Skip to content

feat!: major improvements to contorllers + ros2 versions handled by macros#35

Closed
danielsanjosepro wants to merge 9 commits intomainfrom
adi-git-slu/main
Closed

feat!: major improvements to contorllers + ros2 versions handled by macros#35
danielsanjosepro wants to merge 9 commits intomainfrom
adi-git-slu/main

Conversation

@danielsanjosepro
Copy link
Copy Markdown
Collaborator

@danielsanjosepro danielsanjosepro commented Feb 18, 2026 •
edited
Loading

  • Applied customized clang format and lint to the code based
  • Fixed integration error from doing internal target pose filtering.
  • Corrected the usage of the inverse of joint mass matrix calculated from Pinocchio.
  • Applied exponential moving average to target joint value.
  • feat: Merge new features in respective ROS-distros automatically #19 solved with macros (easier to mantain)

adi-git-slu and others added 9 commits January 23, 2026 15:52
@adi-git-slu
[#1] Apply Customized Clang Format to the Code Base
dbf2715 
- Added config file for precommit.
- Added formatting and linting.
- Applied formatting and linting to all related files.
@adi-git-slu
[#7] Fix Interpolation Error from Doing Internal Target Pose Filtering (
49d3f21 
#8)

- Replaced using slerp to interpolate orientation in stead of doing
interpolation in twist, since angular velocity vector is surjective to
rotation matrix.
- Added extra logging section in cartesian_controller.cpp to avoid using
log_debug_info due to glitches.
- Added ros2 log to csv pythong script and json to help converting ros2
log to csv file for easy data plotting when use plotjuggler.
@adi-git-slu
[#9] Correct the Usage of the Inverse of Joint Mass Matrix Calculated…
abb0bbd 
… from Pinocchio (#11)

- Corrected the usage of joint mass matrix by explicitly making it as a
  symmetric matrix, since the one from Pinocchio is an upper triangle 
  matrix for internal calculation speedup within Pinocchio lib.
- Added controller_tuning.xml file to use plotjuggler to plot curves in
  real time.
@adi-git-slu
[#12] Apply Exponential Moving Average to Target Joint Value (#13)
82521d2 
- Applied EMA to target joint value when the value is received from target joint topic.
- Applied EMA to the current joint velocity.
- Changed the header included from Pinocchio from frames.hxx to frames.hpp.
@adi-git-slu
[#14] Remove the Copyright from Source File (#15)
a8d463f 
- Removed previously added copyright.
@danielsanjosepro
chore: remove custom scripts + ros versions handling
b282bc1
@danielsanjosepro
chore: switch to pixi (to test builds and docs)
c7997d0
@danielsanjosepro
chore: pre-commit options update
e39eaaf
@danielsanjosepro
chore: clang tidy changes + readme update
8d16fcf
@danielsanjosepro danielsanjosepro changed the title Adi git slu/main feat!: major improvements to contorllers + ros2 versions handled by macros Feb 18, 2026
Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment

Reviewers

No reviews

Assignees

No one assigned

Labels

None yet

Projects

None yet

Milestone

No milestone

Development

Successfully merging this pull request may close these issues.

2 participants

@danielsanjosepro @adi-git-slu