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[Joint Trajectory Controller] Add parameters for special cases#161

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destogl wants to merge 20 commits intoros-controls:masterfrom
destogl:jtc-special-cases
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[Joint Trajectory Controller] Add parameters for special cases#161
destogl wants to merge 20 commits intoros-controls:masterfrom
destogl:jtc-special-cases

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@destogl destogl commented Mar 29, 2021 •
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Implements the following special cases:

  1. JTC can be used for open-loop control. States from the hardware are read when starting the controller. This enables its use for robots/manipulators which have offset between command and states, e.g., often the case with hydraulics manipulators.
  2. JTC can deduce position and velocity when positions or accelerations are as input in JointTrajectory.

The PR depends on #140

@destogl destogl force-pushed the jtc-special-cases branch from 60eebd8 to eacb06b Compare March 29, 2021 15:48
@destogl destogl force-pushed the jtc-special-cases branch from eacb06b to c3b3782 Compare April 9, 2021 17:24
destogl and others added 20 commits April 18, 2021 18:32
@destogl
Test position only version of JTC for KUKA RSI robots.
1b6d596
@destogl
All changes in JTC added
744d80c
@destogl
Added some docs
1343cb8
@destogl
The tests are OK for the in: pos, vel and out: pos
2549814
@destogl
Most of the tests are working!
9f4e050
@destogl
Apply uncrustify changes
fa99999
@destogl
Apply review comments.
fd32df8
@destogl
Correct jtc after applying review comments.
335be74
@destogl
Apply uncrustify and cpplint proposals.
ad92311
@destogl
Remove obsolete TODO
b247728
@destogl
fix somw tests
755743b
@destogl
Add tests for incorect interface combinations.
c903cec
@destogl
Use the same style for all method definitions
74f7f52
@destogl
Address first part of reviewrs comments.
fde616b
@destogl
Address further comments
00475d7
@destogl
Add using for simplification
dd0bf8c
@destogl
The tests are OK for the in: pos, vel and out: pos
832b6a7
@destogl
Avoid "jumps" with states that have tracking error. All test are pass…
e61425e 
…ing but separatelly. Is there some kind of timeout?
@destogl
Added position and velocity deduction to trajectory.
fecdb4d
@destogl
Added support for deduction of states from their derivatives.
fdccfdf
@destogl destogl force-pushed the jtc-special-cases branch from c3b3782 to fdccfdf Compare April 19, 2021 16:03
@bmagyar
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bmagyar commented Apr 30, 2021

Please split this into 2 PRs

  • open-loop mode
  • deduce position and velocity

@bmagyar bmagyar mentioned this pull request May 19, 2021
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This was referenced May 28, 2021
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destogl commented May 28, 2021

Please split this into 2 PRs

* open-loop mode

* deduce position and velocity

Done in #189 and #190.

@destogl destogl closed this May 28, 2021
@destogl destogl deleted the jtc-special-cases branch May 31, 2021 15:33
gwalck pushed a commit to b-robotized-forks/ros2_controllers that referenced this pull request Jun 7, 2023
@AndyZe
Add test instructions to CONTRIBUTING.md (ros-controls#161)
75f92fe 
* Add test instructions to CONTRIBUTING.md
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@destogl @bmagyar