[JTC] Update trajectory documentation (backport #714)

.github/workflows/rolling-binary-build-main.yml

@@ -6,9 +6,13 @@ on:
   workflow_dispatch:
     branches:
       - master
+      - '*feature*'
+      - '*feature/**'
   pull_request:
     branches:
       - master
+      - '*feature*'
+      - '*feature/**'
   push:
     branches:
       - master

.github/workflows/rolling-binary-build-testing.yml

@@ -6,9 +6,13 @@ on:
   workflow_dispatch:
     branches:
       - master
+      - '*feature*'
+      - '*feature/**'
   pull_request:
     branches:
       - master
+      - '*feature*'
+      - '*feature/**'
   push:
     branches:
       - master

.github/workflows/rolling-semi-binary-build-main.yml

@@ -5,9 +5,13 @@ on:
   workflow_dispatch:
     branches:
       - master
+      - '*feature*'
+      - '*feature/**'
   pull_request:
     branches:
       - master
+      - '*feature*'
+      - '*feature/**'
   push:
     branches:
       - master

.github/workflows/rolling-semi-binary-build-testing.yml

@@ -5,9 +5,13 @@ on:
   workflow_dispatch:
     branches:
       - master
+      - '*feature*'
+      - '*feature/**'
   pull_request:
     branches:
       - master
+      - '*feature*'
+      - '*feature/**'
   push:
     branches:
       - master

admittance_controller/test/test_admittance_controller.cpp

@@ -67,10 +67,18 @@ INSTANTIATE_TEST_SUITE_P(
     // wrong length selected axes
     std::make_tuple(
       std::string("admittance.selected_axes"),
-      rclcpp::ParameterValue(std::vector<double>() = {1, 2, 3})),
-    // invalid robot description
-    std::make_tuple(
-      std::string("robot_description"), rclcpp::ParameterValue(std::string() = "bad_robot"))));
+      rclcpp::ParameterValue(std::vector<double>() = {1, 2, 3}))
+    // invalid robot description.
+    // TODO(anyone): deactivated, because SetUpController returns SUCCESS here?
+    // ,std::make_tuple(
+    //   std::string("robot_description"), rclcpp::ParameterValue(std::string() = "bad_robot")))
+    ));
+
+// Test on_init returns ERROR when a parameter is invalid
+TEST_P(AdmittanceControllerTestParameterizedInvalidParameters, invalid_parameters)
+{
+  ASSERT_EQ(SetUpController(), controller_interface::return_type::ERROR);
+}
 
 TEST_F(AdmittanceControllerTest, all_parameters_set_configure_success)
 {

admittance_controller/test/test_admittance_controller.hpp

@@ -27,7 +27,6 @@
 
 #include "gmock/gmock.h"
 
-#include "6d_robot_description.hpp"
 #include "admittance_controller/admittance_controller.hpp"
 #include "control_msgs/msg/admittance_controller_state.hpp"
 #include "geometry_msgs/msg/transform_stamped.hpp"
@@ -38,6 +37,7 @@
 #include "rclcpp/utilities.hpp"
 #include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp"
 #include "semantic_components/force_torque_sensor.hpp"
+#include "test_asset_6d_robot_description.hpp"
 #include "tf2_ros/transform_broadcaster.h"
 #include "trajectory_msgs/msg/joint_trajectory.hpp"
 
@@ -454,9 +454,15 @@ class AdmittanceControllerTestParameterizedInvalidParameters
   static void TearDownTestCase() { AdmittanceControllerTest::TearDownTestCase(); }
 
 protected:
-  void SetUpController()
+  controller_interface::return_type SetUpController()
   {
-    AdmittanceControllerTest::SetUpController("test_admittance_controller");
+    auto param_name = std::get<0>(GetParam());
+    auto param_value = std::get<1>(GetParam());
+    std::vector<rclcpp::Parameter> parameter_overrides;
+    rclcpp::Parameter param(param_name, param_value);
+    parameter_overrides.push_back(param);
+    return AdmittanceControllerTest::SetUpController(
+      "test_admittance_controller", parameter_overrides);
   }
 };
 

admittance_controller/test/6d_robot_description.hpp → admittance_controller/test/test_asset_6d_robot_description.hpp

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef ROS2_CONTROL_TEST_ASSETS__6D_ROBOT_DESCRIPTION_HPP_
-#define ROS2_CONTROL_TEST_ASSETS__6D_ROBOT_DESCRIPTION_HPP_
+#ifndef TEST_ASSET_6D_ROBOT_DESCRIPTION_HPP_
+#define TEST_ASSET_6D_ROBOT_DESCRIPTION_HPP_
 
 #include <string>
 
@@ -310,4 +310,4 @@ const auto valid_6d_robot_srdf =
 
 }  // namespace ros2_control_test_assets
 
-#endif  // ROS2_CONTROL_TEST_ASSETS__6D_ROBOT_DESCRIPTION_HPP_
+#endif  // TEST_ASSET_6D_ROBOT_DESCRIPTION_HPP_

joint_trajectory_controller/CMakeLists.txt

@@ -78,13 +78,13 @@ if(BUILD_TESTING)
     ros2_control_test_assets
   )
 
-  # TODO(andyz): Disabled due to flakiness
-  # ament_add_gmock(test_trajectory_actions
-  #   test/test_trajectory_actions.cpp
-  # )
-  # target_link_libraries(test_trajectory_actions
-  #   joint_trajectory_controller
-  # )
+  ament_add_gmock(test_trajectory_actions
+    test/test_trajectory_actions.cpp
+  )
+  set_tests_properties(test_trajectory_actions PROPERTIES TIMEOUT 300)
+  target_link_libraries(test_trajectory_actions
+    joint_trajectory_controller
+  )
 endif()
 
 

joint_trajectory_controller/doc/parameters.rst

@@ -0,0 +1,138 @@
+:github_url: https://github.com/ros-controls/ros2_controllers/blob/{REPOS_FILE_BRANCH}/joint_trajectory_controller/doc/parameters.rst
+
+.. _parameters:
+
+Details about parameters
+^^^^^^^^^^^^^^^^^^^^^^^^
+
+joints (list(string))
+  Joint names to control and listen to.
+
+command_joints (list(string))
+  Joint names to control. This parameters is used if JTC is used in a controller chain where command and state interfaces don't have same names.
+
+command_interface (list(string))
+  Command interfaces provided by the hardware interface for all joints.
+
+  Values: [position | velocity | acceleration] (multiple allowed)
+
+state_interfaces (list(string))
+  State interfaces provided by the hardware for all joints.
+
+  Values: position (mandatory) [velocity, [acceleration]].
+  Acceleration interface can only be used in combination with position and velocity.
+
+state_publish_rate (double)
+
+    Publish-rate of the controller's “state” topic.
+
+    Default: 50.0
+
+action_monitor_rate (double)
+  Rate to monitor status changes when the controller is executing action (control_msgs::action::FollowJointTrajectory).
+
+  Default: 20.0
+
+allow_partial_joints_goal (boolean)
+  Allow joint goals defining trajectory for only some joints.
+
+  Default: false
+
+allow_integration_in_goal_trajectories (boolean)
+  Allow integration in goal trajectories to accept goals without position or velocity specified
+
+  Default: false
+
+interpolation_method (string)
+  The type of interpolation to use, if any. Can be "splines" or "none".
+
+  Default: splines
+
+open_loop_control (boolean)
+  Use controller in open-loop control mode:
+
+  * The controller ignores the states provided by hardware interface but using last commands as states for starting the trajectory interpolation.
+  * It deactivates the feedback control, see the ``gains`` structure.
+
+  This is useful if hardware states are not following commands, i.e., an offset between those (typical for hydraulic manipulators).
+
+  .. Note::
+     If this flag is set, the controller tries to read the values from the command interfaces on activation.
+     If they have real numeric values, those will be used instead of state interfaces.
+     Therefore it is important set command interfaces to NaN (i.e., ``std::numeric_limits<double>::quiet_NaN()``) or state values when the hardware is started.
+
+  Default: false
+
+allow_nonzero_velocity_at_trajectory_end (boolean)
+  If false, the last velocity point has to be zero or the goal will be rejected.
+
+  Default: true
+
+constraints (structure)
+  Default values for tolerances if no explicit values are states in JointTrajectory message.
+
+constraints.stopped_velocity_tolerance (double)
+  Default value for end velocity deviation.
+
+  Default: 0.01
+
+constraints.goal_time (double)
+  Maximally allowed tolerance for not reaching the end of the trajectory in a predefined time.
+
+  Default: 0.0 (not checked)
+
+constraints.<joint_name>.trajectory (double)
+  Maximally allowed deviation from the target trajectory for a given joint.
+
+  Default: 0.0 (tolerance is not enforced)
+
+constraints.<joint_name>.goal (double)
+  Maximally allowed deviation from the goal (end of the trajectory) for a given joint.
+
+  Default: 0.0 (tolerance is not enforced)
+
+gains (structure)
+  Only relevant, if ``open_loop_control`` is not set.
+
+  If ``velocity`` is the only command interface for all joints or an ``effort`` command interface is configured, PID controllers are used for every joint.
+  This structure contains the controller gains for every joint with the control law
+
+  .. math::
+
+     u = k_{ff} v_d + k_p e + k_i \sum e dt + k_d (v_d - v)
+
+  with the desired velocity :math:`v_d`, the measured velocity :math:`v`, the position error :math:`e` (definition see below),
+  the controller period :math:`dt`, and the ``velocity`` or ``effort`` manipulated variable (control variable) :math:`u`, respectively.
+
+gains.<joint_name>.p (double)
+  Proportional gain :math:`k_p` for PID
+
+  Default: 0.0
+
+gains.<joint_name>.i (double)
+  Integral gain :math:`k_i` for PID
+
+  Default: 0.0
+
+gains.<joint_name>.d (double)
+  Derivative gain :math:`k_d` for PID
+
+  Default: 0.0
+
+gains.<joint_name>.i_clamp (double)
+  Integral clamp. Symmetrical in both positive and negative direction.
+
+  Default: 0.0
+
+gains.<joint_name>.ff_velocity_scale (double)
+  Feed-forward scaling :math:`k_{ff}` of velocity
+
+  Default: 0.0
+
+gains.<joint_name>.normalize_error (bool)
+  If true, the position error :math:`e = normalize(s_d - s)` is normalized between :math:`-\pi, \pi`.
+  Otherwise  :math:`e = s_d - s` is used, with the desired position :math:`s_d` and the measured
+  position :math:`s` from the state interface. Use this for revolute joints without end stop,
+  where the shortest rotation to the target position is the desired motion.
+
+  Default: false