ros2_controllers

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**Describe the bug** The `colcon-mixin-name` option used to specify the `coverage-gcc` mixin in [invoking `action-ros-ci` for `ros-tooling-ci`](https://github.com/ros-controls/ros2_controllers/blob/b9ccf04aa95203e37077f297ddcf9f933ef464fa/.github/workflows/ci.yml#L55) has been removed from said Github action in https://github.com/ros-tooling/action-ros-ci/pull/591, with `colcon-defaults` being suggested...

aprotyas

Review the code and feature list of joint_trajectory_controller from ROS1 and write up a comparison with the current version in ROS2, don't forget about testing either. https://github.com/ros-controls/ros_controllers/tree/noetic-devel/joint_trajectory_controller https://wiki.ros.org/joint_trajectory_controller The ticket...

bmagyar

Request: ackermann_steering_controller

7

Feature request: Ackermann steering controller It seems it was available in [ros1](https://github.com/ros-controls/ros_controllers/tree/noetic-devel/ackermann_steering_controller). However the implementation seemed [off](https://github.com/ros-controls/ros_controllers/issues/412). Also support for front-wheel drive seems to be [missing](https://github.com/ros-controls/ros_controllers/blob/a075bc36ebf5b81a7dafe911907cc1b781dd0185/ackermann_steering_controller/src/ackermann_steering_controller.cpp#L334). The front wheels have...

Timple

joint_state_broadcaster always using sim time

10

**Describe the bug** Although the use_sim_time param of my joint_state_broadcaster node is False, the joint_state messages use the sim time ``` root@logi-XMG-CORE-REN-M20:/data/workspace# ros2 param get /agv2/joint_state_broadcaster use_sim_time Boolean value is:...

ghost

JointTrajectoryController ignores tolerances sent via action client

2

**Would be nice to have** `JointTrajectoryController` ignores `goal_time_tolerance` set via [FollowJointTrajectory.Goal.goal_time_tolerance](http://docs.ros.org/en/api/control_msgs/html/action/FollowJointTrajectory.html) together with `path_tolerance` and `goal_tolerance` . **Potential ROS1 inspiration** Implement something like a ROS1 version [`updateSegmentTolerances`](https://github.com/ros-controls/ros_controllers/blob/aa9c32b8ea8f83cb578cde82619f78e720fef89c/joint_trajectory_controller/include/joint_trajectory_controller/tolerances.h#L232) which is called...

livanov93

Tests should no longer use sleep_for

3

See https://github.com/ros-controls/ros2_controllers/pull/25#discussion_r386492622 - Find a way to wait for services - Apply the change over all tests

ddengster

[diff-drive] Port over launch tests

7

Hi, in hopes of using this controller for my own project, I recently ported over all the integration tests from the ROS1 repo, as well as porting over missing features...

knatsuki

bmagyar

Flaky joint_trajectory_controller test

2

It causes sporadic failures on the CI ``` Function 'run_target_test' returned with code '0' after 0 min 27 sec build/joint_trajectory_controller/Testing/20201223-1353/Test.xml: 10 tests, 0 errors, 1 failure, 0 skipped - test_trajectory_actions...

bmagyar

Make resetting RealtimeBuffer easier by introducing a reset() method

3

## Background It turns out, some of our controllers forgot to reset their buffers when deactivating/reactivating! We've implemented a quick fix for it in https://github.com/ros-controls/ros2_controllers/pull/246 (see the `Files Changed` tab)...

bmagyar