graceful_controller_ros package from graceful_controller repo

graceful_controller graceful_controller_ros

Package Summary

Tags No category tags.
Version 0.2.2
License BSD
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/mikeferguson/graceful_controller.git
VCS Type git
VCS Version foxy-devel
Last Updated 2021-01-14
Dev Status DEVELOPED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

A controller. Some say it might be graceful.

Additional Links

No additional links.

Maintainers

  • Michael Ferguson

Authors

  • Michael Ferguson
README
No README found. See repository README.
CHANGELOG

Changelog for package graceful_controller_ros

0.2.2 (2021-01-13)

  • support robot footprint (#13)
  • cleanup parameters (#12)
    • drop unused parameters
    • manage parameters directly
  • Contributors: Michael Ferguson

0.2.1 (2021-01-11)

  • update maintainer email
  • fix the buildfarm build (#8)
  • Contributors: Michael Ferguson

0.2.0 (2021-01-11)

  • Initial release
  • Contributors: Michael Ferguson

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

Recent questions tagged graceful_controller_ros at answers.ros.org

graceful_controller_ros package from graceful_controller repo

graceful_controller graceful_controller_ros

Package Summary

Tags No category tags.
Version 0.4.5
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/mikeferguson/graceful_controller.git
VCS Type git
VCS Version ros1
Last Updated 2022-10-06
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

A controller. Some say it might be graceful.

Additional Links

No additional links.

Maintainers

  • Michael Ferguson

Authors

  • Michael Ferguson
README
No README found. See repository README.
CHANGELOG

Changelog for package graceful_controller_ros

0.4.5 (2022-08-24)

  • compute lookahead as distance along path (#55)
  • Contributors: Michael Ferguson

0.4.4 (2022-08-24)

  • always rotate to match desired heading (#54) If the goal tolerances are large (greater than 0.5m) the robot might end up trying to point at the goal rather than aligning with the goal heading
  • Contributors: Michael Ferguson

0.4.3 (2022-06-18)

  • use separate decel_lim_x for control law (#45)
  • add velocity limit to goal tolerance (#44)
  • fix deceleration time (#43) this reverts #6, to what is apparently the correct math
  • add footprint inflation for higher speeds (#32)
    • add a feature to inflate the footprint at higher speeds
    • only update max_vel_x once per call
  • initialze collision_points_ to null (#35)
  • add optional visualization of colliding points (#34)
  • split out hpp file, clang format (#33)
  • fix bug in latch_xy_goal_tolerance (#31) While the main control loop can latch the goal (thus it will stop trying to hunt around) - that isn\'t understood by the isGoalReached() function - which leads to the robot wiggling back and forth for a while
  • Contributors: Michael Ferguson

0.4.2 (2022-03-29)

  • fix goal tolerance reset (#29)
  • add latch_xy_goal_tolerance parameter (#28)
  • fix orientation issue with collision checking (#27)
  • Contributors: Michael Ferguson

0.4.1 (2022-03-11)

  • add ability to disable orientation filtering (#26) also make everything dynamic reconfigurable
  • don\'t crash when path is empty (#25)
  • add min_lookahead parameter (#24) when the pose is very close to the robot, we can get some instability (rapid side-to-side movement due to large angular errors over small linear distances). by adding this parameter, we can instead fallback to recovery behaviors and find a better path.
  • fix occasional boost::lock crash (#23)
  • limit the distance between poses as filter runs (#21)
  • improve the orientation filter, add tests (#20)
  • Contributors: Michael Ferguson

0.4.0 (2021-06-14)

  • add usage documentation (#19) also remove unused min_vel_theta parameter
  • implement changes from review (#18)
    • Add collision checking during final rotation
    • Add comments about getRobotVel returning velocities
    • Rename path to simulated_path for clarity
    • Rename pose to target_pose and goal_pose (now separate variables)
    • Get rid of magic number for when to use final rotation
  • simulate intial rotation properly (#17) previously, this simulated the big arc that we wouldn\'t follow anyways. this could cause the robot to get stuck in corners or other tight areas.
  • Contributors: Michael Ferguson

0.3.1 (2021-05-27)

  • add feature for final rotation (#15) if the final pose orientation is very different from the end of the path, we get a big sweeping turn. this feature uses the previous orientation to avoid that sweeping turn and instead does a final in-place rotation. Add filter and pose publisher.
  • not sure how build is working without this being executable
  • Contributors: Michael Ferguson

0.3.0 (2021-01-14)

  • unitialized limits causes test failures (#14) limits does not initialize prune_plan to a value, causes flaky test when it ends up true (would also probably be bad on a real robot)
  • Contributors: Michael Ferguson

0.2.2 (2021-01-13)

  • support robot footprint (#13)
  • cleanup parameters (#12)
    • drop unused parameters
    • manage parameters directly
  • Contributors: Michael Ferguson

0.2.1 (2021-01-11)

  • update maintainer email
  • fix the buildfarm build (#8)
  • Contributors: Michael Ferguson

0.2.0 (2021-01-11)

  • Initial release
  • Contributors: Michael Ferguson

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

Recent questions tagged graceful_controller_ros at answers.ros.org

graceful_controller_ros package from graceful_controller repo

graceful_controller graceful_controller_ros

Package Summary

Tags No category tags.
Version 0.4.5
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/mikeferguson/graceful_controller.git
VCS Type git
VCS Version ros1
Last Updated 2022-10-06
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

A controller. Some say it might be graceful.

Additional Links

No additional links.

Maintainers

  • Michael Ferguson

Authors

  • Michael Ferguson
README
No README found. See repository README.
CHANGELOG

Changelog for package graceful_controller_ros

0.4.5 (2022-08-24)

  • compute lookahead as distance along path (#55)
  • Contributors: Michael Ferguson

0.4.4 (2022-08-24)

  • always rotate to match desired heading (#54) If the goal tolerances are large (greater than 0.5m) the robot might end up trying to point at the goal rather than aligning with the goal heading
  • Contributors: Michael Ferguson

0.4.3 (2022-06-18)

  • use separate decel_lim_x for control law (#45)
  • add velocity limit to goal tolerance (#44)
  • fix deceleration time (#43) this reverts #6, to what is apparently the correct math
  • add footprint inflation for higher speeds (#32)
    • add a feature to inflate the footprint at higher speeds
    • only update max_vel_x once per call
  • initialze collision_points_ to null (#35)
  • add optional visualization of colliding points (#34)
  • split out hpp file, clang format (#33)
  • fix bug in latch_xy_goal_tolerance (#31) While the main control loop can latch the goal (thus it will stop trying to hunt around) - that isn\'t understood by the isGoalReached() function - which leads to the robot wiggling back and forth for a while
  • Contributors: Michael Ferguson

0.4.2 (2022-03-29)

  • fix goal tolerance reset (#29)
  • add latch_xy_goal_tolerance parameter (#28)
  • fix orientation issue with collision checking (#27)
  • Contributors: Michael Ferguson

0.4.1 (2022-03-11)

  • add ability to disable orientation filtering (#26) also make everything dynamic reconfigurable
  • don\'t crash when path is empty (#25)
  • add min_lookahead parameter (#24) when the pose is very close to the robot, we can get some instability (rapid side-to-side movement due to large angular errors over small linear distances). by adding this parameter, we can instead fallback to recovery behaviors and find a better path.
  • fix occasional boost::lock crash (#23)
  • limit the distance between poses as filter runs (#21)
  • improve the orientation filter, add tests (#20)
  • Contributors: Michael Ferguson

0.4.0 (2021-06-14)

  • add usage documentation (#19) also remove unused min_vel_theta parameter
  • implement changes from review (#18)
    • Add collision checking during final rotation
    • Add comments about getRobotVel returning velocities
    • Rename path to simulated_path for clarity
    • Rename pose to target_pose and goal_pose (now separate variables)
    • Get rid of magic number for when to use final rotation
  • simulate intial rotation properly (#17) previously, this simulated the big arc that we wouldn\'t follow anyways. this could cause the robot to get stuck in corners or other tight areas.
  • Contributors: Michael Ferguson

0.3.1 (2021-05-27)

  • add feature for final rotation (#15) if the final pose orientation is very different from the end of the path, we get a big sweeping turn. this feature uses the previous orientation to avoid that sweeping turn and instead does a final in-place rotation. Add filter and pose publisher.
  • not sure how build is working without this being executable
  • Contributors: Michael Ferguson

0.3.0 (2021-01-14)

  • unitialized limits causes test failures (#14) limits does not initialize prune_plan to a value, causes flaky test when it ends up true (would also probably be bad on a real robot)
  • Contributors: Michael Ferguson

0.2.2 (2021-01-13)

  • support robot footprint (#13)
  • cleanup parameters (#12)
    • drop unused parameters
    • manage parameters directly
  • Contributors: Michael Ferguson

0.2.1 (2021-01-11)

  • update maintainer email
  • fix the buildfarm build (#8)
  • Contributors: Michael Ferguson

0.2.0 (2021-01-11)

  • Initial release
  • Contributors: Michael Ferguson

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

Recent questions tagged graceful_controller_ros at answers.ros.org