ros_controllers
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ros-controls
Generic robotic controllers to accompany ros_control
Hi, I was taking a look at this code: https://github.com/ros-controls/ros_controllers/blob/melodic-devel/four_wheel_steering_controller/src/four_wheel_steering_controller.cpp#L386-L398 And I am puzzled by this line: ``` c++ double vel_steering_offset = (curr_cmd_twist.ang*wheel_steering_y_offset_)/wheel_radius_; ``` I am quite positive that this...
I'm proposing splitting out our tests into dedicated packages. These packages will live in the repo, but will not be part of the metapackage, and will not be released. This...
@martiniil do you think it would be a viable and stable approach to start/stop or unload/reload the controller in the test fixture `DiffDriveControllerTest` to properly reset the controller state? This...
Reading how state/time tolerances are checked at https://github.com/ros-controls/ros_controllers/blob/12a70baee38bf198ad434ad704b353621b23c61a/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller_impl.h#L399-L456 it seems that `goal_time_tolerance` is only used on the last segment of the trajectory - inside `else if (segment_it == --curr_traj[i].end())` -....
The `error_string` field in the result of `control_msgs/FollowJointTrajectory.action` - http://docs.ros.org/api/control_msgs/html/action/FollowJointTrajectory.html - does not seem to get populated when a goal is aborted because of either PATH_TOLERANCE_VIOLATED or GOAL_TOLERANCE_VIOLATED, i.e during...
As per title. See https://github.com/ros-controls/ros_controllers/pull/504#discussion_r483406524. I need to look at this again when it's not 2AM to make sure this change is safe, but I believe many of the places...
I have these ROS params regarding Robot description. ``` $ rosparam list|grep -i desc /ariac/arm1/robot_description /ariac/arm2/robot_description /sensors_description ``` When choosing the controller manager namespace from the pulldown, the entire rqt...
In joint_position_controller.h ,there is ``` struct Commands { double position_; // Last commanded position double velocity_; // Last commanded velocity bool has_velocity_; // false if no velocity command has been...
Hello, I have implemented the diff_drive plugin in a four wheels robot. When I simulate it in Gazebo, it moves correctly when I publish cmd_vel/lineal_x. Nevertheless, when I publish cmd_vel/ang_z...
I am trying to achieve `impedance control` (computed torque control) on UR5 arm in Gazebo, in which the applied torque is calculated as, `Acceleration = K_p(currentAngle - desiredAngle) + K_v...
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Generic robotic controllers to accompany ros_control