ros_controllers
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ros-controls
Generic robotic controllers to accompany ros_control
Does `JointTrajectoryController` assume that joints are rotational - continuous, revolute - instead of linear - prismatic -? I cannot find any such assumption documented on the wiki or in the...
Fixes https://github.com/ros-controls/ros_controllers/issues/432
Refer the ROS question where I was facing an error with the namespaces while working with the group position controller. https://answers.ros.org/question/397126/robot_description-not-found-on-parameter-server-while-launching-the-controller/
Basic question here: I am trying to build the four_wheel steering package but it does not show up as a package in catkin. I noticed the launch files are buried...
https://github.com/ros-controls/ros_controllers/blob/indigo-devel/joint_trajectory_controller/include/trajectory_interface/trajectory_interface.h#L138 If the findSegment returns end(), which it does for time preceding trajectory, the function returns it; for it = trajectory.end(). This causes error in https://github.com/ros-controls/ros_controllers/blob/indigo-devel/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller_impl.h#L398 1) For preceding time...
From testing in Gazebo, it seems that JointGroupVelocityController never stops when commands go stale. For example, say it received a velocity message 200 seconds ago. It will continue moving according...
Related to #577. The [`trajectory_interface::sample(...)`](https://github.com/ros-controls/ros_controllers/blob/aa9c32b8ea8f83cb578cde82619f78e720fef89c/joint_trajectory_controller/include/trajectory_interface/trajectory_interface.h#L137-L152) method does not populate `state.time_from_start`, because [`QuinticSplineSegment::sample(...)`](https://github.com/ros-controls/ros_controllers/blob/aa9c32b8ea8f83cb578cde82619f78e720fef89c/joint_trajectory_controller/include/trajectory_interface/quintic_spline_segment.h#L116-L132) doesn't either. Not completely sure of the _semantics_ of `PosVelAccState::time_from_start` (from start of the segment or the trajectory?)...
We have a forked version of the joint_trajectory_controller that's modified to use the accelerations in the incoming joint trajectory. The desired trajectory looks fine (visualized via /state topic exposed by...
Independent steering and control of wheels is a [famous technique to control vehicles in robotics](https://team1640.com/wiki/index.php/Swerve_Central). Among other advantages, it provides the user the control of three DOFs (linear speed in...
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Generic robotic controllers to accompany ros_control