ros2_controllers

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Add admittance controller

11

This PR adds an admittance controller that conforms to the [chained controller interface](https://github.com/ros-controls/ros2_control/pull/667). Additionally, this addition depends on [chained JTC](https://github.com/ros-controls/ros2_controllers/pull/380/files). The `admittance_controller_parameters.hpp` header file is generated using the [generate_parameter_library](https://github.com/PickNikRobotics/generate_parameter_library) and...

pac48

[JTC] Add additional parameter to enable configuration of interfaces for following controllers in a chain.

3

This PR replaces example PR #318. Changes: - adds new parameter to configure different command and state interface (with different joint names) - tests for this parameter - switches use...

destogl

**Describe the bug** Some tests were commented out in joint_trajectory_controller/test/test_trajectory_controller.cpp during #391 to get tests to a working state. Comment these tests back in and fix why they broke.

jaron-l

Cleanup tests for controllers to not call `on_configure` if `on_init` fails

2

It guards against on_configure being called and resulting in a segfault in the case where on_init failed and param_listener_ is not yet valid. _Originally posted by @tylerjw in https://github.com/ros-controls/ros2_controllers/pull/395#discussion_r947001737_ Then...

destogl

Generate params for ForceTorqueSensorBroadcaster

2

Signed-off-by: Tyler Weaver Another PR to adapt a controller to use GenerateParameterLibrary

tylerjw

Generate parameters for IMU Sensor Broadcaster

3

Signed-off-by: Tyler Weaver generate_parameter_library for imu_sensor_bradcaster

tylerjw

This is an automatic backport of pull request #408 done by [Mergify](https://mergify.com). Cherry-pick of 4d3404f8bf394b2f11dd1b4fd9be4070b4bf5767 has failed: ``` On branch mergify/bp/foxy/pr-408 Your branch is up to date with 'origin/foxy'. You...

mergify[bot]

This is an automatic backport of pull request #408 done by [Mergify](https://mergify.com). Cherry-pick of 4d3404f8bf394b2f11dd1b4fd9be4070b4bf5767 has failed: ``` On branch mergify/bp/galactic/pr-408 Your branch is up to date with 'origin/galactic'. You...

mergify[bot]

**Describe the bug** I came across high CPU usage for gzserver with JTC action server (e.g moveit2). Action server creates a wall timer to execute and keep track on ongoing...

arshadlab

Generate params for ForwardCommandController

1

Signed-off-by: Tyler Weaver Depends on this PR: https://github.com/PickNikRobotics/generate_parameter_library/pull/28

tylerjw