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Add Mecanum Drive Controller #512
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Add Mecanum Drive Controller #512
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Codecov ReportAll modified and coverable lines are covered by tests ✅
Additional details and impacted files@@ Coverage Diff @@
## master #512 +/- ##
===========================================
- Coverage 71.86% 30.88% -40.98%
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Files 41 7 -34
Lines 3650 832 -2818
Branches 1794 505 -1289
===========================================
- Hits 2623 257 -2366
+ Misses 707 133 -574
- Partials 320 442 +122
Flags with carried forward coverage won't be shown. Click here to find out more. |
mecanum_drive_controller/test/test_mecanum_drive_controller.cpp
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mecanum_drive_controller/test/test_mecanum_drive_controller.cpp
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mecanum_drive_controller/test/test_mecanum_drive_controller.cpp
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mecanum_drive_controller/test/test_mecanum_drive_controller.cpp
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mecanum_drive_controller/test/test_mecanum_drive_controller.cpp
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mecanum_drive_controller/test/test_mecanum_drive_controller.cpp
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mecanum_drive_controller/test/test_mecanum_drive_controller.cpp
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mecanum_drive_controller/test/test_mecanum_drive_controller.cpp
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mecanum_drive_controller/test/test_mecanum_drive_controller.cpp
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mecanum_drive_controller/test/test_mecanum_drive_controller.cpp
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admittance_controller/include/admittance_controller/admittance_rule.hpp
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mecanum_drive_controller/test/mecanum_drive_controller_params.yaml
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This pull request is in conflict. Could you fix it @destogl? |
mecanum_drive_controller/test/test_mecanum_drive_controller.cpp
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LGTM, suggestions only for small changes like typos etc.
mecanum_drive_controller/test/test_load_mecanum_drive_controller.cpp
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This pull request is in conflict. Could you fix it @destogl? |
@luis-camero is odom frame available in your case in rviz? In my case, the odom frame is not even listed in rviz Fixed Frame dropdown menu. Could you share the controller yaml file and the URDF? |
@Pratham-Pandey, take a look at the PR I made. |
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TEST_F(MecanumDriveControllerTest, when_controller_is_configured_expect_all_parameters_set) | ||
{ | ||
SetUpController(); |
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Setting up the controller at the beginning will cause the test to fail later because the controller parameter is already configured in the function, according to my test, moving it to line 46, the test works fine.
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It looks like I opened a review by mistake, feel free to delete the review I submitted if needed!
* Add hardware interface testing dependency * Use orientation w.r.t. odom to set position
@destogl I think there were a few API breaks since those tests were written ;) |
Can this controller be used to move to a specified coordinate or do i need to implement a separate controller (for example a PID controller) to do this? |
Usually, there is some navigation task involved. See the nav2 docs, the nav2 controllers publish a stamped twist as far as I understood, which you can then feed into this ros2_controller. |
mecanum_drive_controller/test/test_load_mecanum_drive_controller.cpp
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And some more: StoglRobotics-forks#23
@destogl but when_reference_msg_received_expect_updated_commands_and_status_message
still fails
* Fix tests * Fix format
I am unable to compile it successfully. Others experiencing the same? Sequence of steps:
Error Log:
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Do you have ros2_control from jazzy or rolling? The API is not backwards compatible. |
I am running Ros2 Iron. Does ros2_control has separate version? how do i check it? |
Sure, there are different versions of ros2_control for different distros. You can compile the development version (which is rolling) from source on iron, see the docs. |
@christophfroehlich after installing ros2_control development version successfully, i re-executed the steps described above in my previous comment but the following error occurs while building. Are you able to build this PR on your machine?:
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you are right, try StoglRobotics-forks#26 |
Working 👍 |
Depends on ros-controls/control_msgs#79