Add Ruckig-based joint limiter that limits jerk. #970
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- Added initial structures for joint-limit plugins. - Correct ruckig name and make tests to work. - Rename the joint_limits package - Comment and author cleanup - Base class does not require libary. - Delete extra layer of abstraction since not all plugins require a vector of smoothing objects. - Restore simple_joint_limiter to a working state - Implement init() and enforce() - Return of joint_limits package. - Move Ruckig limiter to package joint_limits_enforcement_plugins and make it working.
Debug and optimize Rucking JointLimiter.
…r) (#6) * Merge error handling possilibity on read and write. * Ros2 control extensions rolling joint limits plugins (#5) * Added initial structures for joint-limit plugins. * Move Ruckig limiter to package joint_limits_enforcement_plugins and make it working. Co-authored-by: AndyZe <zelenak@picknik.ai> * Add option to automatically update parameters after getting them from parameter server. * Modify simple joint limiting plugin (same as changes to moveit2 filter) * Add backward_ros dependency for crash stack trace * Check for required inputs in simple joint limiter * Change services history QOS to 'keep all' so client req are not dropped * Add missing on 'pluginlib' dependency explicitly. * Update ControllerParameters structure to support custom prefix and use in filters. * Update messge. * Change controller param changed msg log level to info instead of error --------- Co-authored-by: Denis Štogl <destogl@users.noreply.github.com> Co-authored-by: AndyZe <zelenak@picknik.ai> Co-authored-by: bijoua <bijou.abraham@technipfmc.com> Co-authored-by: bijoua29 <73511637+bijoua29@users.noreply.github.com>
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This pull request is in conflict. Could you fix it @destogl? |
…ed yet. Concept of m
Co-authored-by: AndyZe <andyz@utexas.edu>
Co-authored-by: Dr. Denis <denis@stoglrobotics.de>
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This pull request is in conflict. Could you fix it @destogl? |
Split test for positive and negative vel to have same initial conditions
Requires velocity to be set
desired_joint_states should not be changed if ruckig failed
when current_state differs from configured state enforce current_state is required to get correct computations
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This pull request is in conflict. Could you fix it @destogl? |
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This PR required #971 to be merged first.
This PR adds new dependecy to Ruckig, therefore the package is not added into
ros2_controlmeta package and should be installed as needed.