ros2_controllers

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[ForceTorqueSensorBroadcaster] added force and torque offsets to the parameters + export state interfaces

2

This PR allows to define of the offsets of the force and torque through the parameter server. It would also be interesting to make it a chainable controller and expose...

saikishor

An automated scheduled build failed on `master`: https://github.com/ros-controls/ros2_controllers/actions/runs/11173456457

github-actions[bot]

Gpio command controller

8

As I discussed with @christophfroehlich I've opened new pr with gpio controller. This PR is a follow-up to the [thread](https://github.com/ros-controls/ros2_controllers/pull/342) and implements a controller to send commands to GPIO interfaces,...

Wiktor-99

[jtc] Improve trajectory sampling efficiency

1

This PR addresses the increasing effort required in `Trajectory::sample()` raised in #1293 by exploiting the monotonically increasing access time for any trajectory. Instead of scanning through the complete trajectory to...

RobertWilbrandt

- Adds support for using the effort field in the trajectory message for JTCs that claim the `effort` command interface (warning message is no longer displayed). - For `effort` only...

VladimirIvan

[jtc] Required time for controller update increases over the course of trajectory

3

**Describe the bug** When executing very long trajectories (order: >100.000 points), the time jtc spends in `update()` rises over the course of execution. This gradually decreases the time spent spent...

RobertWilbrandt

Issues building inside IsaacROSDev containers

2

I'm trying to take the first step of building ros2_controllers inside of the IsaacROSDev containers. But, its not compiling due to problems with gmock. To recreate, follow the readme instructions...

brettpac

Replaces #1094. Adds propagation of `robot_description` through argument to the `kinematics_interface`.

destogl

**Describe the bug** Hello, looking at the code (https://github.com/ros-controls/ros2_controllers/blob/humble/diff_drive_controller/src/diff_drive_controller.cpp#L390C1-L391C1) I would expect the **/diff_drive_base_controller/odom** to be published with the SystemDefaultsQoS settings. However, when I inspect it, it is set to...

alireza-moayyedi

Add wrench offset for admittance controller

6

This PR adds an additional WrenchStamped subscriber to the AdmittanceController in order to allow specifying a Wrench offset. The basic idea behind this PR is to simply add the offset...

firesurfer