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Admittance robot description param #22

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@destogl destogl commented Aug 1, 2024

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@Nibanovic Nibanovic force-pushed the admittance-robot-description-param branch from 0b25655 to fce1e28 Compare August 1, 2024 12:11
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Refactored AdmittanceControl::update() to account for either joint_state or goal_pose references.

Main changes:

  • overloaded update() function
  • separated out the common part into get_admittance_state_from_transforms, so the function is shorter
  • separated get_all_transforms() into two: get_current_state_transforms() and get_reference_state_transforms(), where the latter is overloaded accordingly, depending on input reference

Note:

Please comment on this

livanov93
livanov93 reviewed Aug 2, 2024
View reviewed changes
admittance_controller/src/admittance_controller.cpp
Comment on lines +431 to +441
/* some flag that determines whether we call the update() with goal_pose or with joint reference.
How can we know here whether the reference was updated from subscribers or from itnerfaces?

if(updated_from_subscribers)
admittance_->update(joint_state_, ft_values_, *goal_pose_msg_, period, reference_admittance_);
else
admittance_->update(joint_state_, ft_values_, reference_, period, reference_admittance_);

*/

admittance_->update(joint_state_, ft_values_, *goal_pose_msg_, period, reference_admittance_);
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@Nibanovic via parmeter maybe?

mateusmenezes95 and others added 17 commits August 5, 2024 08:45
@mateusmenezes95
Fix wrong method name in write new controller doc (ros-controls#1240)
fa301f4 
Due to ros-controls/ros2_control#1169
@bmagyar
Update changelogs
0401dd4
@bmagyar
4.12.1
298df4b
@saikishor
[Joint State Broadcaster] Publish the joint_states of joints present …
4a6456f 
…in the URDF (ros-controls#1233)
@saikishor
Fixes tests to work with use_global_arguments NodeOptions parameter (r…
4ab22a5 
…os-controls#1256)
@firesurfer
Fix segfault at reconfigure of AdmittanceController (ros-controls#1248)
31f7fbe
@christophfroehlich
Also test if python files were changed (ros-controls#1264)
cdfc0af
@bmagyar
Update changelogs
f57eedd
@bmagyar
4.13.0
20f6f0b
@TakashiSato
[JSB] Move the initialize of urdf::Model from on_activate to on_confi…
1c4d58e 
…gure to improve real-time performance (ros-controls#1269)
@mamueluth
rename get/set_state to get/set_lifecylce_state (ros-controls#1250)
ce12694
@fmrico
Fix bug for displaying all controllers (ros-controls#1259)
3be3fe9
@saikishor
[PID Controller] Export state interfaces for easier chaining with oth…
a7b2af5 
…er controllers (ros-controls#1214)
@github-actions @christophfroehlich
Bump version of pre-commit hooks (ros-controls#1279)
c08bdab 
Co-authored-by: christophfroehlich <3367244+christophfroehlich@users.noreply.github.com>
@kumar-sanjeeev
Fix deprecation warning in paramater declaration (ros-controls#1280)
48a7f8b
@reinzor
fix(steering-odometry): handle infinite turning radius properly (ros-…
1dc3d2a 
…controls#1285)
@bmagyar
Update changelogs
75ae6c9
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This PR is stale because it has been open for 45 days with no activity. Please tag a maintainer for help on completing this PR, or close it if you think it has become obsolete.

@github-actions github-actions bot added the stale label Apr 15, 2025
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mergify bot commented Apr 15, 2025

This pull request is in conflict. Could you fix it @destogl?

@github-actions github-actions bot removed the stale label Apr 16, 2025
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github-actions bot commented Jun 2, 2025

This PR is stale because it has been open for 45 days with no activity. Please tag a maintainer for help on completing this PR, or close it if you think it has become obsolete.

@github-actions github-actions bot added the stale label Jun 2, 2025
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