ros2_controllers

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Generate parameters for Gripper Action

3

Signed-off-by: Tyler Weaver Here is another PR converting to generate_parameter_library.

tylerjw

Generate parameter library for diff drive

3

This is an example PR of converting the parameter usage in differential drive controller to use https://github.com/PickNikRobotics/generate_parameter_library

pac48

Discourage changing the number of DoFs / joints for controller after those are initialized?

2

Discussing parameters handling with @tylerjw and @pac48 it seems that resetting the number of DoF in `on_configure` in some controllers only complicates the management of those. This does not make...

destogl

Small improvement in remapping

1

Resizing this output vector with every iteration isn't necessary. The idea here is, make the variable `static` so it retains its value between iterations. Only remap if the dimension of...

AndyZe

Here are some spots of dynamic memory allocation in the realtime `update` method of the JTC we should try to get rid of: In `fill_partial_goal()`: https://github.com/ros-controls/ros2_controllers/blob/d8d661607f770e704b774249a31534fa0eb0d46b/joint_trajectory_controller/src/joint_trajectory_controller.cpp#L1084 And several other places....

AndyZe

This PR extends test node for JTC to enable definition of all fields in `JointTrajectory` message when testing a hardware. This enables velocity, acceleration, and effort only inputs that JTC...

destogl

**Describe the solution you'd like** As proposed here https://github.com/ros-controls/ros2_controllers/pull/345#discussion_r922725723, the idea is make a utility function to retrieve a state/command handle from the state/command interfaces. Inputs of that function: interfaces...

tonynajjar

**Describe the solution you'd like** Mobile base (and perhaps other) controllers use some form of rate limiters to limit speeds, acceleration, jerks. Currently each controller has its own implementation. It...

tonynajjar

Add admittance controller with full changes overview

1

Replaces #173. #370 should be merged into it. All changes to Joint Trajectory Controller should be moved from here.

destogl

JointTrajectoryController state interface

1

### Environment - ROS Distro: Humble - OS Version: e.g. Ubuntu 22.04 ### Description I am using JointTrajectoryController, with velocity, acceleration command interface and position state interface, to execute the...

SourabhPrasad