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Add admittance controller with full changes overview #382

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wants to merge 99 commits into from
Closed

Add admittance controller with full changes overview #382

wants to merge 99 commits into from

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destogl
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@destogl destogl commented Jul 11, 2022

Replaces #173.

#370 should be merged into it. All changes to Joint Trajectory Controller should be moved from here.

destogl and others added 24 commits July 11, 2022 12:01
@destogl
Add shell of the controller with a test
79d5ea7
@destogl
Outline the admittance control pipeline
cf6f919 
Outline of a class for IK calculations

More outline of incremental IK

Begin hooking up with MoveIt
@destogl
Hook up with MoveIt
f3497e3
@destogl
Link against Eigen
0fc5ed7
@destogl
Do the pseudoinverse calculation
968e5db
@destogl
Set up transform buffer stuff
690562a
@destogl
Transform the incoming wrench
6ea8b76
@destogl
Correct the wrench transformation
9511ea0
@destogl
Minor renaming to be technically correct
b766b29
@destogl
Testable version of Admittance Controller. IK not yet enables, so the…
8691453 
…re is not output.
@destogl
Try to integrate IK
ea9d49e
@AndyZe @destogl
Finish the method for forward kinematics (#4)
aa42923 
* Rename incremental_ik_calculator -> incremental_kinematics

* Use Eigen double types. Rename _trafo transform variables

* Fix typo in transformation matrix

* Implement incremental forward kinematics
@destogl
Version that could work
6c07934
@destogl
Corrected subscriptions types and debugging
05a518d
@destogl
Corrected some tests and extended testing
c1d90f2
@destogl
Debugging admittance controller
a45e395
@destogl
Wait for valid wrench data
9688414
@destogl
[WIP] Debug current joint states
255e5ca
@destogl
Now output is working
b6ef47b
@destogl
Pseudoinverse method was buggy. Use a different one.
ad13200
@destogl
Admittance controller is working
749a57a
@destogl
Remove quaternion calculation because it does not work
e049593
@destogl
Corrected admittance rule
fae67c7
@destogl
Clean up unused vars and debug statements
d110623
destogl and others added 22 commits July 11, 2022 12:01
@destogl
Seems working. Neede one more round of checks.
2826ad6
@destogl
Cleaning of the not used feedforward variables.
1cfbf0c
@destogl
Change approach of calculating absolute desired pose.
a5a11fc
@destogl
Use logic to force stable behavior when no external forces are measured.
30cd6f3
@destogl
Rename the wrench variable (ik_base, not control frame)
d616f73
@destogl
Use simple forward diff formula. Delete unused vars. Set admittance v…
ec65af4 
…el to 0 in ff mode.
@destogl
Different "pose error" calculation for open-loop mode. Prevents rotat…
478a0e9 
…ion weirdness.
@destogl
Resort calculation of admittance displacement to have it in one place
1b7a679
@destogl
Do not initialize memory in update joint-deltas method. Simplify calc…
ef0cda8 
…ulation of the refrence pose from the reference deltas.
@destogl
Comment gravity comp parameter parsing, for now
3a5e111
@destogl
Delete unused EPSILON variables
62f7671
@destogl
Add admittance controller compile options
a0f275f
@destogl
Add filter_chain_ definition
726c1a7
@destogl
Add filter chain to admittance controller
400a374
@destogl
Enalbe filters by moving admittance_rule impl to a header file.
dde2cb2
@destogl
Remove protection logic since it is not needed anymore
6d67a1a
@destogl
Remove unused code
6ae99ef
@destogl
Add Admittance Controller from 79a2dfe (destogl:ros2-controllers-exte…
ef39450 
…nsion5) branch

Co-authored-by: Nathan Brooks<[email protected]>
Co-authored-by: AndyZe<[email protected]>
@destogl
Compilable with changed controllers' update() api -> against destogl:…
e1eebd9 
…admittance-controller-development branch.
@destogl
Add debuging output to the AdmittanceController to know when SRDF is …
7120817 
…not read properly.
@destogl
Update to new version of ControlParameters and add enable_paramter_up…
d29d6c2 
…date_without_reactivation parameter.
@destogl
Use updated ParameterHandler from control_toolbox.
ed51262
@destogl destogl force-pushed the add-admittance-controller branch from afe216f to ed51262 Compare July 11, 2022 10:02
@AndyZe
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AndyZe commented Jul 21, 2022

I wouldn't mind if you squash a bunch of my commits together. 99 seems excessive ;)

@destogl destogl marked this pull request as draft August 27, 2022 20:24
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destogl commented Oct 6, 2022

Closing in favor of #370

@destogl destogl closed this Oct 6, 2022
@guihomework guihomework mentioned this pull request Mar 19, 2023
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@guihomework guihomework mentioned this pull request Apr 3, 2023
Open
@destogl destogl deleted the add-admittance-controller branch July 17, 2023 17:47
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@destogl @AndyZe