ros_controllers

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diff_drive_controller with 4-wheeled robot gives wrong odometry estimations

6

Hi, I've noticed that when using diff_drive_controller with a 4-wheeled robot, or skid steer, the angular velocities obtained from the published odometry are halved. A quick fix I'm using to...

vbschettino

JointPositionController oscillation

6

I've been trying to get a simulation of the Kuka KR6 Agilus running in Gazebo, and while almost there, there is one problem that remains. I'm running Gazebo 9 with...

skrede

Minor bug fix in rqt_joint_trajectory_controller

17

Hi, I don't know if this is needed in general, but I ran into some problems when working with multiple robots without a joint robot_description parameter being set within ROS....

VGab

Usage with a ackermann vehicle simulation

5

Hi, I have a simulation of an Ackermann car which I got from : https://github.com/trainman419/ackermann_vehicle-1. My question is, how do I integrate this model with the ros_controller to get the...

KaranManghi

Hold joint position if tolerances were violated

6

Currently, the joint_trajectory_controller keeps executing a trajectory even after the goal was aborted due to a tolerance violation. In my opinion, this is a bad idea for multiple reasons: *...

Martin-Oehler

Dynamics controllers for Computed Torque Control / Gravity Compensation

9

Hello! During the last year I worked on some Computed Torque Controllers and I finally thought that this might be a nice addition to ROS control. In this PR, I...

francofusco

Building against the latest version of actionlib in Melodic fails

15

This is mostly a place to work with @bmagyar about the current problems between actionlib, ros_controllers, and realtime_tools. ## Background In the leadup to Melodic, we ended up adding additional...

clalancette

Enabling velocity feedforward is reducing max velocity planned by controller

1

I'm currently tuning some prismatic joint in order to speed them up so movements take less time. In doing so I've been configuring the PID terms and the velocity feed...

ssnover95x

Adding a hybrid JointTrajectory/velocity-forwarding controller.

6

This is a new type of controller that accepts trajectory goals or real-time jogging commands. It can switch between the two smoothly. It was motivated by the annoyance of unloading...

AndyZe

Check hw is_ready_for_cmds (or similar) in controllers?

4

First: I was not sure whether to post this here or on `ros-controls/ros_control`. Issues can be transferred now with GH, so is `ros_control` is more appropriate, please move the issue....

gavanderhoorn