ros2_controllers
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ros-controls
Generic robotic controllers to accompany ros2_control
The tf prefix is added to the odom_frame_id and the base_frame_id. However, it is not done to the left_wheel_names and right_wheel_names. The differential drive controller is often used as a...
Addition to #652, but PID-Controller is not backported to iron/humble yet -> no backport now of this PR. 
This PR increseas readability of the JTC by renaming trajectory varialbes to be semantically correct and self explainable. Also it reoders checks of the trajectories done in the callback. They...
This is the first step of #931, but I focused only on steering on the front axle for now. Edit: I also added the diff-drive kinematics to have a complete...
**Describe the bug** Deactivating the controller while a an action is executed gives a warning with realtime_tools: ``` [ros2_control_node-6] [WARN] [1707917083.196860704] [realtime_tools]: goal_handle attempted invalid transition from state EXECUTING with...
On RHEL 8 we have strange warnings by pluginlib with [failing tests](https://github.com/ros-controls/ros2_controllers/actions/runs/7812069080/job/21308347784?pr=1016) afterwards. ``` Warning: class_loader.impl: SEVERE WARNING!!! A namespace collision has occurred with plugin factory for class mock_components::GenericSystem. New...
The [coverage build](https://github.com/ros-controls/ros2_controllers/actions/workflows/ci-coverage-build.yml) recently failed quite often due to API change with ros2_control. Let's use a semi-binary builds instead of binary builds for the coverage workflow. - [ ] investigate...
Is a rebase of https://github.com/ros-controls/ros2_controllers/pull/269, using ParameterListener, with additional tests and some fixes. Also already includes revised https://github.com/ros-controls/ros2_controllers/pull/268 depends on https://github.com/ros-controls/control_toolbox/pull/152 and https://github.com/ros-controls/control_toolbox/pull/153
From [here](https://github.com/ros-controls/ros2_controllers/issues/249#issue-1019945122): > JointTrajectoryController ignores goal_time_tolerance set via [FollowJointTrajectory.Goal.goal_time_tolerance](http://docs.ros.org/en/api/control_msgs/html/action/FollowJointTrajectory.html) together with path_tolerance and goal_tolerance . This PR proposes a way how to process the tolerances: The tolerances from one action...
probably due to be removed soon too _Originally posted by @bmagyar in https://github.com/ros-controls/ros2_controllers/pull/957#discussion_r1449294931_
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Generic robotic controllers to accompany ros2_control