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Add motion_primitives_forward_controller for interfacing motion primitive messages with hardware interfaces #1636

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This PR adds the motion_primitives_forward_controller, a controller for forwarding motion primitive commands to motion-primitive-capable hardware interfaces.
It was developed alongside the motion_primitive_ur_driver and is intended to support future hardware interfaces for additional robot manufacturers.
The corresponding PR for integrating the motion_primitive_ur_driver into the official Universal Robots ROS 2 driver can be found here: UniversalRobots/Universal_Robots_ROS2_Driver#1341.

The controller subscribes to MotionPrimitive.msg from the industrial_robot_motion_interfaces package. The MotionPrimitive.msg has been extended with additional helper types:

  • STOP_MOTION: Immediately interrupts execution and clears all queued primitives.
  • MOTION_SEQUENCE_START and MOTION_SEQUENCE_END: Define a sequence of primitives to be executed as a blended motion block.

The controller uses the following interfaces:

Command Interfaces

  • motion_type: Type of motion primitive (e.g., LINEAR_JOINT, LINEAR_CARTESIAN, CIRCULAR_CARTESIAN, etc.)
  • q1q6: Target joint positions for joint-based motion
  • pos_x, pos_y, pos_z: Target Cartesian position
  • pos_qx, pos_qy, pos_qz, pos_qw: Orientation quaternion of the target pose
  • pos_via_x, pos_via_y, pos_via_z: Intermediate via-point position for circular motion
  • pos_via_qx, pos_via_qy, pos_via_qz, pos_via_qw: Orientation quaternion of via-point
  • blend_radius: Blending radius for smooth transitions
  • velocity: Desired motion velocity
  • acceleration: Desired motion acceleration
  • move_time: Optional duration for time-based execution

State Interfaces

  • execution_status: Indicates the current execution state of the primitive.
  • ready_for_new_primitive: Boolean flag indicating whether the interface is ready to receive a new motion primitive

I'd appreciate any feedback or suggestions – thanks in advance!

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@bmagyar bmagyar left a comment

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There is a lot of stuff coming from templates in this PR and you either used some AI tool for coding or you are very good at writing AI-style comments.

Please try removing all commented code or fix them and remove all comments that add nothing to the code itself (which in this code is almost all comments...)

mathias31415 and others added 9 commits April 24, 2025 10:33
…ls according to other controllers in the repo

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mathias31415 and others added 8 commits June 30, 2025 12:03
…) to update(). Only cancel_requested_ = true gets set in goal_cancelled_callback()
…ted_callback() and updtae()

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…roller

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…roller
…Queue
@urfeex
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urfeex commented Jul 7, 2025

@mathias31415 I've added a PR to control_msgs with the motion primitives in ros-controls/control_msgs#228. Would you like to use those for your PR?

mathias31415 and others added 8 commits July 8, 2025 11:23

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…roller
…n the controller
<depend>controller_interface</depend>
<depend>hardware_interface</depend>
<depend>pluginlib</depend>
<depend>industrial_robot_motion_interfaces</depend>
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This needs to get removed (and all places where this was used replaced by ros-controls/control_msgs#228)

@destogl destogl marked this pull request as draft July 8, 2025 12:03
@destogl destogl marked this pull request as ready for review July 8, 2025 12:03
…n_interfaces
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4 participants