ros2_controllers

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Port velocity_controllers/joint_position_controller from ROS1

5

I know you probably have it on your roadmap somehwere but I didn't find it in the issues (found [similar](https://github.com/ros-controls/ros2_controllers/issues/373)) so I'm writing this feature request to formalize it and...

tonynajjar

Those two lines seems to be a small bug. The second line should probably be: ``` state_message_.ref_trans_base_ft.child_frame = parameters_.ft_sensor.frame.id; ``` https://github.com/ros-controls/ros2_controllers/blob/f4788c594026bc3ecf0d944e1fa39f3f2d40673b/admittance_controller/include/admittance_controller/admittance_rule_impl.hpp#L375-L376 - [ ] Please add check of this frames...

destogl

In some places, structure looks like intermediary storage. Maybe it is not needed, and we can use `admittance_state` and other structures directly. Thorough investigation required for this. https://github.com/ros-controls/ros2_controllers/blob/f4788c594026bc3ecf0d944e1fa39f3f2d40673b/admittance_controller/include/admittance_controller/admittance_rule_impl.hpp#L191-L192

destogl

Remove update loop filtering for publishing controller state

4

## Background Per the discussion in the working group meeting on Nov. 16th, all the controllers should not be filtering their update loops using a publisher period parameter. For example,...

jaron-l

In a differential drive controller, each motor individually have a velocity limit. Even if the velocity is limited for linear speed and for angular speed of the robot, the combination...

arslogavitabrevis

Add statistics collection to `mock_components/GenericSystem`

2

When running simulations, it would be nice to add statistics collection to `mock_components/GenericSystem`. For example: - What is the average rate of incoming commands? - What is the average latency...

AndyZe

CI build job rolling/main failed!

1

An automated scheduled build failed on `master`: https://github.com/ros-controls/ros2_controllers/actions/runs/9802142768

github-actions[bot]

CI build job rolling/testing failed!

1

An automated scheduled build failed on `master`: https://github.com/ros-controls/ros2_controllers/actions/runs/9802142768

github-actions[bot]

[JTC] Flaky CI test: test_state_publish_rate

1

I've seen that failing several times in different jobs. https://github.com/ros-controls/ros2_controllers/actions/runs/8933149703/job/24538080159 or #1115 ``` /home/runner/work/ros2_controllers/ros2_controllers/.work/target_ws/src/ros2_controllers/joint_trajectory_controller/test/test_trajectory_controller.cpp:883 The difference between target_msg_count and echo_received_counter is 2, which exceeds 1, where target_msg_count evaluates to 10,...

christophfroehlich

- Add Jazzy workflows (I decided to create dedicated files, because it easier to maintain if we branch for jazzy) - Add filters to run the ROS - workflows only...

christophfroehlich