Add admittance controller by pac48 · Pull Request #370 · ros-controls/ros2_controllers

pac48 · 2022-06-28T05:00:35Z

This PR adds an admittance controller that conforms to the chained controller interface. Additionally, this depends on a PR to control_msgs.

Enabling chanable mode for forward command controllers. Fix all bugs in chained-controllers mode. Remove debug output from forwarding controller. Updated example ffwd chainable controller for new structure.

Co-authored-by: Denis Štogl <denis@stogl.de>

…trollers into add-admittance-controller

Co-authored-by: Denis Štogl <denis@stogl.de>

…_controller.hpp Co-authored-by: Denis Štogl <denis@stogl.de>

mergify · 2022-08-27T16:54:15Z

This pull request is in conflict. Could you fix it @pac48?

AndyZe · 2022-09-23T17:13:51Z

@destogl I can't respond to some of your individual comments because they weren't left as part of a github review. I guess I'll do it here instead:

I would still go without temporary variables. They are not necessary if used only once.

Something like this Eigen::Matrix<double, 3, 3> rot_world_sensor = has a fixed size so allocating it usually would not require any extra overhead. It's allocated in the same step as the rest of the stack memory for this function. It does help with readability though. Explanation from Gijs here:

ros-controls/ros2_control#668 (comment)

nbbrooks · 2022-10-03T20:48:40Z

It looks like these videos Paul took of the admittance controller in action on a UR-5e haven't been shared here yet - enjoy!

sjahr

I tested this PR with the admittance controller demos from ros-controls/ros2_control_demos#206 and it build and worked well for me 👍

destogl · 2022-10-10T21:17:28Z

admittance_controller/test/6d_robot_description.hpp

+
+#include <string>
+
+namespace ros2_control_test_assets


Move this to the assets' folder in the ros2_control repository.

destogl · 2022-10-11T07:55:50Z

@Mergifyio backport humble

mergify · 2022-10-11T07:57:23Z

backport humble

❌ No backport have been created

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Backport to branch humble failed: Branch not found

destogl and others added 25 commits May 16, 2022 20:56

Make forward controller chainable.

0206ee6

Enabling chanable mode for forward command controllers. Fix all bugs in chained-controllers mode. Remove debug output from forwarding controller. Updated example ffwd chainable controller for new structure.

Enabling chanable mode for forward command controllers.

43f39a0

Fix all bugs in chained-controllers mode.

29c4393

Remove debug output from forwarding controller.

6f2f956

Make forward controller chainable.

704ba5d

Enabling chanable mode for forward command controllers.

6759bb5

Fix all bugs in chained-controllers mode.

7afdefc

Remove debug output from forwarding controller.

7c03f79

Some compile fixes

f8556ea

Fix some small issues.

d77b4b6

Update to use class.

778ed13

added admittance controller

39b640e

merge fwd chainable controller

be2f308

merged additional from fwd chainable controllers

4f3d709

fixed interface memory bug

fcc2be2

changed position/velocity reference fields

0aac28e

added gravity compensation

7033048

replaced Eigen 3.4 API with Eigen 3.3

1a266bc

clean up and TODOs

8dc9b37

removed reshaped operation and fix forward velocity

1563113

code cleanup and refactored gravity compensation

5d59427

replaced parameter handler with auto-generated struct

18097a2

dynamic parameter updating enabled

dfc27bf

enable/disable parameter update during execution + fill state message

2db281f

remove unused code

9990dca

pac48 requested a review from destogl June 28, 2022 05:00

github-actions bot requested review from a10263790, bmagyar, harderthan and kellyprankin June 28, 2022 05:00

pac48 and others added 8 commits August 24, 2022 16:21

Update admittance_controller/src/admittance_controller.cpp

bbdc506

Co-authored-by: Denis Štogl <denis@stogl.de>

move dynamic allocations in state message to reset method

c45b668

Merge branch 'add-admittance-controller' of github.com:pac48/ros2_con…

a4817c1

…trollers into add-admittance-controller

Update admittance_controller/src/admittance_controller.cpp

ea59076

Co-authored-by: Denis Štogl <denis@stogl.de>

Update admittance_controller/include/admittance_controller/admittance…

f94ca25

…_controller.hpp Co-authored-by: Denis Štogl <denis@stogl.de>

Remove unneeded code and chnage field name

6a0281f

update comments/docs

4346e3d

remove tmp variables

82c0018

pac48 force-pushed the add-admittance-controller branch from a1168dd to 82c0018 Compare August 24, 2022 23:32

destogl and others added 2 commits August 31, 2022 18:05

Merge branch 'master' into add-admittance-controller

2855cc7

Merge branch 'master' into add-admittance-controller

91af1ac

Improve some comments

2644a4e

AndyZe approved these changes Sep 23, 2022

View reviewed changes

Merge branch 'master' into add-admittance-controller

ec55e5c

sjahr approved these changes Oct 7, 2022

View reviewed changes

destogl added 2 commits October 10, 2022 11:54

Merge branch 'master' into add-admittance-controller

08b3909

Updated documentation.

83c6e5d

destogl mentioned this pull request Oct 10, 2022

[Admittance Controller] Use control_interface::helpers method to sort the interfaces. #449

Open

Fixing linters.

2e57e4a

destogl reviewed Oct 10, 2022

View reviewed changes

destogl mentioned this pull request Oct 10, 2022

[AdmittanceController] Move the fiel with 6d robot description to the test_asset_package. #450

Open

10 tasks

Small polishing

28c5665

destogl approved these changes Oct 10, 2022

View reviewed changes

Update upstream repo.

e9c7432

destogl merged commit 9be3bfe into ros-controls:master Oct 10, 2022

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Add admittance controller#370

Add admittance controller#370
destogl merged 128 commits intoros-controls:masterfrom
pac48:add-admittance-controller

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		#include <string>

		namespace ros2_control_test_assets

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pac48 commented Jun 28, 2022 •

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AndyZe commented Sep 23, 2022 •

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destogl commented Oct 11, 2022 •

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