Admittance with filters #45
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…ntrols#385) * Parameter loading fixup * Lint
Signed-off-by: Tyler Weaver <tyler@picknik.ai>
…reaking Co-authored-by: Denis Štogl <denis@stoglrobotics.de>
This use of `auto` is causing a static assert on RHEL. Explicitly specifying the type seems to resolve the failure and allow the test to be compiled.
variables in JTC to not clutter other PR with them. fixes of updating parameters on renewed configuration of JTC that were missed
…oal (ros-controls#368) * hold position if tolerance is violated even during non-active goal * rename abort Co-authored-by: Michael Wiznitzer <michael.wiznitzer@resquared.com>
* Remove old CI setup. * Adding adjusted CI configurationt to ros2_control repository. * Fixup line for private repositories. * Run format only on PR. * Adjust repos files.
* Fix correct_initialization_using_parameters * Fix configure_state_ignores_command * Re-enable incorrect_initialization_using_interface_parameters * Re-enable cleanup and activate tests * Port gtest to gmock Co-authored-by: Denis Štogl <denis@stogl.de>
Signed-off-by: Tyler Weaver <tyler@picknik.ai>
- there is no foxy rhel docker image because it osrf doesn't publish rhel packages for foxy
- fixes pre-commit pipeline
…for following controllers in a chain. (ros-controls#380) * [JTC] Add additional parameter to enable configuration of interfaces for following controllers in a chain. * Use command_joint_states correctly in parameters depending on joint states. * Fixup tests.
Signed-off-by: Tyler Weaver <tyler@picknik.ai>
* Use "steady" clocks when measuring changes in time * Check if the "publish rate" tests pass now
Co-authored-by: Solomon Wiznitzer <solomon.wiznitzer@resquared.com>
Co-authored-by: Michael Wiznitzer <michael.wiznitzer@resquared.com>
* Use RT buffer for gripper action controller's goal handle * fix format --------- Co-authored-by: Bence Magyar <bence.magyar.robotics@gmail.com>
It was removed: ros-controls#468
Bumps [ros-tooling/setup-ros](https://github.com/ros-tooling/setup-ros) from 0.5.0 to 0.6.0. - [Release notes](https://github.com/ros-tooling/setup-ros/releases) - [Commits](ros-tooling/setup-ros@0.5.0...0.6.0) --- updated-dependencies: - dependency-name: ros-tooling/setup-ros dependency-type: direct:production update-type: version-update:semver-minor ... Signed-off-by: dependabot[bot] <support@github.com> Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com>
Bumps [ros-tooling/action-ros-ci](https://github.com/ros-tooling/action-ros-ci) from 0.2.7 to 0.3.0. - [Release notes](https://github.com/ros-tooling/action-ros-ci/releases) - [Commits](ros-tooling/action-ros-ci@0.2.7...0.3.0) --- updated-dependencies: - dependency-name: ros-tooling/action-ros-ci dependency-type: direct:production update-type: version-update:semver-minor ... Signed-off-by: dependabot[bot] <support@github.com> Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com>
Bumps [actions/checkout](https://github.com/actions/checkout) from 1 to 3. - [Release notes](https://github.com/actions/checkout/releases) - [Changelog](https://github.com/actions/checkout/blob/main/CHANGELOG.md) - [Commits](actions/checkout@v1...v3) --- updated-dependencies: - dependency-name: actions/checkout dependency-type: direct:production update-type: version-update:semver-major ... Signed-off-by: dependabot[bot] <support@github.com> Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com>
* Use std::clamp * Remove includes
* Update JTC documentation Update, e.g. parameter changed with ros-controls#520 * Fix whitespaces
Bumps [ros-tooling/setup-ros](https://github.com/ros-tooling/setup-ros) from 0.6.0 to 0.6.1. - [Release notes](https://github.com/ros-tooling/setup-ros/releases) - [Commits](ros-tooling/setup-ros@0.6.0...0.6.1) --- updated-dependencies: - dependency-name: ros-tooling/setup-ros dependency-type: direct:production update-type: version-update:semver-patch ... Signed-off-by: dependabot[bot] <support@github.com> Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com>
automatically_declare_parameters_from_overrides True hinders from dynamically loading external libraries declaring their own parameters.
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@please open this PR upstream and not here |
* Add missing controllers to doc index * Fix wrong forward_command controller doc
…nterface (ros-controls#553) * [AdmittanceController] Addintional argument in methods of ControllerInterface * Update admittance_controller.cpp
Test currently fails at joint state matching commands, but this should be expected as there is gravity compensation with a 2.3 kg mass
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closed in favor of ros-controls#560 |
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Re-introduced filters to the
admittance_controlleras originally done in ros-controls#382. Improved testing, variable names and comments.Depends on ros-controls/control_toolbox#152 and ros-controls/control_toolbox#153