[JTC] Update trajectory documentation #714
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| by the controller's setup of command interfaces and PID configuration. There is no sanity check and | ||
| missing fields in the sampled trajectory might cause segmentation faults. |
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Should we add sanity checks here?
I got a segfault using velocity command interface, interpolation_method=none giving position trajectory only.
christophfroehlich
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## master #714 +/- ##
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+ Coverage 35.78% 36.53% +0.75%
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Files 189 7 -182
Lines 17570 676 -16894
Branches 11592 357 -11235
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- Hits 6287 247 -6040
+ Misses 994 134 -860
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bmagyar
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Jul 31, 2023
| @@ -0,0 +1,132 @@ | |||
| :github_url: https://github.com/ros-controls/ros2_controllers/blob/{REPOS_FILE_BRANCH}/joint_trajectory_controller/doc/parameters.rst | |||
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| .. _parameters: | |||
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don't we generate this nwoadays?
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unfortunately not for all controllers, because nested parameters and maps are not supported yet :/
bmagyar
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(cherry picked from commit fa72170) # Conflicts: # joint_trajectory_controller/doc/userdoc.rst
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(cherry picked from commit fa72170)
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Trajectory Representation
I added several plots to the docs, which should help to understand what is going on here with the different combinations of the given trajectory.
I moved this part as well as the parameters to a subpage, feel free to comment if you have a different suggestion for the doc structure.
For reference: I wrote a Python module using pybind to visualize the outputs of the Trajectory class with matplotlib, see here.
Trajectory Replacement
As of the outcome from #574 I re-added the trajectory replacement section discarded from #566
Bugfixes
Also fixes a broken link ros-controls/control.ros.org#131