livanov93

[GenericSystem] Add velocity-only mode in fake_components

2

PR info: - Add `disable_command` flag to be able to simulate disconnected driver - Add `prepare_command_mode_switch` and `perform_command_mode_switch` for switching between velocity-only and position-only controllers - Add first-order integration of...

[WIP] Update the robot state helper for ROS2

2

Implementing convinient class for easy communication with robot for ROS2.

Update documentation in ROS_INTERFACE.md

1

Update documentation: [here](https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/blob/main/ur_robot_driver/doc/ROS_INTERFACE.md)

Default path to ur_client_library urscript

1

PR changes default urscript that is sent to the robot when `headless_mode` is used.

PR info: - Depends on ros-controls/ros2_control#540 - Add action test for jtc (velocity and position) - Change parameters for `forward_velocity_controller` publisher - Introduces use of `disable_commands` parameter for `GenericSystem` for...

Cartesian twist controller

7

PR info: - add twist controller (cartesian controller) using input type message [`geometry_msgs/TwistStamped`](https://docs.ros2.org/foxy/api/geometry_msgs/msg/TwistStamped.html) TODOs: - add tests

JointTrajectoryController ignores tolerances sent via action client

2

**Would be nice to have** `JointTrajectoryController` ignores `goal_time_tolerance` set via [FollowJointTrajectory.Goal.goal_time_tolerance](http://docs.ros.org/en/api/control_msgs/html/action/FollowJointTrajectory.html) together with `path_tolerance` and `goal_tolerance` . **Potential ROS1 inspiration** Implement something like a ROS1 version [`updateSegmentTolerances`](https://github.com/ros-controls/ros_controllers/blob/aa9c32b8ea8f83cb578cde82619f78e720fef89c/joint_trajectory_controller/include/joint_trajectory_controller/tolerances.h#L232) which is called...

Joint trajectory controller detailed parameters don't exist on param server

3

As stated [here](https://github.com/PickNikRobotics/Universal_Robots_ROS2_Driver/issues/36) and [here](https://github.com/PickNikRobotics/Universal_Robots_ROS2_Driver/issues/36) parameters for checking the error through trajectory and on the goal position are not propagated on the parameter server. We also had problems with checking...

Joint Controllers not working properly when joint limits are specified

14

## Environment * OS Version: ``` Distributor ID: Ubuntu Description: Ubuntu 22.04.1 LTS Release: 22.04 Codename: jammy ``` * Source build - branch ign-gazebo6 ## Description * Expected behaviour: In...

JTC action result never returns

4

**Configuration** - ros2_controllers fork: https://github.com/eholum/ros2_controllers/tree/pr-erh-add-errors - ROS_DISTRO: `humble` **Describe the bug** When `constraints.goal_time = 0.0` and there is `constraints..goal` that is different than zero and can't be satisfied we always...