|
Package Summary
Tags | No category tags. |
Version | 2.34.0 |
License | Apache License 2.0 |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/ros-controls/ros2_controllers.git |
VCS Type | git |
VCS Version | humble |
Last Updated | 2024-05-08 |
Dev Status | DEVELOPED |
CI status | No Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Bence Magyar
- Dr. Denis Štogl
- Christoph Froehlich
Authors
joint_trajectory_controllers package
The package implements controllers to interpolate joint's trajectory.
For detailed documentation check the docs
folder or ros2_control documentation.
Changelog for package joint_trajectory_controller
2.34.0 (2024-04-01)
- Remove action_msg dependency (#1077) (#1080)
- [JTC] Angle wraparound for first segment of trajectory (#796) (#1033)
- Bump version of pre-commit hooks (#1073) (#1074)
- Let sphinx add parameter description with nested structures to documentation (backport #652) (#1005)
- Contributors: mergify[bot]
2.33.0 (2024-02-12)
- Fix usage of M_PI on Windows (#1036) (#1037)
- Add test_depend on [hardware_interface_testing]{.title-ref} (backport #1018) (#1019)
- Add tests for [interface_configuration_type]{.title-ref} consistently (#899) (#1011)
- [JTC] Fill action error_strings (#887) (#1009)
- [JTC] Invalidate empty trajectory messages (#902) (#1000)
- Revert \"[JTC] Remove read_only from \'joints\', \'state_interfaces\' and \'command_interfaces\' parameters (#967)\" (#978) (#986)
- Contributors: mergify[bot]
2.32.0 (2024-01-20)
- Cleanup package.xml und clarify tests of JTC. (backport #889) (#924)
- [JTC] Remove deprecation from parameters validation file. (#476) (#926)
- [JTC] Cancel goal in on_deactivate (#962) (#970)
- Contributors: mergify[bot]
2.31.0 (2024-01-11)
- [JTC] Remove read_only from \'joints\', \'state_interfaces\' and \'command_interfaces\' parameters (#967) (#968)
- [JTC] Add console output for tolerance checks (backport #932) (#938)
- [JTC] Cleanup includes (#943) (#959)
- Fix whitespace
- Add rqt_JTC to docs (#950) (#952)
- Contributors: Bence Magyar, mergify[bot]
2.30.0 (2023-12-20)
- Fix floating point comparison in JTC (backport #879)
- [JTC] Continue with last trajectory-point on success (backport #842)
- [JTC] Remove start_with_holding option (backport #839)
- [JTC] Activate checks for parameter validation backport (#857)
- [JTC] Improve update methods for tests (backport #858)
- [JTC] Fix dynamic reconfigure of tolerances (backport #849)
- [JTC] Remove unused home pose (backport #845)
- [JTC] Activate update of dynamic parameters (backport #761)
- [JTC] Fix tests when state offset is used (backport #797)
- Rename wraparound class variables (backport #834)
- Update requirements of state interfaces (backport #798)
- [JTC] Fix typos, implicit cast, const member functions (backport #748)
- Cleanup comments and unnecessary checks (backport #803)
- [JTC] Add tests for acceleration command interface (backport #752)
- [Docs] Improve interface description of JTC (backport #770)
- [JTC] Add time-out for trajectory interfaces (backport #609)
- [JTC] Fix hold position mode with goal_time>0 (backport #758)
- [JTC] Add note on goal_time=0 in docs (backport #773)
- [JTC] Make most parameters read-only (backport #771)
- [JTC] Tolerance tests + Hold on time violation (backport #613)
- [JTC] Explicitly set hold position (backport #558)
- [Doc] Fix links (backport #715)
- Contributors: Christoph Fr
Wiki Tutorials
Source Tutorials
Package Dependencies
System Dependencies
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Recent questions tagged joint_trajectory_controller at Robotics Stack Exchange
|
Package Summary
Tags | No category tags. |
Version | 3.23.0 |
License | Apache License 2.0 |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/ros-controls/ros2_controllers.git |
VCS Type | git |
VCS Version | iron |
Last Updated | 2024-05-09 |
Dev Status | DEVELOPED |
CI status | No Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Bence Magyar
- Dr. Denis Štogl
- Christoph Froehlich
Authors
joint_trajectory_controllers package
The package implements controllers to interpolate joint's trajectory.
For detailed documentation check the docs
folder or ros2_control documentation.
Changelog for package joint_trajectory_controller
3.23.0 (2024-04-30)
- [JTC] Remove unused test code (#1095) (#1097)
- Remove action_msg dependency (#1077) (#1081)
- Deprecate start with holding (#1076)
- [JTC] Convert lambda to class functions (backport #945) (#1015)
- [JTC] Continue with last trajectory-point on success (#842) (#877)
- Bump version of pre-commit hooks (#1073) (#1075)
- [JTC] Angle wraparound for first segment of trajectory (#796) (#1034)
- Contributors: Christoph Fr
Wiki Tutorials
Source Tutorials
Package Dependencies
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged joint_trajectory_controller at Robotics Stack Exchange
|
Package Summary
Tags | No category tags. |
Version | 4.7.0 |
License | Apache License 2.0 |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/ros-controls/ros2_controllers.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2024-05-09 |
Dev Status | DEVELOPED |
CI status | No Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Bence Magyar
- Dr. Denis Štogl
- Christoph Froehlich
Authors
joint_trajectory_controllers package
The package implements controllers to interpolate joint's trajectory.
For detailed documentation check the docs
folder or ros2_control documentation.
Wiki Tutorials
Source Tutorials
Package Dependencies
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged joint_trajectory_controller at Robotics Stack Exchange
|
Package Summary
Tags | No category tags. |
Version | 0.21.2 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/ros-controls/ros_controllers.git |
VCS Type | git |
VCS Version | noetic-devel |
Last Updated | 2024-03-01 |
Dev Status | MAINTAINED |
CI status |
|
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Bence Magyar
- Mathias Lüdtke
- Enrique Fernandez
Authors
- Adolfo Rodriguez Tsouroukdissian
Joint Trajectory Controller
Controller for executing joint-space trajectories on a group of joints.
Detailed user documentation can be found in the controller's ROS wiki page.
Changelog for package joint_trajectory_controller
0.21.2 (2023-09-03)
0.21.1 (2023-01-31)
- Don\'t hardcode plugin library path
- Contributors: Jochen Sprickerhof
0.21.0 (2022-10-21)
- std::bind and placeholders instead of boost
- Contributors: Lucas Walter
0.20.0 (2022-05-06)
- Fix joint trajectory controller so results message is returned on tolerance failures
- added description for joint trajectory controller path/goal tolerance violation to action result, include which joint violated tolerance and by how much
- I think this was responsible for at least some std::runtime_errors Duration is out of dual 32-bit range that came from initializing a ros::Duration with an uninitialized double
- Drop old C++ standard
- Use new boost bind placeholders
- Add <?xml version=1.0?> to every .launch and .test file
- Contributors: Jochen Sprickerhof, Levi Armstrong, Lucas Walter, grejj
0.19.0 (2021-06-13)
- Set time_from_start for state error too
- joint_trajectory_controller: add time_from_start feedback
- Contributors: Alexander R
Wiki Tutorials
Source Tutorials
Package Dependencies
System Dependencies
Name |
---|
boost |
Dependant Packages
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Plugins
Recent questions tagged joint_trajectory_controller at Robotics Stack Exchange
|
Package Summary
Tags | No category tags. |
Version | 1.5.1 |
License | Apache License 2.0 |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/ros-controls/ros2_controllers.git |
VCS Type | git |
VCS Version | galactic |
Last Updated | 2023-06-11 |
Dev Status | DEVELOPED |
CI status | No Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Bence Magyar
- Jordan Palacios
- Karsten Knese
Authors
joint_trajectory_controllers package
The package implements controllers to interpolate joint's trajectory.
For detailed documentation check the docs
folder or ros2_control documentation.
Changelog for package joint_trajectory_controller
1.5.1 (2022-09-23)
[backport] Fix for high CPU usage by JTC in gzserver (#428) (#437) * Change type cast wall timer period from second to nanoseconds. create_wall_timer() expects delay in nanoseconds (duration object) however the type cast to seconds will result in 0 (if duration is less than 1s) and thus causing timer to be fired non stop resulting in very high CPU usage. * Reset smartpointer so that create_wall_timer() call can destroy previous trajectory timer. node->create_wall_timer() first removes timers associated with expired smartpointers before servicing current request. The JTC timer pointer gets overwrite only after the create_wall_timer() returns and thus not able to remove previous trajectory timer resulting in upto two timers running for JTC during trajectory execution. Althougth the previous timer does nothing but still get fired.
Contributors: Arshad Mehmood
1.5.0 (2022-08-03)
1.4.0 (2022-02-23)
1.3.0 (2022-01-11)
1.2.0 (2021-12-29)
1.1.0 (2021-10-25)
- Move interface sorting into ControllerInterface (#259)
- Revise for-loop style (#254)
- Contributors: bailaC
1.0.0 (2021-09-29)
Wiki Tutorials
Source Tutorials
Package Dependencies
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged joint_trajectory_controller at Robotics Stack Exchange
|
Package Summary
Tags | No category tags. |
Version | 0.9.0 |
License | Apache License 2.0 |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/ros-controls/ros2_controllers.git |
VCS Type | git |
VCS Version | foxy |
Last Updated | 2023-06-11 |
Dev Status | DEVELOPED |
CI status | No Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Bence Magyar
- Jordan Palacios
- Karsten Knese
Authors
joint_trajectory_controllers package
The package implements controllers to interpolate joint's trajectory.
For detailed documentation check the docs
folder or ros2_control documentation.
Changelog for package joint_trajectory_controller
0.9.0 (2023-03-07)
0.8.2 (2022-09-22)
[backport] Fix for high CPU usage by JTC in gzserver (#428) (#436) * Change type cast wall timer period from second to nanoseconds. create_wall_timer() expects delay in nanoseconds (duration object) however the type cast to seconds will result in 0 (if duration is less than 1s) and thus causing timer to be fired non stop resulting in very high CPU usage. * Reset smartpointer so that create_wall_timer() call can destroy previous trajectory timer. node->create_wall_timer() first removes timers associated with expired smartpointers before servicing current request. The JTC timer pointer gets overwrite only after the create_wall_timer() returns and thus not able to remove previous trajectory timer resulting in upto two timers running for JTC during trajectory execution. Althougth the previous timer does nothing but still get fired.
Contributors: Arshad Mehmood
0.8.1 (2022-08-03)
0.8.0 (2022-05-31)
0.7.0 (2022-01-24)
0.6.0 (2022-01-11)
0.5.1 (2021-10-25)
0.5.0 (2021-08-30)
- Add auto declaration of parameters. (#224)
- Bring precommit config up to speed with ros2_control (#227)
- Add initial pre-commit setup. (#220)
- Enable JTC for hardware having offset from state measurements
(#189)
- Avoid \"jumps\" with states that have tracking error. All test are passing but separatelly. Is there some kind of timeout?
- Remove allow_integration_flag
- Add reading from command interfaces when restarting controller
- Reduce docs warnings and correct adding guidelines (#219)
- Contributors: Bence Magyar, Denis
Wiki Tutorials
Source Tutorials
Package Dependencies
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged joint_trajectory_controller at Robotics Stack Exchange
|
Package Summary
Tags | No category tags. |
Version | 0.13.6 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/ros-controls/ros_controllers.git |
VCS Type | git |
VCS Version | kinetic-devel |
Last Updated | 2020-04-17 |
Dev Status | MAINTAINED |
CI status | Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Adolfo Rodriguez Tsouroukdissian
- Bence Magyar
- Enrique Fernandez
Authors
- Adolfo Rodriguez Tsouroukdissian
Joint Trajectory Controller
Controller for executing joint-space trajectories on a group of joints.
Detailed user documentation can be found in the controller's ROS wiki page.
Changelog for package joint_trajectory_controller
0.13.6 (2020-01-12)
- Cherry pick nullptr fix
- correctly parse joint trajectory options
- Backport nullptr check
- Print error messages for all exceptions
- Contributors: Bence Magyar, Karsten Knese, Ian Frosst
0.13.5 (2019-02-09)
- Report errors in updateTrajectoryCommand back though action result error_string
- Remove redundant warning messages
- Return error string when failing to initialize trajectory from message
- don\'t print warning about dropped first point (#366)
- Contributors: Mathias L
Wiki Tutorials
Source Tutorials
Package Dependencies
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged joint_trajectory_controller at Robotics Stack Exchange
|
Package Summary
Tags | No category tags. |
Version | 0.10.0 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/ros-controls/ros_controllers.git |
VCS Type | git |
VCS Version | jade-devel |
Last Updated | 2016-08-10 |
Dev Status | MAINTAINED |
CI status | Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Adolfo Rodriguez Tsouroukdissian
Authors
- Adolfo Rodriguez Tsouroukdissian
Joint Trajectory Controller
Controller for executing joint-space trajectories on a group of joints.
Detailed user documentation can be found in the controller's ROS wiki page.
Changelog for package joint_trajectory_controller
0.10.0 (2015-11-20)
- Add joint limits spec to rrbot test robot
- Address -Wunused-parameter warnings
- Reset to semantic zero in HardwareInterfaceAdapter for PositionJointInterface
- Contributors: Adolfo Rodriguez Tsouroukdissian, ipa-fxm
0.9.2 (2015-05-04)
0.9.1 (2014-11-03)
0.9.0 (2014-10-31)
- Check that waypoint times are strictly increasing before accepting a command
- velocity_controllers::JointTrajectoryController: New plugin variant for velocity-controlled joints
- Buildsystem fixes
- Contributors: Adolfo Rodriguez Tsouroukdissian, Lukas Bulwahn, ipa-fxm, Dave Coleman
0.8.1 (2014-07-11)
- joint_trajectory_controller: Critical targets declared before calling catkin_package
- check for CATKIN_ENABLE_TESTING
- Contributors: Jonathan Bohren, Lukas Bulwahn
0.8.0 (2014-05-12)
- Remove rosbuild artifacts. Fix #90.
- Contributors: Adolfo Rodriguez Tsouroukdissian
0.7.2 (2014-04-01)
0.7.1 (2014-03-31)
0.7.0 (2014-03-28)
- Add support for an joint interfaces are not inherited from JointHandle.
- Contributors: Igorec
0.6.0 (2014-02-05)
- Merge pull request #72 from pal-robotics/minor-maintenance Minor maintenance
- Default stop_trajectory_duration to zero. Refs #73
- Better logs when dropping traj points. Refs #68.
- Fix class member reorder warning in constructor.
- Add missing headers to target files.
- Action interface rejects empty goals. Fixes #70.
- Reorder how time and traj data are updated. In the update method, fetching the currently executed trajectory should be done before updating the time data to prevent a potential scenario in which there is no trajectory defined for the current control cycle.
- Work tolerance checking methods. Until now we used the currently active goal handle for performing tolerance checks. Using the goal handle stored in segments is more robust to unexpected goal updates by the non-rt thread.
Refactor how the currrent trajectory is stored. - Handle concurrency in the current trajectory between rt and non-rt threads using the simpler RealtimeBox instead of the RealtimeBuffer, because our usecase does not fit well the non-rt->writes / rt->reads semantics. - As a consequence we no longer need to store the msg_trajectory member, but only the hold_trajectory, which must still be preallocated.
Honor unspecified vel/acc in ROS message. Fix #65.
Fixes per Adolfo
Added verbose flag
Fixing realtime issues
Merge branch \'hydro-devel\' into joint_trajectory_tweaks
Tweaked error messages
Added more debug info
Fix for microsecond delay that caused header time=0 (now) to start too late
Reworded debug message
Image update.
Update README.md Factor out user documentation to the ROS wiki.
Merge branch \'hydro-devel\' of https://github.com/willowgarage/ros_controllers into hydro-devel
-
Rename hold_trajectory_duration
- hold_trajectory_duration -> stop_trajectory_duration for more clarity.
- During Hydro, hold_trajectory_duration will still work, giving a deprecation warning.
Add basic description in package.xml.
Add images used in the ROS wiki doc.
Added better debug info
Throttled debug output
Added more debug and error information
Contributors: Adolfo Rodriguez Tsouroukdissian, Dave Coleman
0.5.4 (2013-09-30)
- Added install rules for plugin.xml
- Remove PID sign flip. This is now done in the state error computation.
- Merge pull request #45 from ros-controls/effort_fixes Added check for ~/robot_description and fixed hardware interface abstraction bug
- Flip state error sign.
- PID sign was wrong
- Added check for ~/robot_description and fixed hardware interface abstraction bug
- Update README.md
- Create README.md
- Fix license header string for some files.
- Less verbose init logging. Statement detailing controller joint count, as well as segment and hardware interface types moved from INFO to DEBUG severity.
0.5.3 (2013-09-04)
- joint_trajectory_controller: New package implementing a controller
for executing joint-space trajectories on a set of joints.
- ROS API
- Commands: FollowJointTrajectory action and trajectory_msgs::JointTrajectory topic.
- Current controller state is available in a control_msgs::JointTrajectoryControllerState topic.
- Controller state at any future time can be queried through a control_msgs::JointTrajectoryControllerState service.
- Trajectory segment type
- Controller is templated on the segment type.
- Multi-dof quintic spline segment implementation provided by default.
- Hardware interface type
- Controller is templated on the hardware interface type.
- Position and effort control joint interfaces provided by default.
- Other
- Realtime-safe.
- Proper handling of wrapping (continuous) joints.
- Discontinuous system clock changes do not cause discontinuities in the execution of already queued trajectory segments.
- ROS API
Wiki Tutorials
Source Tutorials
Package Dependencies
System Dependencies
Launch files
Messages
Services
Plugins
Recent questions tagged joint_trajectory_controller at Robotics Stack Exchange
|
Package Summary
Tags | No category tags. |
Version | 0.9.4 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/ros-controls/ros_controllers.git |
VCS Type | git |
VCS Version | indigo-devel |
Last Updated | 2017-07-01 |
Dev Status | MAINTAINED |
CI status | Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Adolfo Rodriguez Tsouroukdissian
Authors
- Adolfo Rodriguez Tsouroukdissian
Joint Trajectory Controller
Controller for executing joint-space trajectories on a group of joints.
Detailed user documentation can be found in the controller's ROS wiki page.
Changelog for package joint_trajectory_controller
0.9.4 (2017-07-01)
- Fix for issue #275 (State error calculation not accounting for wrapping joint positions)
- Contributors: bponsler
0.9.3 (2016-02-12)
- Add joint limits spec to rrbot test robot
- Address -Wunused-parameter warnings
- reset to semantic zero in HardwareInterfaceAdapter for PositionJointInterface
- Contributors: Adolfo Rodriguez Tsouroukdissian, ipa-fxm
0.9.2 (2015-05-04)
0.9.1 (2014-11-03)
0.9.0 (2014-10-31)
- Check that waypoint times are strictly increasing before accepting a command
- velocity_controllers::JointTrajectoryController: New plugin variant for velocity-controlled joints
- Buildsystem fixes
- Contributors: Adolfo Rodriguez Tsouroukdissian, Lukas Bulwahn, ipa-fxm, Dave Coleman
0.8.1 (2014-07-11)
- joint_trajectory_controller: Critical targets declared before calling catkin_package
- check for CATKIN_ENABLE_TESTING
- Contributors: Jonathan Bohren, Lukas Bulwahn
0.8.0 (2014-05-12)
- Remove rosbuild artifacts. Fix #90.
- Contributors: Adolfo Rodriguez Tsouroukdissian
0.7.2 (2014-04-01)
0.7.1 (2014-03-31)
0.7.0 (2014-03-28)
- Add support for an joint interfaces are not inherited from JointHandle.
- Contributors: Igorec
0.6.0 (2014-02-05)
- Merge pull request #72 from pal-robotics/minor-maintenance Minor maintenance
- Default stop_trajectory_duration to zero. Refs #73
- Better logs when dropping traj points. Refs #68.
- Fix class member reorder warning in constructor.
- Add missing headers to target files.
- Action interface rejects empty goals. Fixes #70.
- Reorder how time and traj data are updated. In the update method, fetching the currently executed trajectory should be done before updating the time data to prevent a potential scenario in which there is no trajectory defined for the current control cycle.
- Work tolerance checking methods. Until now we used the currently active goal handle for performing tolerance checks. Using the goal handle stored in segments is more robust to unexpected goal updates by the non-rt thread.
Refactor how the currrent trajectory is stored. - Handle concurrency in the current trajectory between rt and non-rt threads using the simpler RealtimeBox instead of the RealtimeBuffer, because our usecase does not fit well the non-rt->writes / rt->reads semantics. - As a consequence we no longer need to store the msg_trajectory member, but only the hold_trajectory, which must still be preallocated.
Honor unspecified vel/acc in ROS message. Fix #65.
Fixes per Adolfo
Added verbose flag
Fixing realtime issues
Merge branch \'hydro-devel\' into joint_trajectory_tweaks
Tweaked error messages
Added more debug info
Fix for microsecond delay that caused header time=0 (now) to start too late
Reworded debug message
Image update.
Update README.md Factor out user documentation to the ROS wiki.
Merge branch \'hydro-devel\' of https://github.com/willowgarage/ros_controllers into hydro-devel
-
Rename hold_trajectory_duration
- hold_trajectory_duration -> stop_trajectory_duration for more clarity.
- During Hydro, hold_trajectory_duration will still work, giving a deprecation warning.
Add basic description in package.xml.
Add images used in the ROS wiki doc.
Added better debug info
Throttled debug output
Added more debug and error information
Contributors: Adolfo Rodriguez Tsouroukdissian, Dave Coleman
0.5.4 (2013-09-30)
- Added install rules for plugin.xml
- Remove PID sign flip. This is now done in the state error computation.
- Merge pull request #45 from ros-controls/effort_fixes Added check for ~/robot_description and fixed hardware interface abstraction bug
- Flip state error sign.
- PID sign was wrong
- Added check for ~/robot_description and fixed hardware interface abstraction bug
- Update README.md
- Create README.md
- Fix license header string for some files.
- Less verbose init logging. Statement detailing controller joint count, as well as segment and hardware interface types moved from INFO to DEBUG severity.
0.5.3 (2013-09-04)
- joint_trajectory_controller: New package implementing a controller
for executing joint-space trajectories on a set of joints.
- ROS API
- Commands: FollowJointTrajectory action and trajectory_msgs::JointTrajectory topic.
- Current controller state is available in a control_msgs::JointTrajectoryControllerState topic.
- Controller state at any future time can be queried through a control_msgs::JointTrajectoryControllerState service.
- Trajectory segment type
- Controller is templated on the segment type.
- Multi-dof quintic spline segment implementation provided by default.
- Hardware interface type
- Controller is templated on the hardware interface type.
- Position and effort control joint interfaces provided by default.
- Other
- Realtime-safe.
- Proper handling of wrapping (continuous) joints.
- Discontinuous system clock changes do not cause discontinuities in the execution of already queued trajectory segments.
- ROS API
Wiki Tutorials
Source Tutorials
Package Dependencies
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged joint_trajectory_controller at Robotics Stack Exchange
|
Package Summary
Tags | No category tags. |
Version | 0.7.3 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/ros-controls/ros_controllers.git |
VCS Type | git |
VCS Version | hydro-devel |
Last Updated | 2014-10-28 |
Dev Status | MAINTAINED |
CI status | Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Adolfo Rodriguez Tsouroukdissian
Authors
- Adolfo Rodriguez Tsouroukdissian
Joint Trajectory Controller
Controller for executing joint-space trajectories on a group of joints.
Detailed user documentation can be found in the controller's ROS wiki page.
Changelog for package joint_trajectory_controller
0.7.3 (2014-10-28)
- Check that waypoint times are strictly increasing
- Add trajectory_interface headers to install target
- CMake logic cleanup
- Contributors: Adolfo Rodriguez Tsouroukdissian, Lukas Bulwahn
0.7.2 (2014-04-01)
0.7.1 (2014-03-31)
0.7.0 (2014-03-28)
- Add support for an joint interfaces are not inherited from JointHandle.
- Contributors: Igorec
0.6.0 (2014-02-05)
- Merge pull request #72 from pal-robotics/minor-maintenance Minor maintenance
- Default stop_trajectory_duration to zero. Refs #73
- Better logs when dropping traj points. Refs #68.
- Fix class member reorder warning in constructor.
- Add missing headers to target files.
- Action interface rejects empty goals. Fixes #70.
- Reorder how time and traj data are updated. In the update method, fetching the currently executed trajectory should be done before updating the time data to prevent a potential scenario in which there is no trajectory defined for the current control cycle.
- Work tolerance checking methods. Until now we used the currently active goal handle for performing tolerance checks. Using the goal handle stored in segments is more robust to unexpected goal updates by the non-rt thread.
Refactor how the currrent trajectory is stored. - Handle concurrency in the current trajectory between rt and non-rt threads using the simpler RealtimeBox instead of the RealtimeBuffer, because our usecase does not fit well the non-rt->writes / rt->reads semantics. - As a consequence we no longer need to store the msg_trajectory member, but only the hold_trajectory, which must still be preallocated.
Honor unspecified vel/acc in ROS message. Fix #65.
Fixes per Adolfo
Added verbose flag
Fixing realtime issues
Merge branch \'hydro-devel\' into joint_trajectory_tweaks
Tweaked error messages
Added more debug info
Fix for microsecond delay that caused header time=0 (now) to start too late
Reworded debug message
Image update.
Update README.md Factor out user documentation to the ROS wiki.
Merge branch \'hydro-devel\' of https://github.com/willowgarage/ros_controllers into hydro-devel
-
Rename hold_trajectory_duration
- hold_trajectory_duration -> stop_trajectory_duration for more clarity.
- During Hydro, hold_trajectory_duration will still work, giving a deprecation warning.
Add basic description in package.xml.
Add images used in the ROS wiki doc.
Added better debug info
Throttled debug output
Added more debug and error information
Contributors: Adolfo Rodriguez Tsouroukdissian, Dave Coleman
0.5.4 (2013-09-30)
- Added install rules for plugin.xml
- Remove PID sign flip. This is now done in the state error computation.
- Merge pull request #45 from ros-controls/effort_fixes Added check for ~/robot_description and fixed hardware interface abstraction bug
- Flip state error sign.
- PID sign was wrong
- Added check for ~/robot_description and fixed hardware interface abstraction bug
- Update README.md
- Create README.md
- Fix license header string for some files.
- Less verbose init logging. Statement detailing controller joint count, as well as segment and hardware interface types moved from INFO to DEBUG severity.
0.5.3 (2013-09-04)
- joint_trajectory_controller: New package implementing a controller
for executing joint-space trajectories on a set of joints.
- ROS API
- Commands: FollowJointTrajectory action and trajectory_msgs::JointTrajectory topic.
- Current controller state is available in a control_msgs::JointTrajectoryControllerState topic.
- Controller state at any future time can be queried through a control_msgs::JointTrajectoryControllerState service.
- Trajectory segment type
- Controller is templated on the segment type.
- Multi-dof quintic spline segment implementation provided by default.
- Hardware interface type
- Controller is templated on the hardware interface type.
- Position and effort control joint interfaces provided by default.
- Other
- Realtime-safe.
- Proper handling of wrapping (continuous) joints.
- Discontinuous system clock changes do not cause discontinuities in the execution of already queued trajectory segments.
- ROS API
Wiki Tutorials
Source Tutorials
Package Dependencies
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged joint_trajectory_controller at Robotics Stack Exchange
|
Package Summary
Tags | No category tags. |
Version | 0.13.6 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/ros-controls/ros_controllers.git |
VCS Type | git |
VCS Version | kinetic-devel |
Last Updated | 2020-04-17 |
Dev Status | MAINTAINED |
CI status | Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Adolfo Rodriguez Tsouroukdissian
- Bence Magyar
- Enrique Fernandez
Authors
- Adolfo Rodriguez Tsouroukdissian
Joint Trajectory Controller
Controller for executing joint-space trajectories on a group of joints.
Detailed user documentation can be found in the controller's ROS wiki page.
Changelog for package joint_trajectory_controller
0.13.6 (2020-01-12)
- Cherry pick nullptr fix
- correctly parse joint trajectory options
- Backport nullptr check
- Print error messages for all exceptions
- Contributors: Bence Magyar, Karsten Knese, Ian Frosst
0.13.5 (2019-02-09)
- Report errors in updateTrajectoryCommand back though action result error_string
- Remove redundant warning messages
- Return error string when failing to initialize trajectory from message
- don\'t print warning about dropped first point (#366)
- Contributors: Mathias L
Wiki Tutorials
Source Tutorials
Package Dependencies
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged joint_trajectory_controller at Robotics Stack Exchange
|
Package Summary
Tags | No category tags. |
Version | 0.17.3 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/ros-controls/ros_controllers.git |
VCS Type | git |
VCS Version | melodic-devel |
Last Updated | 2023-11-13 |
Dev Status | MAINTAINED |
CI status |
|
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Bence Magyar
- Mathias Lüdtke
- Enrique Fernandez
Authors
- Adolfo Rodriguez Tsouroukdissian
Joint Trajectory Controller
Controller for executing joint-space trajectories on a group of joints.
Detailed user documentation can be found in the controller's ROS wiki page.
Changelog for package joint_trajectory_controller
0.17.3 (2023-01-31)
0.17.2 (2021-01-20)
- JointTrajectoryController: Fix tolerance checking to use state error... ...from the correct joints This fix was already applied to noetic-devel branch. ef2272de81bffe4b1e4a7fc3dc59d4f4c3e6cdb8
- Contributors: Dean Reading
0.17.1 (2020-12-05)
- Fix missing virtual destructor
- Contributors: Tyler Weaver
0.17.0 (2020-05-12)
- Add extension point in update function to allow derived classes to perform e.g. additional checks.
- The stop- and hold-trajectory creation is moved into separate classes, to allow derived classes to re-use the stop- and hold-trajectory creation code.
- The old desired state and the old time data are now also stored, to allow derived classes to perfrom more comprehensive checks, etc.
- Contributors: Pilz GmbH and Co. KG, Bence Magyar
0.16.1 (2020-04-27)
0.16.0 (2020-04-16)
- Bump CMake version to prevent CMP0048
- Add #pragma once to new joint_trajectory_controller test
- Replace header guard with #pragma once
- Modernize xacro
- Remove \'--inorder\'
- Use \'xacro\' over \'xacro.py\'
- Add code_coverage target to CMakeLists.txt
- Contributors: Bence Magyar, Immanuel Martini, Matt Reynolds
0.15.1 (2020-03-09)
- Fix instabilities in JTC unittests
- Add test_common.h
- Re-enable tolerance tests
- Make initialization of variables consistent
- Let getState() return by value
- Use nullptr (#447)
- Comment out tolerance check tests until #48 is solved.
- Execution does not stop when goal gets aborted
- Fix how we assert that controller is running
- Introduce EPS for general double comparison
- Make stopramp tests more stable
- add missing pluginlib deps. (#451)
- Print error messages for all exceptions
- Contributors: Bence Magyar, Ian Frosst, Immanuel Martini, Matt Reynolds, Sean Yen
0.15.0 (2019-03-26)
- Default all controller builds to C++14
- Use range-based for loops wherever possible
- boost::array -> std::array
- mutex to C++11, boost::scoped_lock -> std::lock_guard
- boost::scoped_ptr -> std::unique_ptr
- boost::shared_ptr -> std::shared_ptr
- fix install destination for libraries (#403)
- Contributors: Bence Magyar, Gennaro Raiola, James Xu
0.14.3 (2019-02-09)
- use operators instead of aliases
- joint_trajectory_controller: fix minor typo in class doc.
- correctly parse joint trajectory options
- Remove deprecated parameter hold_trajectory_duration (#386)
- dont print warning about dropped first point, if it is expected behaviour
- Contributors: AndyZe, G.A. vd. Hoorn, Gennaro Raiola, James Xu, Joachim Schleicher, Karsten Knese
0.14.2 (2018-10-23)
- Report errors in updateTrajectoryCommand back though action result error_string
- Remove redundant warning messages
- Return error string when failing to initialize trajectory from message
- Changes to allow inheritance from JointTrajectoryController.
- Update maintainers
- Contributors: Alexander Gutenkunst, Miguel Prada, Mathias L