ros2_controllers

ros2_controllers copied to clipboard

[JTC] Cleanup TODO-List from #320

1

To keep track of TODOs mentioned with #320: - [x] try minimizing the amount of includes #943 - [x] check if this is needed at all #943 https://github.com/ros-controls/ros2_controllers/blob/4c6d7236245c527f275b1e03a7e5242b658dc782/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller.hpp#L53-L61 - [x]...

christophfroehlich

rqt_joint_trajectory_controller: Use urdf_parser

2

Maybe we can use the upstream [urdf_parser_py](https://github.com/ros/urdf_parser_py/tree/ros2/)? The mentioned issue got fixed years ago.. https://github.com/ros-controls/ros2_controllers/blob/925a690fcb469cb705ec67185cd67c6f1481dd61/rqt_joint_trajectory_controller/rqt_joint_trajectory_controller/joint_limits_urdf.py#L17-L20

christophfroehlich

[AdmittanceController] Dupplication of objects in `on_init` and `on_configure` methods

2

This is duplicated code in `on_init` and in `on_configure` methods, and it should be removed from `on_configure`. The objects should have lifetime of the controller, but they should be resetted....

destogl

Incorrect odometry when turning vehicle with Ackermann steering controller (ROS2 Humble).

5

**Description of the bug** When turning the vehicle with Ackermann steering controller, the odometry gets wrong. This issue looks similar to the #789. **To Reproduce** To reproduce the bug, launch...

aizmailovs

Chained Controller exported reference interface unavailable

1

## Bug When we implement a chained controller, we need to export reference interfaces which will be (as far as I understood) seen by other controllers as command interfaces. The...

Teusner

[DiffDriveController] Add velocity limits for individual wheels

6

Pull request for feature request #470

arslogavitabrevis

diff_drive_controller generates wrong odom and robot base frame names

5

Since the last sync (https://discourse.ros.org/t/new-packages-for-ros-2-humble-hawksbill-2022-12-16/28806) there are two issues: 1. Default frame name of the robot base frame is `odom`. This used to be `base_link` and it was a meaningful...

lukicdarkoo

tricycle_controller vs tricycle_steering_controller

1

We have two controllers with similar names: tricycle_controller vs tricycle_steering_controller. I haven't used any of them, so I ask: (especially @tonynajjar who has contributed the first one, and @petkovich who...

christophfroehlich

Improve Steering Controllers Documentation

5

> In general, I'd appreciate more documentation of the kinematics in the docs for all controllers here. Is there any publicly available reference/book for these mobile robot kinematics we could...

christophfroehlich

**Is your feature request related to a problem? Please describe.** During debugging or testing session it could be useful to reset to odometry of a moving robot by simply calling...

Fixit-Davide