[JTC] Configurable joint positon error normalization behavior#491
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bmagyar merged 8 commits intoros-controls:masterfrom Jan 20, 2023
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destogl
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Jan 9, 2023
joint_trajectory_controller/src/joint_trajectory_controller_parameters.yaml
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joint_trajectory_controller/test/test_trajectory_controller.cpp
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| EXPECT_NEAR(points[0][1], state_msg->desired.positions[1], allowed_delta); | ||
| EXPECT_NEAR(points[0][2], state_msg->desired.positions[2], 3 * allowed_delta); | ||
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| // no normalization of position error |
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Shouldn't this here be normalized?
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The comments were misleading, maybe it's clearer now
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This pull request is in conflict. Could you fix it @christophfroehlich? |
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Jan 19, 2023
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## master #491 +/- ##
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- Coverage 35.78% 32.48% -3.31%
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Files 189 7 -182
Lines 17570 665 -16905
Branches 11592 357 -11235
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- Hits 6287 216 -6071
+ Misses 994 157 -837
+ Partials 10289 292 -9997
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* Use the same variables for state feedback and PID loop * Make joint_error normalization configurable * Activate test for only velocity controller * Allow ff_velocity_scale=0 without deprecated warning * Add test for setpoint due to normalized position error * Update comments in test Co-authored-by: Bence Magyar <bence.magyar.robotics@gmail.com> (cherry picked from commit 67e5d4d)
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…579) * Use the same variables for state feedback and PID loop * Make joint_error normalization configurable * Activate test for only velocity controller * Allow ff_velocity_scale=0 without deprecated warning * Add test for setpoint due to normalized position error * Update comments in test Co-authored-by: Bence Magyar <bence.magyar.robotics@gmail.com> (cherry picked from commit 67e5d4d) Co-authored-by: Christoph Fröhlich <christophfroehlich@users.noreply.github.com>
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This PR addresses an optional configuration if the position error used as input for the PID controller should be normalized between -pi/pi or not (the latter is the default).
This normalization is useful if endless rotary joints are controlled, where always the shortest relative distance is of interest. But if linear joints or limited rotary joints are used, it might be very dangerous.
I'm open for suggestions to a better naming of the parameter, and if it should be situated below the gain-structure or in a separate one.