Joseph Carpinelli

Evaluating Local Environment Variables With Prebuilds

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I have a private feature which creates and adds a user to the underlying container. The feature passes all of its tests; it definitely correctly creates a user. I've published...

Franka Kinematics at Controller Level

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Today, the `FrankaRobotModel` class provides users forward kinematics utility functions which operate at the **hardware** level. This works when used in ROS 2 controllers which accept true Franka hardware, but...

Including Other Parameters in Validator Inputs

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Is there any way to use other parameter values as inputs to custom validators? For example, say we have URDF and SRDF parameters, and we want to make sure they...

The `ros2_control` project has a `kinematics_interface` that is defined by four methods: `calculate_jacobian`, `calculate_link_transform`, `convert_joint_deltas_to_cartesian_deltas`, and `convert_cartesian_deltas_to_joint_deltas`. They also provide an [implementation](https://github.com/ros-controls/kinematics_interface/blob/master/kinematics_interface_kdl/) using KDL. Forking this KDL plugin, and modifying...

Error Handling for Hardware Interface

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Like we talked about last week, @BarisYazici, this PR catches exceptions thrown by `Robot` and `libfranka`, and propagates these errors through the `hardware_interface::return_type` and logging statements. Thank you for your...

Compatibility with ROS 2 Components

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### Summary Can we use [`rclcpp_components`](https://github.com/ros2/rclcpp/tree/rolling/rclcpp_components), and [Components](https://docs.ros.org/en/humble/Concepts/Intermediate/About-Composition.html) more generally, to more effectively separate manager node / managed node semantics in the `ControllerManager` class? ### Issue When using the `ControllerManager`...