Admittance with filters

[guihomework]

Re-introduced filters to the admittance_controller as originally done in https://github.com/ros-controls/ros2_controllers/pull/382. Improved testing, variable names and comments.

Depends on https://github.com/ros-controls/control_toolbox/pull/152 and https://github.com/ros-controls/control_toolbox/pull/153

Tests currently fail due to compensation already moving the robot after the first update step. This is expected but was not expected in past test. So a discussion should occur to decide how to change the test.

[codecov-commenter]

Codecov Report

Merging #560 (aefd00d) into master (e7f9962) will decrease coverage by 4.90%. Report is 352 commits behind head on master. The diff coverage is 25.91%.

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@@            Coverage Diff             @@
##           master     #560      +/-   ##
==========================================
- Coverage   35.78%   30.88%   -4.90%     
==========================================
  Files         189        7     -182     
  Lines       17570      832   -16738     
  Branches    11592      505   -11087     
==========================================
- Hits         6287      257    -6030     
+ Misses        994      133     -861     
+ Partials    10289      442    -9847     

Flag	Coverage Δ
unittests	30.88% <25.91%> (-4.90%)	:arrow_down:

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Files Changed	Coverage Δ
...ontroller/test/test_load_diff_drive_controller.cpp	11.11% <0.00%> (ø)
...ive_controller/test/test_diff_drive_controller.cpp	12.66% <7.81%> (ø)
diff_drive_controller/src/odometry.cpp	42.16% <11.11%> (ø)
diff_drive_controller/src/speed_limiter.cpp	46.55% <11.11%> (ø)
...iff_drive_controller/src/diff_drive_controller.cpp	47.13% <46.94%> (ø)
...de/diff_drive_controller/diff_drive_controller.hpp	100.00% <100.00%> (ø)
...troller/include/diff_drive_controller/odometry.hpp	100.00% <100.00%> (ø)

... and 189 files with indirect coverage changes

[mergify[bot]]

This pull request is in conflict. Could you fix it @guihomework?

[guihomework]

@destogl I discover that "allowing edits" means allow others to write to my branch. I did not knot this was possible. Isn't it better to always rebase rather than do a merge from the master (which is then not a straight line merging for the PR anymore) ? I can force-push a rebased PR now if desired to get a cleaner history.

[mergify[bot]]

This pull request is in conflict. Could you fix it @guihomework?

[guihomework]

Merging master into this branch introduced a test failure (another one than the known one). This came from some invalid parameters that cannot be tested in on_init because they are only used on_configure

Additionally I should have fixed the other test failing due to gravity compensation. In fact this test (receive_message_and_publish_updated_status) should not pass when there is a mass at eef because gravity compensation (the one of the filter in PR or the hard-coded one in existing code) will necessarily make the posture after one iteration deviate from the start. Why that particular test passed before is because a smoothing (equivalent to the new LP filter) was hard-coded and applied after gravity compensation, which meant that after one iteration almost no gravity compensation was seen by the eef (0.1 instead 23 N). It makes no sense to filter the gravity compensation, only the noisy input data from the sensor should be filtered and that is what the proposed implementation does (LP then GC filter)

I think CI fails as it relies on 2 other PRs.

[mergify[bot]]

This pull request is in conflict. Could you fix it @guihomework?