ros_controllers

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This branch adds support for sampling effort values specified on JointTrajectoryMsgs. The controller does a linear interpolation of the effort values which any interface can use via the enhanced pos_vel_acc_eff...

liarokapisv

How to use joint_trajectory_controller to smooth motion between multiple poses?

7

I have been using joint_trajectory_controller with PosVelAccJointInterface on my 7 DOF arm implementation. However I am running into an issue with smoothing the motion. I noticed I can set velocity...

littlejohnyang

Add more controllers support

12

I got many ros controllers from [robot_mechanism_controllers](http://wiki.ros.org/robot_mechanism_controllers) , which including - [JT Cartesian Controller](http://wiki.ros.org/robot_mechanism_controllers/JTCartesian%20Controller) - [Cartesian Wrench Controller](http://wiki.ros.org/robot_mechanism_controllers/CartesianWrenchController) - [Cartesian Twist Controller](http://wiki.ros.org/robot_mechanism_controllers/CartesianTwistController) - [Cartesian Pose Controller](http://wiki.ros.org/robot_mechanism_controllers/CartesianPoseController) Force/Impedance Controllers: - [GSoC...

jacknlliu

No trajectory defined at current time

5

Hi, With our [hardware interface](https://github.com/resibots/dynamixel_control_hw/) for Dynamixel servo-motors, I recently started getting the following occasional error: ``` Unexpected error: No trajectory defined at current time. Please contact the package maintainer....

dogoepp

Fix odometry twist computation

8

The twist is computed as the relative transformation in SE(2) between the previous and current odometry pose, divided by the time step dt. This is the first PR of a...

efernandez

Tests execution is becoming somewhat erratic

4

Our testing suite is becoming unstable... Some tests fail on travis: https://travis-ci.org/ros-controls/ros_controllers/builds While on the ROS jenkins even basic things started failing: http://build.ros.org/job/Kdev__ros_controllers__ubuntu_xenial_amd64/30/ Could someone have a look at this...

bmagyar

Bring changes since June 8, 2015. - [ ] First PR is in, waiting on @bmagyar 's review: https://github.com/ros-controls/ros_controllers/pull/294 - [ ] Next PR should take the 5 commits from...

efernandez

[diff_drive_controller] Acceleration limits inversed when going backward

1

I want my robot to have a larger deceleration than acceleration. So it is quicker to react when facing an obstacle. This is possible by setting a `min_acceleration` with a...

romainreignier

JointPositionController and friends unit tests

3

Reviewing #245 revealed that there are no unit tests for `effort_controllers/XYController`. See [here](https://github.com/ros-controls/ros_controllers/tree/kinetic-devel/effort_controllers). These controllers are mostly wrappers around the PID class but basic integration-level functionalities such as params and...

bmagyar

Added option to obtain velocity directly from joint_state.

13

Per issue #159, added the option to use joint_state velocity instead of the difference between joint_state positions in diff_drive_controller Odometry. I noticed [a previous pull request](https://github.com/ros-controls/ros_controllers/pull/163) for this feature, but...

tappan-at-git