ros2_controllers
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ros-controls
Generic robotic controllers to accompany ros2_control
### Symptoms When attempting to use a `diff_drive_controller` with the latest version of `gazebo_ros2_control` (i.e. merging @bmagyar's PRs https://github.com/ros-simulation/gazebo_ros2_control/pull/89 and https://github.com/ros-simulation/gazebo_ros2_control/pull/88), the update function fails with the following error: ```...
Could we also change this macro to `RCLCPP_ERROR` instead of stream? There is no value in it, but it's confusing to read. I know I am asking for something out...
these callback aren't named properly anymore. the follow-up of accepting the goal is meant to happen in the 3rd bound function which is confusingly named `feedback_setup_callback`. we should rename them...
scaled jtc
This PR adds the scaled trajectory controller that has been created for the [Universal_Robots_ROS2_Driver ](https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver) to ros2_controllers. The idea is basically, that the time at which the trajectory can be...
Hi, upon re-loading the `JointStateBroadcaster` via service call, as indicated here https://discourse.ros.org/t/ros2-control-controller-restart/24662/2?u=mhubii, it appears that the published states are appended to the already existing ones. For example, if one publishes...
Investigate how to refactor these cascading `if`s so that it is easier to read which conditions together lead to a failure. This section of the code looks like a table...
This set of cascading `if`-s should be refactored into something more readable. I suggest 2 things: * make the selection of choosing the command somehow more explicit with different variable...
We should probably here use SharedPtr to the node and not the object itself. This is usually done in the rest of the code-base. _Originally posted by @destogl in https://github.com/ros-controls/ros2_controllers/pull/244#discussion_r824487784_
realtime_tools was not ported really well which led to little adoption of it in the new controllers. Once we have https://github.com/ros-controls/realtime_tools/issues/81 completed, the controllers should be reviewed & refactored to...
PR info: - add twist controller (cartesian controller) using input type message [`geometry_msgs/TwistStamped`](https://docs.ros2.org/foxy/api/geometry_msgs/msg/TwistStamped.html) TODOs: - add tests
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Generic robotic controllers to accompany ros2_control