control_toolbox

This package contains several C++ classes useful in writing controllers.

See the documentation of ros2_control and release infos on index.ros.org.

Build status

ROS2 Distro | Branch | Build status | Documentation | Released packages :———: | :—-: | :———-: | :———–: | :—————: Rolling | ros2-master |
| API | control_toolbox Jazzy | ros2-master | see above | API | control_toolbox Humble | ros2-master | see above | API | control_toolbox

Publication

If you find this work useful please give credits to the authors by citing:

• S. Chitta, E. Marder-Eppstein, W. Meeussen, V. Pradeep, A. Rodríguez Tsouroukdissian, J. Bohren, D. Coleman, B. Magyar, G. Raiola, M. Lüdtke and E. Fernandez Perdomo “ros_control: A generic and simple control framework for ROS”, The Journal of Open Source Software, 2017. (PDF)

@article{ros_control,
author = {Chitta, Sachin and Marder-Eppstein, Eitan and Meeussen, Wim and Pradeep, Vijay and Rodr{\'i}guez Tsouroukdissian, Adolfo  and Bohren, Jonathan and Coleman, David and Magyar, Bence and Raiola, Gennaro and L{\"u}dtke, Mathias and Fern{\'a}ndez Perdomo, Enrique},
title = {ros\_control: A generic and simple control framework for ROS},
journal = {The Journal of Open Source Software},
year = {2017},
doi = {10.21105/joss.00456},
URL = {http://www.theoj.org/joss-papers/joss.00456/10.21105.joss.00456.pdf}
}

Changelog for package control_toolbox

3.4.0 (2024-12-08)

• Add job for clang build (#239)
• Fix bug in rate_limiter filter and add more tests (#237)
• Fix jerk limiter in rate_limiter (#240)
• Add downstream build job (#243)
• Bump version of pre-commit hooks (#242)
• Fix mergify rules (#241)
• Remove iron workflows and update readme (#217)
• Minor include cleanup (#230)
• Minor CI updates (#236)
• Move speed limiter from ros2_control repo (#212)
• Add semi-binary build (#228)
• Add the same compile flags as with ros2_controllers and fix errors (#219)
• LPF: Throw if calling [udpate]{.title-ref} unconfigured (#229)
• Add standalone version of LPF (#222)
• Pid class does not depend on rclcpp (#221)
• Change license to Apache-2 (#220)
• Update README.md (#215)
• Update README.md (#214)
• Bump version of pre-commit hooks (#213)
• Contributors: Christoph Fröhlich, Thibault Poignonec, github-actions[bot]

3.3.0 (2024-10-28)

• PID: Improve the API docs and change default value of antiwindup (#202)
• [CI] Specify runner/container images and add Jazzy jobs (#200)
• Add custom rosdoc2 config (#199)
• [CI] Update pre-commit and remove ros-lint (#187)
• Use Eigen CMake target (#190)
• [CI] Use wf from ros2_control_ci for coverage build (#188)
• Contributors: Christoph Fröhlich, dependabot[bot], github-actions[bot]

3.2.0 (2023-12-12)

• [CI] fix source build (#168)
• Bump actions/setup-python from 4 to 5 (#167)
• [CI] Touchups (#166)
• [PID] Update documentation to reflect ROS 2 usage of time (#165)
• Bump actions/checkout from 3 to 4 (#163)
• Bump ros-tooling/setup-ros from 0.6 to 0.7 (#161)
• Add filters structure and lowpass filter (#152)
• Bump codecov/codecov-action from 3.1.2 to 3.1.4 (#160)
• Contributors: Christoph Fröhlich, GuiHome, Patrick Roncagliolo

3.1.0 (2023-04-29)

• Check for i_min <= i_max at initialization (#139)
• Contributors: Christoph Fröhlich

3.0.0 (2023-04-05)

• [PidROS] Enable interpreting prefix as param prefix. (#129)
• Use std::clamp (#140)
• [CI] Fixes and update for branch out (#155)
• Enable subclassing of PID implementation. (#148)
• [CI] Add Humble job (#147)
• Finally update formatting to other repositories convention. (#131)
• [CI] 🔧 Update pre-commit hooks and sync actions to other repositories. (#130)
• Contributors: Bence Magyar, Christoph Fröhlich, Dr. Denis, dependabot[bot]

2.2.0 (2023-02-20)

• Fix overriding of package (#145)
• Various dependabot version bumps
• [CI] Add dependabot configuration to automatically update actions.
• Contributors: Christoph Fröhlich, Dr. Denis, Tyler Weaver, dependabot[bot]

2.1.2 (2022-11-15)

• export missing dependency (#128)
• Contributors: Noel Jiménez García

2.1.1 (2022-11-05)

• Add declaration of parameters in ROSPid.
• Fix namespace collision and parameter_callback problems in PidROS
• Contributors: Aris Synodinos, Denis Štogl

2.1.0 (2022-06-30)

• Fix parameter loading log levels
• Support pass in a precomputed derivative error
• Add getParametersCallbackHandle function
• Add topic_prefix_ to declareParam & setParameter
• Update include/control_toolbox/dither.hpp
• Correct contributing and license files for ament_copyright.
• Added license text file and contributing guidelines, corrected license short identifier.
• Remove build of downstream workspace.
• Update CI config and add pre-commit-config.
• Contributors: Bence Magyar, ChenJun, Denis Štogl, Timon Engelke

2.0.2 (2021-05-25)

• remove unused variables
• Update visibility_control.hpp
• Windows bringup.
• Contributors: Karsten Knese, Sean Yen, Bence Magyar

2.0.1 (2020-08-01)

• Fix dependencies
• Export ament_cmake build type
• Contributors: ahcorde

2.0.0 (2020-07-28)

• Refactor the Pid class to be completely ROS agnostic and added a ROS 2 wrapper
• Avoid crash when the type of the parameter doesn't match
• Added topic_prefix to publisher topic name (#95)
• Created a shared library (#93)
• Aliases not part of the public API are now private
• Removing pid_gains_setter
• Removed unnecessary dependencies
• Cleared empty non virtual destructors
• Removed unused limited proxy variables
• Added pid state real-time publisher
• Removed all references to tinyxml
• Removed tune_pid.py
• Adding missing copyright licenses
• Adapted dither, sine_sweep and sinusoid to ROS2
• Removed dynamic reconfigure completely
• Removed deprecated functions
• Contributors: Alejandro Hernández Cordero, Bence Magyar, James Xu, Jordan Palacios, Shane Loretz, ahcorde

1.17.0 (2019-01-31)

• update anti windup clamping
• update negativeIntegrationAntiwindupTest
• Address catkin_lint issues
• Add executable flag
• convert to package xml format 2
• Remove doc header
• Contributors: Bence Magyar, Cong, Gennaro Raiola

1.16.0 (2017-11-30)

• switched to industrial_ci
• Add control_msgs to CATKIN_DEPENDS.
• Contributors: Bence Magyar, Mathias Luedtke, Mike Purvis

1.15.0 (2016-06-28)

• avoid ABI breaks in PID class
• fix add_dependencies call
• rollback API changes in PID class
• cfg: removed rosbuild support related error handling
• Contributors: Bence Magyar, Igor Napolskikh, ipa-mig

1.14.0 (2016-05-03)

• Fix negative gains issue and add tests; update gains setting through DynamicReconfig
• Add antiwindup and tests to PID controller; rename old behaviour 'clamping'
• Move message to control_toolbox
• Add optional state publishing to PID controller, for logging/debugging/etc
• Fix some typos in comments
• changed the range of dynamic reconfigure to allow negative ones
• Address -Wunused-parameter warnings
• Factor out updatePid as negative calls to computeCommand
• Increasing covergae of PID class test suite.
• Chain calls of computeCommand and updatePid for code reuse
• Contributors: Adolfo Rodriguez Tsouroukdissian, Bence Magyar, Carlos Rosales, Guillaume Walck, Paul Bovbel, VahidAminZ

1.13.2 (2015-05-22)

• CRITICAL BUGFIX: Fix broken PID command computation.
• Contributors: Adolfo Rodriguez Tsouroukdissian, Paul Bovbel

1.13.1 (2015-04-30)

• Improvement in integral contribution implementation. Resolve #32.
• Contributors: Adolfo Rodriguez Tsouroukdissian, Carlos Rosales

1.13.0 (2014-10-31)

• Harmonize pid gain names between rosparam and dynamic_reconfigure
• Read i_clamp_min and i_clamp_max form parameter server - if available
• Contributors: Adolfo Rodriguez Tsouroukdissian, Dave Coleman, ipa-fxm

1.12.1 (2014-06-12)

• Remove broken test code. Hotfix for #18.
• Contributors: Adolfo Rodriguez Tsouroukdissian

1.12.0 (2014-06-12)

• pid: Adding quiet flag to suppress error message
• Contributors: Jonathan Bohren

1.11.0 (2014-05-12)

• Remove rosbuild artifacts
• Cleaned up CMake and removed unnecessary dependencies
• Made default value negative to match valid range
• Fix for i_clamp_min to be negative in dynamic reconfigure
• Fix abs/fabs problem with Clang and libc++
• Contributors: Adolfo Rodriguez Tsouroukdissian, Dave Coleman, Marco Esposito

1.10.4 (2014-02-05)

• Added Travis support
• Renamed manifest.xml so it doesn't break rosdep
• Expanded range of PID and windup gains for certain applications.
• Expanded range of PID and windup gains for certain applications. Lowered default integral and derivative gain
• check for CATKIN_ENABLE_TESTING
• Add some comments to Parameters.cfg
• Add support for dynamic_reconfigure for rosbuild
• Contributors: Austin Hendrix, Dave Coleman, Lukas Bulwahn, Paul Dinh

1.10.3 (2013-08-02)

• Fix bug in copy constructor.
• Contributors: Austin Hendrix

1.10.2 (2013-07-29)

• Fix copy constructor.
• Merge pull request #1 from davetcoleman/hydro-devel Added dynamic reconfigure for PID gains
• Removed const getGains function
• Small fixes
• Compatibility changes for realtime_tools, tweaked getests
• Made realtime_buffer copiable
• Added test for getting/settings gains, copying/assigning pid class
• Removed const read, added copy constructor and print values function
• Added new function getGainsConst that allows one to get the PID gains from a const PID class
• Added realtime_tools as a dependency in package.xml and CMakeLists
• Added realtime buffer to PID, re-ordered functions to more logical order and to match header file
• Fixes per Austin review
• Updated CMakeLists.txt and made fixes per Adolfo
• Merged hydro-devel
• Added dynamic reconfigure for PID gains
• Tests build.
• Contributors: Austin Hendrix, Dave Coleman

1.10.1 (2013-06-26)

• Add dependency on tinyxml.
• Contributors: Austin Hendrix

1.10.0 (2013-06-25)

• Version 1.10.0
• comment format consistentcy
• Fixing comment in pid source code
• Install tune_pid.py under catkin.
• adding install targets
• adding missing manifests
• merging CMakeLists.txt files from rosbuild and catkin
• adding hybrid-buildsystem makefiles
• Merging from master, re-adding manifest.xml files
• using more standard way of depending on gencpp
• Add .gitignore file.
• Fixing library export
• catkinizing, could still be cleaned up
• Fixing doc errors in PID
• Changing @ commands to commands
• Enforcing i_min <= 0 and i_max >= 0 in integral bound parameters, reducing duplicated code
• Merge pull request #14 from bobholmberg/fix-PID-unbounded-i_error Using zero i_gain to turn off integral control did unsavory things.
• Adding alternative name for new pid command computation API
• Fixing merge error
• Merge branch 'fix-pid-backwards-compatibility' into fix-PID-unbounded-i_error
• Removing lie from documentation
• Adding Bob's fixes to the backwards-compatibility API
• Merge branch 'fix-pid-backwards-compatibility' into fix-PID-unbounded-i_error
• bringing back old updatePid function contents
• adding documentation warning
• This makes the internal computations of updatePid() keep the same sign that they did before the API change
• Merge typo
• Resolving conflict from new Pid API
• Merge branch 'master' into test-bad-integral-bounds
• Merge branch 'test-bad-integral-bounds' into fix-PID-unbounded-i_error
• Specifying div-by-zero test, adding other integral term tests
• Merge branch 'test-bad-integral-bounds' into fix-PID-unbounded-i_error
• Adding test to expose Pid class zero-division vulnerability
• If the user did not want integral control and set i_gain to zero, then dividing by i_gain would set i_error to NaN. This is not desired. Instead, replace the use of division to create i_term with direct integration of i_term. Replace private member i_error with i_term. In getCurrentPIDErrors() create & return i_error with the same old meaning and units. NOTE: i_error is not needed internally anywhere else.
• Cleaning up documentation, making argument names in function declaration match those in the implementation
• adding doxygen deprecation flags
• Fixing documentation
• Merging changes from other branch
• Adding conventional PID computation
• Fixing inconsistent formatting, and reducing some duplicated code
• remove .svn folder
• move control_toolbox into ros_control
• Contributors: Adolfo Rodriguez Tsouroukdissian, Austin Hendrix, Bob Holmberg, Jonathan Bohren, Wim Meeussen, wmeeusse