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Extending jtc and adding ctg #15

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Extending jtc and adding ctg #15

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Commits on Jan 15, 2024

  1. Update mergify.yml (ros-controls#974)

    @christophfroehlich
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  2. [PID] Remove joint_jog include (ros-controls#975)

    @christophfroehlich
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Commits on Jan 17, 2024

  1. Bump actions/upload-artifact from 4.0.0 to 4.1.0 (ros-controls#976)

    @dependabot
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Commits on Jan 22, 2024

  1. [JTC] Convert lambda to class functions (ros-controls#945) 

    * Convert lambdas to member functions

* Make member function const

* Add a test for compute_error function

* Make reference_wrapper argument const

* Iterate over error fields
    @christophfroehlich
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Commits on Jan 23, 2024

  1. Bump actions/upload-artifact from 4.1.0 to 4.2.0 (ros-controls#984)

    @dependabot
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  2. Update mergify.yml (ros-controls#982)

    @christophfroehlich
    christophfroehlich committed Jan 23, 2024
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Commits on Jan 25, 2024

  1. [CI] debian + RHEL updates (ros-controls#985)

    @christophfroehlich
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  2. Revert "[JTC] Remove read_only from 'joints', 'state_interfaces' and … 

    …'command_interfaces' parameters (ros-controls#967)" (ros-controls#978)

This reverts commit 6e2736b.
    @Noel215
    Noel215 committed Jan 25, 2024
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Commits on Jan 29, 2024

  1. Revert "[ForceTorqueSensorBroadcaster] Create ParamListener and get p… 

    …arameters on configure (ros-controls#698)" (ros-controls#988)

This reverts commit 32aaef7.
    @saikishor
    saikishor committed Jan 29, 2024
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  2. [tricycle_controller] Use generate_parameter_library (ros-controls#957)

    @christophfroehlich
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Commits on Jan 30, 2024

  1. Bump ros-tooling/action-ros-ci from 0.3.5 to 0.3.6 (ros-controls#994) 

    Bumps [ros-tooling/action-ros-ci](https://github.com/ros-tooling/action-ros-ci) from 0.3.5 to 0.3.6.
- [Release notes](https://github.com/ros-tooling/action-ros-ci/releases)
- [Commits](ros-tooling/action-ros-ci@0.3.5...0.3.6)

---
updated-dependencies:
- dependency-name: ros-tooling/action-ros-ci
  dependency-type: direct:production
  update-type: version-update:semver-patch
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  2. Bump codecov/codecov-action from 3.1.4 to 3.1.5 (ros-controls#993) 

    Bumps [codecov/codecov-action](https://github.com/codecov/codecov-action) from 3.1.4 to 3.1.5.
- [Release notes](https://github.com/codecov/codecov-action/releases)
- [Changelog](https://github.com/codecov/codecov-action/blob/main/CHANGELOG.md)
- [Commits](codecov/codecov-action@v3.1.4...v3.1.5)

---
updated-dependencies:
- dependency-name: codecov/codecov-action
  dependency-type: direct:production
  update-type: version-update:semver-patch
...

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  3. Bump actions/upload-artifact from 4.2.0 to 4.3.0 (ros-controls#992) 

    Bumps [actions/upload-artifact](https://github.com/actions/upload-artifact) from 4.2.0 to 4.3.0.
- [Release notes](https://github.com/actions/upload-artifact/releases)
- [Commits](actions/upload-artifact@v4.2.0...v4.3.0)

---
updated-dependencies:
- dependency-name: actions/upload-artifact
  dependency-type: direct:production
  update-type: version-update:semver-minor
...

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  4. [JTC] Invalidate empty trajectory messages (ros-controls#902)

    @christophfroehlich
    christophfroehlich committed Jan 30, 2024
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Commits on Jan 31, 2024

  1. Let sphinx add parameter description with nested structures to docume… 

    …ntation (ros-controls#652)
    @christophfroehlich
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  2. Add tests for interface_configuration_type consistently (ros-contro… 

    …ls#899)
    @christophfroehlich
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  3. [diff_drive] Remove unused parameter and add simple validation #abi-b… 

    …reaking (ros-controls#958)
    @christophfroehlich
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  4. [JTC] Fill action error_strings (ros-controls#887)

    @christophfroehlich
    christophfroehlich committed Jan 31, 2024
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  5. Update changelogs

    @bmagyar
    bmagyar committed Jan 31, 2024
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  6. 4.5.0

    @bmagyar
    bmagyar committed Jan 31, 2024
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Commits on Feb 1, 2024

  1. Fix tests for using new get_node_options API (ros-controls#840)

    @saikishor
    saikishor committed Feb 1, 2024
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Commits on Feb 5, 2024

  1. Use correct ref for scheduled workflows (ros-controls#1013)

    @christophfroehlich
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  2. Add test_depend on hardware_interface_testing (ros-controls#1018)

    @christophfroehlich
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  3. Add test_depend on hardware_interface_testing also for diff_drive (r… 

    …os-controls#1021)
    @christophfroehlich
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Commits on Feb 6, 2024

  1. Bump codecov/codecov-action from 3.1.5 to 4.0.1 (ros-controls#1023) 

    Bumps [codecov/codecov-action](https://github.com/codecov/codecov-action) from 3.1.5 to 4.0.1.
- [Release notes](https://github.com/codecov/codecov-action/releases)
- [Changelog](https://github.com/codecov/codecov-action/blob/main/CHANGELOG.md)
- [Commits](codecov/codecov-action@v3.1.5...v4.0.1)

---
updated-dependencies:
- dependency-name: codecov/codecov-action
  dependency-type: direct:production
  update-type: version-update:semver-major
...

Signed-off-by: dependabot[bot] <support@github.com>
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  2. Bump actions/upload-artifact from 4.3.0 to 4.3.1 (ros-controls#1024) 

    Bumps [actions/upload-artifact](https://github.com/actions/upload-artifact) from 4.3.0 to 4.3.1.
- [Release notes](https://github.com/actions/upload-artifact/releases)
- [Commits](actions/upload-artifact@v4.3.0...v4.3.1)

---
updated-dependencies:
- dependency-name: actions/upload-artifact
  dependency-type: direct:production
  update-type: version-update:semver-patch
...

Signed-off-by: dependabot[bot] <support@github.com>
Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com>
Co-authored-by: Dr. Denis <denis@stoglrobotics.de>
    @dependabot @destogl
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Commits on Feb 9, 2024

  1. [CI] Improvements and Cleanups (ros-controls#1028)

    @christophfroehlich
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  2. Make some methods virtual for extending of JTC. Extend caculation of … 

    …values deduction.
    @destogl
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  3. Add structures for joint limits in the controller.

    @destogl
    destogl committed Feb 9, 2024
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  4. Added Cartesian Trajectory Generator (CTG).

    @destogl
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  5. Add reseting of individual DoFs to state values in JTC when using in … 

    …open_loop_mode.
    @destogl
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  6. Fix missing .cpp extension in CMakeLists for CTG

    @bijoua29 @destogl
    bijoua29 authored and destogl committed Feb 9, 2024
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  7. Added structures for joint limits. 

    Small fixes for JTC.

Enalbe definition of all fields in JointTrajectory message when using test node.

Use more command_joint_names instead of joint_names.

Debugging Rucking smoothing.

Updated files to follow joint limits

Use velocity ration for its reduction.

Fixup integration in trajectories with non 0 velocity at the end.

Solved jumps at the end of a trajectory.

Add debuging output to JTC with Ruckig.

Enable disabling closed-loop PID in JTC when velocity- and effort-only interfaces are used.
    @destogl
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  8. Integrate SimpleJointLimiter in to JTC.

    @destogl
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  9. Adjust default value of limiters.

    @destogl
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  10. JTC extending for overriding.

    @destogl
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  11. Adjust method names to the JTC updates and manage errors in feedback … 

    …values.
    @destogl
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  12. Remove unused variable

    @bijoua29 @destogl
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  13. Remove deprecated rclcpp/qos_event.hpp

    @bijoua29 @destogl
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  14. Remove unused free functions for resetting controlled feedback messages

    @bijoua29 @destogl
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  15. Use time from start passed in from input reference if non-zero in CTG

    @bijoua29 @destogl
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  16. Modify CTG to expect twist in measured state input to be in body frame

    @bijoua29 @destogl
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  17. Handle NaNs in measured state in CTG

    @bijoua29 @destogl
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  18. Update JTC to be more extensible.

    @destogl
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  19. Updated CTG to have custom state message.

    @destogl
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  20. Fix stair step in JTC when new trajectory message received

    @bijoua29 @destogl
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  21. Reset initial value of last commanded time to 0.

    @destogl
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  22. Use previous state for limiters.

    @destogl
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  23. Use values, if present in reset dofs service, instead of fb to reset

    @bijoua29 @destogl
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  24. Fix bug when two reset dofs req sent without being processed in between

    @bijoua29 @destogl
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  25. Update reset dofs output messages in JTC

    @bijoua29 @destogl
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  26. Remove service for setting joint limits in CTG.

    @destogl
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  27. Cleanup rucking code and add simple joint limiter.

    @destogl
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  28. Fixup JTC and Trajectory to compile.

    @destogl
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  29. Fixup CTG to compile.

    @destogl
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  30. Added support for save integral term parameter 

    Added save_iterm parameter
Added check for default false in tests

Applied suggestions from code review

More comment updates
    @Whalex451 @destogl
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  31. Fix JTC crashes

    @destogl
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  32. Fixup one crash of JTC.

    @destogl
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  33. Move resetting of the axis values from lambda to a method.

    @destogl
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  34. Adjust variable name to avoid shadowing.

    @destogl
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  35. Bugfixing.

    @destogl
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  36. Increasing code readability in JTC

    @destogl
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  37. Adjusting CTG with limiters.

    @destogl
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