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[JTC] Re-enabling test, bugfixing and hardening. Adding a parameter to define when trajectories with non-zero velocity at the end are used. (backport #705)#706

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bmagyar merged 17 commits intohumblefrom
mergify/bp/humble/pr-705
Aug 5, 2023
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[JTC] Re-enabling test, bugfixing and hardening. Adding a parameter to define when trajectories with non-zero velocity at the end are used. (backport #705)#706
bmagyar merged 17 commits intohumblefrom
mergify/bp/humble/pr-705

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@mergify mergify bot commented Jul 17, 2023

This is an automatic backport of pull request #705 done by Mergify.
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christophfroehlich and others added 11 commits July 17, 2023 17:42
@christophfroehlich @mergify
[JTC] Extend tests (#612)
383c77f 
(cherry picked from commit 9908a9c)

# Conflicts:
#	joint_trajectory_controller/test/test_trajectory_controller.cpp
@christophfroehlich @mergify
Increase action tests timeout (#680)
4dcd1b1 
(cherry picked from commit 8674f2d)

# Conflicts:
#	joint_trajectory_controller/CMakeLists.txt
@christophfroehlich @mergify
[JTC] Fix time sources and wrong checks in tests (#686)
608fe57 
* Fix time sources and wrong checks in tests
* Use time from update-method instead of node clock
* Readd test of last command in test_goal_tolerances_fail

---------

Co-authored-by: Bence Magyar <bence.magyar.robotics@gmail.com>
(cherry picked from commit 7e13d1d)

# Conflicts:
#	joint_trajectory_controller/test/test_trajectory_actions.cpp
@christophfroehlich @mergify
Match feature branches (#689)
7d5b47a 
(cherry picked from commit f70c986)
@christophfroehlich @mergify
Add test for velocity error with effort cmd interface (#690)
c80c899 
(cherry picked from commit ff6e81d)
@tingelst @mergify
Compute velocity errors when using an effort command interface (#679)
7ca381b 
(cherry picked from commit 2e0da5d)
(cherry picked from commit 12d46f2)
@christophfroehlich @bmagyar @mergify
[JTC] Reject trajectories with nonzero terminal velocity (#567)
2c8fb3e 
* Reject receiving trajectory of last velocity point is non-zero

* Update docs

* Add tests

* Change to parameterized test

* Rename parameter

* not true -> false

---------

Co-authored-by: Bence Magyar <bence.magyar.robotics@gmail.com>
(cherry picked from commit 99b67d7)
@gwalck @mergify
Fixed update period computation in test (#693)
5ed040c 
(cherry picked from commit 88c3463)
@christophfroehlich @mergify
Fix namespace for parameter traits(#703)
a99d167 
(cherry picked from commit e49c540)

# Conflicts:
#	joint_trajectory_controller/include/joint_trajectory_controller/validate_jtc_parameters.hpp
@christophfroehlich @mergify
Don't test update after cleanup
ec1277c 
(cherry picked from commit 259d3d8)
@christophfroehlich @mergify
Remove reactivation test from ROS 1
ccdd4af 
(cherry picked from commit 126b95c)

# Conflicts:
#	joint_trajectory_controller/test/test_trajectory_controller.cpp
@mergify mergify bot added the conflicts label Jul 17, 2023
@mergify mergify bot mentioned this pull request Jul 17, 2023
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@christophfroehlich christophfroehlich mentioned this pull request Aug 4, 2023
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christophfroehlich commented Aug 4, 2023

The only ABI break is the namespace of the generate_parameter_library.

bmagyar and others added 2 commits August 4, 2023 19:28
@bmagyar
Merge branch 'humble' into mergify/bp/humble/pr-705
57c7a34
@christophfroehlich
Fixing tests for #706 (backport #705) (#735)
4af4811 
* Use new state message

* Increase allowed delta for position_error_not_normalized

* Deactivate effort test
@bmagyar bmagyar merged commit 862928c into humble Aug 5, 2023
@bmagyar bmagyar deleted the mergify/bp/humble/pr-705 branch August 5, 2023 09:32
bmagyar pushed a commit that referenced this pull request Aug 5, 2023
@christophfroehlich @mergify
[backport] Fix #730 (#736)
6adb847 
* Fix file name for include guard (backport #681)

(cherry picked from commit c619aac)

Co-authored-by: Christoph Fröhlich <christophfroehlich@users.noreply.github.com>

* Activate AdmittanceControllerTestParameterizedInvalidParameters (#711) (#733)

* [JTC] Re-enabling test, bugfixing and hardening. Adding a parameter to define when trajectories with non-zero velocity at the end are used. (backport #705) (#706)

* Enable effort rejection test

---------

Co-authored-by: mergify[bot] <37929162+mergify[bot]@users.noreply.github.com>
bmagyar pushed a commit that referenced this pull request Aug 5, 2023
@christophfroehlich @mergify
[backport] Fix #723 (#737)
a3e52c3 
* Small improvement in remapping (#393) (#724)

* Fix file name for include guard (backport #681)

(cherry picked from commit c619aac)

Co-authored-by: Christoph Fröhlich <christophfroehlich@users.noreply.github.com>

* Activate AdmittanceControllerTestParameterizedInvalidParameters (#711) (#733)

* [JTC] Re-enabling test, bugfixing and hardening. Adding a parameter to define when trajectories with non-zero velocity at the end are used. (backport #705) (#706)

* Add state_publish_rate parameter

---------

Co-authored-by: mergify[bot] <37929162+mergify[bot]@users.noreply.github.com>
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