Code

Add simple joint limiter#11

Code

Open

saikishor wants to merge 49 commits intomasterpal-robotics-forks/ros2_control:masterfrom add-simple-joint-limiterpal-robotics-forks/ros2_control:add-simple-joint-limiterCopy head branch name to clipboard

+2,001-13

Commits

Commits on May 6, 2024

• Added controller parameters structures and movement interfaces.

  

  destogl

  authored and

  saikishor

  committed
  86946a9

• Added joint limiter plugins.

  Show description for f68aa77
  

  destogl

  authored and

  saikishor

  committed
  f68aa77

• Debug Ruckig JointLimiter.

  Show description for 33668e7
  

  destogl

  authored and

  saikishor

  committed
  33668e7

• Modify simple joint limiting plugin (same as changes to moveit2 filter) (#6)

  Show description for 6134c08
  

  3 peopleauthored and

  saikishor

  committed
  6134c08

• Remove all Ruckig-limiter files.

  

  destogl

  authored and

  saikishor

  committed
  688735a

• Apply suggestions from code review

  

  destogl

  authored and

  saikishor

  committed
  cf845f4

• Remove definition of movement interface because the concept is not used yet.

  Show description for 4e5fbe1
  

  destogl

  authored and

  saikishor

  committed
  4e5fbe1

• Polish out some stuff using "GH Programming"

  Show description for bd30195
  

  2 peopleauthored and

  saikishor

  committed
  bd30195

• Polish out some stuff using "GH Programming"

  

  destogl

  authored and

  saikishor

  committed
  7ffb7a8

• Add SimpleJointLimiter as plugin into controllers.

  

  destogl

  authored and

  saikishor

  committed
  f608096

• Version with deceleration for simple joint limiter.

  

  destogl

  authored and

  saikishor

  committed
  c0ece08

• Formatting and comment to check.

  

  destogl

  authored and

  saikishor

  committed
  ddd0229

• Added test of joint_limiter

  

  gwalck

  authored and

  saikishor

  committed
  d5bd3ef

• Fixed deceleration limit application

  

  gwalck

  authored and

  saikishor

  committed
  669d4d8

• Updated authorship

  Show description for 764248e
  

  2 peopleauthored and

  saikishor

  committed
  764248e

• Split test, apply review changes, add future tests

  

  gwalck

  authored and

  saikishor

  committed
  ea80bba

• Applied review comment, added 2 tests & fixed typo

  

  gwalck

  authored and

  saikishor

  committed
  5614c06

• Improved close to limit trigger

  

  gwalck

  authored and

  saikishor

  committed
  c8112bd

• Update joint_limits/src/simple_joint_limiter.cpp

  

  destogl

  authored and

  saikishor

  committed
  0380d9a

• Fix formatting.

  

  destogl

  authored and

  saikishor

  committed
  fe36422

• Added temporary pseudo-code

  

  gwalck

  authored and

  saikishor

  committed
  de49d21

• Updated pseudo-code

  

  gwalck

  authored and

  saikishor

  committed
  f848b07

• Refactored to match pseudo-code

  

  gwalck

  authored and

  saikishor

  committed
  53abd47

• Adapted tests

  Show description for c70b629
  

  gwalck

  authored and

  saikishor

  committed
  c70b629

• lint

  

  gwalck

  authored and

  saikishor

  committed
  774d98c

• Cleanup debug helpers

  

  gwalck

  authored and

  saikishor

  committed
  bcd0826

• Removed pseudo-code

  

  gwalck

  authored and

  saikishor

  committed
  e5da64a

• Apply suggestions from code review

  Show description for 684a98e
  

  3 peoplecommitted
  684a98e

• Apply suggestions from code review

  

  destogl

  authored and

  saikishor

  committed
  53d3563

• Unify how joints were limits are reached are stored.

  

  destogl

  authored and

  saikishor

  committed
  41be289

• Fix formatting.

  

  destogl

  authored and

  saikishor

  committed
  aa3a1b0

• Fix unstable limiter because velocity is caculated from position when position limit it not used.

  

  destogl

  authored and

  saikishor

  committed
  20ffd64

• fix formatting.

  

  destogl

  authored and

  saikishor

  committed
  9f15406

• Fix unstable limiter because velocity is caculated from position when position limit it not used.

  

  destogl

  authored and

  saikishor

  committed
  ff5042d

• Make acceleration more stable in limiter.

  

  destogl

  authored and

  saikishor

  committed
  b6f3776

• Enable dynamic update of limits from parameters.

  

  destogl

  authored and

  saikishor

  committed
  9b34d8f

• Fix formatting.

  

  destogl

  authored and

  saikishor

  committed
  d17cf9b

• Debug position limiting in the simiple joint limiter.

  

  destogl

  authored and

  saikishor

  committed
  4c321f2

• Update tests after changes.

  

  destogl

  authored and

  saikishor

  committed
  08c8f23

• Fixup shadowing variable.

  

  destogl

  authored and

  saikishor

  committed
  f90149c

• rename to JointSaturationLimiter

  

  mamueluth

  authored and

  saikishor

  committed
  2b88c27

• rename files as well

  

  mamueluth

  authored and

  saikishor

  committed
  5d933c0

• add effort limits

  

  mamueluth

  authored and

  saikishor

  committed
  aa0aaeb

• if move limit efforts to seperate function

  

  mamueluth

  authored and

  saikishor

  committed
  a27432a

• add generic enforce method

  

  mamueluth

  authored and

  saikishor

  committed
  4f2645c

• Interface cleanup and small optimizations from reviewers' comments.

  

  destogl

  authored and

  saikishor

  committed
  64d0bbc

• Small fixes of calculation when differnet set of inputs are provided.

  

  destogl

  authored and

  saikishor

  committed
  b5683c1

• removed the joint_limits_interface after rebasing

  saikishor

  committed
  3b3dcb3

• remove the new line

  saikishor

  committed
  31e34d3