feat!: major controller improvements + ros version ahndled with macros#36
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danielsanjosepro merged 14 commits intomainfrom Feb 18, 2026
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feat!: major controller improvements + ros version ahndled with macros#36danielsanjosepro merged 14 commits intomainfrom
danielsanjosepro merged 14 commits intomainfrom
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- Added config file for precommit. - Added formatting and linting. - Applied formatting and linting to all related files.
#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.
… 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.
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utiasDSL#36) * [utiasDSL#1] Apply Customized Clang Format to the Code Base - Added config file for precommit. - Added formatting and linting. - Applied formatting and linting to all related files. * [utiasDSL#7] Fix Interpolation Error from Doing Internal Target Pose Filtering (utiasDSL#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. * [utiasDSL#9] Correct the Usage of the Inverse of Joint Mass Matrix Calculated from Pinocchio (utiasDSL#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. * [utiasDSL#12] Apply Exponential Moving Average to Target Joint Value (utiasDSL#13) - 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. * [utiasDSL#14] Remove the Copyright from Source File (utiasDSL#15) - Removed previously added copyright. * chore: remove custom scripts + ros versions handling * chore: switch to pixi (to test builds and docs) * chore: pre-commit options update * chore: clang tidy changes + readme update * chore: meaningful defaults * fix: new api for realtime publishers in kilted * UR link * chore: docs --------- Co-authored-by: adi-git-slu <su.lu@analog.com>
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