ros2_controllers

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Forward command controllers safety timeout

2

A typical issue of forward velocity and forward effort controllers is that there's currently no way to tell when a message has been received and deduct whether the last received...

bmagyar

Avoid calling create_wall_timer each new goal, adjust realtime_tools goalhandle accordingly

2

https://github.com/ros-controls/ros2_controllers/pull/26 https://github.com/ros-controls/realtime_tools/pull/57 Instead of calling create_wall_timer (which starts a new thread iirc) for each new action goal, runNonRealtime should be decoupled from its object and spinning at action_monitor_rate. And this...

ddengster

Port over tests for joint_trajectory_controller from ROS1

4

Scope is up to you, a 500 line PR is a good chunk to review, feel free to open a better-scope follow-up ticket for what's left https://github.com/ros-controls/ros_controllers/tree/melodic-devel/joint_trajectory_controller/test

bmagyar

Add a controller for afour wheel independent steering / drive mobile base, aka a swerve drive

11

I would like to add a controller for a 4 wheel independent steering and independent drive (aka swerve drive) mobile base. In this kind of mobile base each wheel has...

pvandervelde

Postition, Velocity, and Effort Joint Trajectory Controller

12

Hi ROS2 Control team, I am looking into adding support for a combined position, velocity and effort command interface for the JTC. This would be useful when using a BLDC...

zacharyyamaoka

Cleanup all the deprecations warning from the recent ros2_control variant changes

14

## Background Recently after the new variants feature in Handles (https://github.com/ros-controls/ros2_control/pull/1688) We have a bunch of deprecation warnings that needs to be cleanup. This could be a nice first issue....

saikishor