ros2_controllers

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🚀 Add PID controller 🎉

1

Proposal for a new controller that provides PID functionality. The controller can be used stand-alone, in a chain. Measured states can be provided through the topic or state interface, depening...

destogl

Disable cmd_vel_timeout

4

Hey ! Is there any way to disable the cmd_vel_timeout for the diff drive controller? It is not very apparent how to do this in the documentation. I have also...

mwlock

Two cases should be tested: 1. When broadcaster is reactivated, joints should not be duplicated. 2. When broadcaster is deactivated, the joint names should be cleaned. That's technically be more...

destogl

Please use filter for gravity compensation. If needed, the filter can be extended. And not only that, we want to use filter for other things too, like noise reduction and...

destogl

false Goal reached, success! with joint trajectory controller

5

I have a slow home made robot, On every moves, the succes, for the slower joint, is confirmed a few seconds before the joint target is reached ? At this...

FrGe2016

JTC trajectory end time validation fix

4

The `time_from_start` member for a `JointTrajectoryPoint` is monotonically increasing, not a delta time, so I think we can just use the last one in the vector; summing them up seems...

henrygerardmoore

This pull request contains auto-updated files of the pre-commit config. @ros-controls/ros2-maintainers please run the pre-commit workflow manually on the branch `auto-update-` before merging.

github-actions[bot]

ros2_control_node crashes abruptly with error "what(): Taking data from action server but nothing is ready

10

I am building an application with ros2 iron using moveit and ros2control. The application I created usually works without errors, but "sometimes" it crashes abruptly. The errors at that time...

watanabeyyy

TLDR: The main controller that ros2 control provides out of the box that integrates with a FTS, the `AdmittanceController`, does not have a good way of handling gravity compensation of...

ndunkelb

Use Generic Steering Controller State Message in Steering Controllers Library

4

I was reading through the code as a part of learning how to write a new steering controller. I understood that a new steering controller inherits from the SteeringControllersLibrary. But...

mbharatheesha