ros2_controllers

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Configure gripper speed and effort with hardware interface

2

Many robot grippers support effort, position, and velocity controls. The current technique to set the velocity involves reading a hardcoded value from the URDF. This is problematic when the user...

pac48

Odomentry not properly working with ackermann steering

4

**Describe the bug** The odometry is fine when the vehicle moves foward/backwards, but is wrong when steering. My issue seems similar to this one #933 **To Reproduce** This is my...

luj97

significantly improve execution time and cpu use of "sample" for large trajectories

11

I noticed for trajectories which contain ~25k waypoints that CPU usage would grow continuously over the course of the trajectory's execution. I narrowed this down to "sample" always starting from...

jbeck28

[JTC] Proposal for custom "controller" plugins

5

Up to now there were only two possibilities of controlling the system with JTC: - feedforward only - feedback with one single-input-single-output PID per joint. The aim of this PR...

christophfroehlich

[JTC] Accept larger number of `joints` than `command_joints`

7

This PR softens the condition that the number of `joints` and `command_joints` have to be equal: JTC now supports having less `command_joints` than `joints`. This gives the opportunity to track...

christophfroehlich

Imagine a chained controller: JTC (upstream) + admittance (downstream) Is there a way that the downstream chained controller (admittance controller) can set upstream goal (JTC's goal) as successful? Otherwise, admittance...

samialperen

Admittance with filters

6

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...

guihomework

Cleanup visibility to enable compilation on Windows

10

I would like to compile and run the software of this repo on Windows. I was able to do so with https://github.com/ros-controls/ros2_controllers/pull/1039 and https://github.com/ros-controls/ros2_control/compare/master...traversaro:ros2_control:patch-2 . However, given the comments in...

traversaro

Solves #1048. When using robot namespace as `tf_prefix`, it now removes any starting '/' and only adds an ending '/' if not present already. Starting with '/' is not common...

kjvanteeffelen

Remove the '/' from tf_prefix when using the namespace of diff_drive_controller as tf_prefix

3

I am using a Gazebo simulated diff drive robot with the ros2_control diff_drive_controller. In some cases, I want to spawn multiple robots and therefor I would like to use namespacing,...

kjvanteeffelen