Diff Bot Wheel Inertia Values #372
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(cherry picked from commit 836ec5d) Co-authored-by: Christoph Fröhlich <christophfroehlich@users.noreply.github.com>
) (cherry picked from commit a4ffefd) Co-authored-by: Christoph Fröhlich <christophfroehlich@users.noreply.github.com>
…ntrols#289) (cherry picked from commit c1beb07) Co-authored-by: Christoph Fröhlich <christophfroehlich@users.noreply.github.com>
…ls#290) (ros-controls#291) (cherry picked from commit 296e235) Co-authored-by: Sai Kishor Kothakota <saisastra3@gmail.com>
(cherry picked from commit eb60429) Co-authored-by: Reza Kermani <kermani.areza@gmail.com>
(cherry picked from commit 1c17ea2) Co-authored-by: Reza Kermani <kermani.areza@gmail.com>
…ntrols#302) (cherry picked from commit 1a69548) Co-authored-by: Christoph Fröhlich <christophfroehlich@users.noreply.github.com>
(cherry picked from commit a1ab06c) Co-authored-by: Reza Kermani <kermani.areza@gmail.com>
* [Docker] Add docker setup file and docs how to use base example with it (ros-controls#298) Co-authored-by: Christoph Froehlich <christoph.froehlich@ait.ac.at> Co-authored-by: Alex Moriarty <alex.moriarty@picknik.ai> Co-authored-by: Dr. Denis <denis@stoglrobotics.de> (cherry picked from commit a7dd59a) * Use humble instead of rolling --------- Co-authored-by: Reza Kermani <kermani.areza@gmail.com> Co-authored-by: Christoph Froehlich <christoph.froehlich@ait.ac.at>
…os-controls#320) * Example 3: remove rrbot_base launch file * Example 4: remove rrbot_base launch file * Example 5: remove rrbot_base launch file * Example 6: remove rrbot_base launch file * Example 8: remove rrbot_base launch file (cherry picked from commit fa1c2e4) Co-authored-by: Christoph Fröhlich <christophfroehlich@users.noreply.github.com>
ros-controls#321) * Install ros2_control framework from binary packages * User symlink install (cherry picked from commit 8081073) Co-authored-by: Christoph Fröhlich <christophfroehlich@users.noreply.github.com>
…tions (backport ros-controls#309) (ros-controls#322) * Move installation instructions to RST and update docker usage instructions (ros-controls#309) Co-authored-by: Reza Kermani <kermani.areza@gmail.com> (cherry picked from commit 815e05e) * Use humble instead of rolling branch in docs --------- Co-authored-by: Christoph Fröhlich <christophfroehlich@users.noreply.github.com> Co-authored-by: Christoph Froehlich <christoph.froehlich@ait.ac.at>
…ntrols#323) (ros-controls#324) Co-authored-by: Christoph Fröhlich <christophfroehlich@users.noreply.github.com> Co-authored-by: Christoph Froehlich <christoph.froehlich@ait.ac.at>
(cherry picked from commit 36b3a5f) Co-authored-by: maurice <maurice@walny.de>
ros-controls#333) This change adds an minimal example to control a custom 6 DOF robot with ros2_control. The README acts as a tutorial for intermediate ROS 2 users. --------- Co-authored-by: Christoph Froehlich <christoph.froehlich@ait.ac.at> (cherry picked from commit 09b357a) Co-authored-by: Paul Gesel <paulgesel@gmail.com>
…os-controls#335) * [Example 12] Controller chaining example (ros-controls#318) Co-authored-by: Christoph Froehlich <christoph.froehlich@ait.ac.at> (cherry picked from commit 2968016) * remove the arguments from update_reference_from_subscribers to backport to humble (ros-controls#336) --------- Co-authored-by: Sai Kishor Kothakota <sai.kishor@pal-robotics.com>
(cherry picked from commit 57a561e) Co-authored-by: Christoph Fröhlich <christophfroehlich@users.noreply.github.com>
* add a dependency; fix deprecation warning (ros-controls#305) (cherry picked from commit 71764d9) * Revert remapping --------- Co-authored-by: Reza Kermani <kermani.areza@gmail.com> Co-authored-by: Christoph Froehlich <christoph.froehlich@ait.ac.at> Co-authored-by: Christoph Fröhlich <christophfroehlich@users.noreply.github.com>
Co-authored-by: Christoph Fröhlich <christophfroehlich@users.noreply.github.com>
…) (ros-controls#346) * Use global rrbot_description in all examples * Move diffbot description to description package * Move r6bot into description package Co-authored-by: Christoph Fröhlich <christophfroehlich@users.noreply.github.com>
…#349) * Add info about ROS 2 distro (ros-controls#345) (cherry picked from commit b8dd69e) # Conflicts: # doc/index.rst * Update index.rst --------- Co-authored-by: Christoph Fröhlich <christophfroehlich@users.noreply.github.com>
(cherry picked from commit 43c9e9e) Co-authored-by: Mike Emery <emerym@canva.com>
(cherry picked from commit 35dd6af) Co-authored-by: Christoph Fröhlich <christophfroehlich@users.noreply.github.com>
(cherry picked from commit 98f88e9) Co-authored-by: Christoph Fröhlich <christophfroehlich@users.noreply.github.com>
…#361) (ros-controls#363) * [example_1/doc] Specify that step 1 is optional. Two in * [example_12/README.md] Fix wrong title in README.md --------- Co-authored-by: Olivier Stasse <olivier.stasse@laas.fr> (cherry picked from commit 40b92dd) Co-authored-by: Olivier Stasse <ostasse@laas.fr>
…ols#362) * gpio controller for single interface * Use consistent topics for gpio_controller * Add parameters for gpio_controller interface names * Add URDF checks to hw interface * Add example_10 to CI * Add readme in example folder (cherry picked from commit 60b788f) # Conflicts: # .github/workflows/ci-coverage-build.yml # .github/workflows/ci-ros-lint.yml Co-authored-by: Christoph Fröhlich <christophfroehlich@users.noreply.github.com>
* Update docker instructions * Update userdoc.rst --------- Co-authored-by: Olivier Stasse <ostasse@laas.fr> (cherry picked from commit 07a897f) Co-authored-by: Christoph Fröhlich <christophfroehlich@users.noreply.github.com>
…ontrols#334) (ros-controls#367) Co-authored-by: Denis Štogl <denis@stogl.de> Co-authored-by: Jack <jack.d.center@gmail.com> Co-authored-by: Dr. Denis <denis@stoglrobotics.de> (cherry picked from commit 90fac3d) Co-authored-by: Christoph Fröhlich <christophfroehlich@users.noreply.github.com>
(cherry picked from commit d60875d) Co-authored-by: Christoph Fröhlich <christophfroehlich@users.noreply.github.com>
…ontrols#357) (ros-controls#371) * Add mock_hardware to diffbot * Fix position_state_following_offset and description (cherry picked from commit 7a5cf6d) Co-authored-by: Christoph Fröhlich <christophfroehlich@users.noreply.github.com>
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thanks for pointing this out. please make a PR against master (this is the default procedure, see our contributing guidelines) and I'll do a backport to humble. |
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The inertia matrix of the diffbot's wheels does not satisfy the triangle inequalities: Ixx+Iyy≥Izz, Ixx+Izz≥Iyy, and Iyy+Izz≥Iyy and therefore will fail to launch in Gazebo.
These also did not match the inertia of a cylinder:
