As a robotics developer, I want a smooth joint controller for my robot arms #10
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Can you list what's missing from the current ROS2 implementation? |
henrygerardmoore
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May 3, 2024
…le_meas_state_nan Handle NaNs in measured state in CTG
henrygerardmoore
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Jul 19, 2024
* Initial version of new package implementing components for controlling the robot. * Add control component interfaces. * Added initial tests for Joint and JointInterface * Extended SensorInterface to work with hardware. Added Example for DummySensor and HW in tests. Added lifecycle management for components ros-controls#10 * Remove component types since they are not used yet. * Added tests for all interfaces and implemented review comments * Added HardwareInfo as the main structure in the robot's URDF file * Add Hardware and Component base classes and tests. * Split Component and Hardware Infos into two files * Use separated headers for components_info and hardware_info * Style corrections * Add documentation for joint and sensor components * Update hardware_interface/test/test_component_interfaces.cpp * Style corrections * The base classes for Joints and Sensors are implemented * Add more tests to get better coverage * Updated after comments and added helper header * Implementation moved to cpp files * Removed virtual function for checking limits * Use inline functions in helper header and make API-consistent return values * move components into components folder
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Design requirements
Port over the
joint_trajectory_controllerplugin fromros-controls/ros_controllers.Use the existing ROS2 proof of concept version to build upon.
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