controllers like for example an admittance controller can be easily added.
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For now a cartesian impedance controller, a joint impedance controller and a gravity compensation are implemented.
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**If you want to use just the KUKA's proprietary controllers sending just the target joint position checkout the `kuka-prop-ctrl` branch.**
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