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Add Ruckig-based joint limiter that limits jerk. #970

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Add Ruckig-based joint limiter that limits jerk. #970

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Commits on Mar 7, 2023

  1. Added controller parameters structures and movement interfaces.

    @destogl
    destogl committed Mar 7, 2023
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Commits on Mar 16, 2023

  1. Added joint limiter plugins. 

    - 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.
    @destogl
    destogl committed Mar 16, 2023
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  2. Debug Ruckig JointLimiter. 

    Debug and optimize Rucking JointLimiter.
    @destogl
    destogl committed Mar 16, 2023
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  3. Modify simple joint limiting plugin (same as changes to moveit2 filte… 

    …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>
    @destogl @bijoua29
    5 people committed Mar 16, 2023
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  4. Remove all Ruckig-limiter files.

    @destogl
    destogl committed Mar 16, 2023
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  5. Merge branch 'master' into add-simple-joint-limiter

    @destogl
    destogl committed Mar 16, 2023
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Commits on Mar 23, 2023

  1. Merge branch 'master' into add-simple-joint-limiter

    @destogl
    destogl committed Mar 23, 2023
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Commits on Apr 13, 2023

  1. Merge branch 'master' into add-simple-joint-limiter

    @destogl
    destogl committed Apr 13, 2023
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  2. Apply suggestions from code review

    @destogl
    destogl committed Apr 13, 2023
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  3. Remove definition of movement interface because the concept is not us… 

    …ed yet.

Concept of m
    @destogl
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  4. Polish out some stuff using "GH Programming" 

    Co-authored-by: AndyZe <andyz@utexas.edu>
    @destogl @AndyZe
    destogl and AndyZe committed Apr 13, 2023
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  5. Polish out some stuff using "GH Programming"

    @destogl
    destogl committed Apr 13, 2023
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Commits on Apr 24, 2023

  1. Add SimpleJointLimiter as plugin into controllers.

    @destogl
    destogl committed Apr 24, 2023
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Commits on May 4, 2023

  1. Version with deceleration for simple joint limiter.

    @destogl
    destogl committed May 4, 2023
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Commits on May 9, 2023

  1. Merge branch 'master' into add-simple-joint-limiter

    @destogl
    destogl committed May 9, 2023
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Commits on May 12, 2023

  1. Formatting and comment to check.

    @destogl
    destogl committed May 12, 2023
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Commits on Jun 13, 2023

  1. Added test of joint_limiter

    @gwalck @destogl
    gwalck authored and destogl committed Jun 13, 2023
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  2. Fixed deceleration limit application

    @gwalck @destogl
    gwalck authored and destogl committed Jun 13, 2023
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  3. Updated authorship 

    Co-authored-by: Dr. Denis <denis@stoglrobotics.de>
    @gwalck @destogl
    gwalck and destogl committed Jun 13, 2023
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  4. Split test, apply review changes, add future tests

    @gwalck @destogl
    gwalck authored and destogl committed Jun 13, 2023
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  5. Applied review comment, added 2 tests & fixed typo

    @gwalck @destogl
    gwalck authored and destogl committed Jun 13, 2023
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  6. Improved close to limit trigger

    @gwalck @destogl
    gwalck authored and destogl committed Jun 13, 2023
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  7. Merge branch 'master' into add-simple-joint-limiter

    @destogl
    destogl committed Jun 13, 2023
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Commits on Jun 27, 2023

  1. Merge branch 'master' into add-simple-joint-limiter

    @destogl
    destogl committed Jun 27, 2023
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  2. Update joint_limits/src/simple_joint_limiter.cpp

    @destogl
    destogl committed Jun 27, 2023
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Commits on Jun 29, 2023

  1. Fix formatting.

    @destogl
    destogl committed Jun 29, 2023
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  2. Restore Rucking Limiter.

    @destogl
    destogl committed Jun 29, 2023
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Commits on Jul 13, 2023

  1. Fixed ruckig linking

    @gwalck @destogl
    gwalck authored and destogl committed Jul 13, 2023
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  2. Fixed max_jerk initialization

    @gwalck @destogl
    gwalck authored and destogl committed Jul 13, 2023
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  3. Added protection from invalid desired_positions

    @gwalck @destogl
    gwalck authored and destogl committed Jul 13, 2023
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  4. Removed misleading comment

    @gwalck @destogl
    gwalck authored and destogl committed Jul 13, 2023
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  5. Fixed return value to allow working results

    @gwalck @destogl
    gwalck authored and destogl committed Jul 13, 2023
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  6. Added tests (some fail for unknown reason)

    @gwalck @destogl
    gwalck authored and destogl committed Jul 13, 2023
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  7. Added limitation for max vel and max acc

    @gwalck @destogl
    gwalck authored and destogl committed Jul 13, 2023
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  8. Added a warning for deceleration limits

    @gwalck @destogl
    gwalck authored and destogl committed Jul 13, 2023
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  9. Activated pos test which expect no limits

    @gwalck @destogl
    gwalck authored and destogl committed Jul 13, 2023
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  10. Removed deceleration test (not supported)

    @gwalck @destogl
    gwalck authored and destogl committed Jul 13, 2023
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  11. Fixed negative velocity test 

    Split test for positive and negative vel
to have same initial conditions
    @gwalck @destogl
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  12. Removed brake test which cannot be triggered

    @gwalck @destogl
    gwalck authored and destogl committed Jul 13, 2023
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  13. Fixed acceleration test 

    Requires velocity to be set
    @gwalck @destogl
    gwalck authored and destogl committed Jul 13, 2023
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  14. Avoid failures due to double precision errors

    @gwalck @destogl
    gwalck authored and destogl committed Jul 13, 2023
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  15. Fixed enforce in case ruckig fails 

    desired_joint_states should not be changed if ruckig failed
    @gwalck @destogl
    gwalck authored and destogl committed Jul 13, 2023
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  16. Added and fixed tests 

    when current_state differs from configured state
enforce current_state is required to get
correct computations
    @gwalck @destogl
    gwalck authored and destogl committed Jul 13, 2023
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