ros2_controllers
ros2_controllers copied to clipboard
ros-controls
Generic robotic controllers to accompany ros2_control
Hi, Working on an extension of JTC (#140), it's very disturbing (or at least disconcerting) not having unified members/methods order between the different controllers and the controller_interface. The issue I...
It is interesting to synchronize the robot's GPIOs and gripper with the trajectory execution for many industrial scenarios. When the latter is possible doable with JointTrajectoryController, the use-case with GPIOs...
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...
Tl;dr: Port Joint Trajectory Controller variants from the ROS1: [joint_trajectory_controller.cpp](https://github.com/ros-controls/ros_controllers/blob/1a085c37d212d1b52f44b8b1ebb6167cef90cc65/joint_trajectory_controller/src/joint_trajectory_controller.cpp#L36-L89) --- Hey, So I have been testing this controller with my robot. When I set `time_from_start: { sec: 5, nanosec:...
If yaml file defines: ``` state_publish_rate: 50 action_monitor_rate: 20 ``` The parameter is set as Integer and the controller crashes with the error: ``` [ros2_control_node-1] terminate called after throwing an...
Why are those tests commented out? _Originally posted by @destogl in https://github.com/ros-controls/ros2_controllers/pull/112#discussion_r531689839_
@bmagyar This assumes that command_interfaces_ comes ordered as you requested it, but I did not find any documentation explicitly mentioning this, that's why I went with the `get_ordered_interfaces` thing. we...
Load controller & verify command forwarding. I think there's value in it from an integration test perspective. _Originally posted by @bmagyar in https://github.com/ros-controls/ros2_controllers/pull/92#discussion_r499214503_
We could discuss the logic here. Maybe there is another way to do this, without so much looping... (but let's leave it for the future) _Originally posted by @destogl in...
Modern C++ is preferred to use smart pointer instead of raw pointer for safer programming. But the current implementation is written using raw pointers e.g.: - https://github.com/ros-controls/ros2_control/blob/master/hardware_interface/include/hardware_interface/handle.hpp#L73 - https://github.com/ros-controls/ros2_control/blob/master/hardware_interface/include/hardware_interface/robot_hardware.hpp#L136-L138 Why...
Metadata
Owner
Metadata
Generic robotic controllers to accompany ros2_control