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 Lüdtke, Miguel Prada, hsl, jschleicher

0.13.4 (2018-06-26)

• joint_trajectory_controller improve test stability
• Use a copy of rt_active_goal in update()
• Changes to allow inheritance from JointTrajectoryController.
• Contributors: Alexander Gutenkunst, Gennaro Raiola, Kei Okada, Ryosuke Tajima

0.13.3 (2018-04-27)

• migrate to new pluginlib headers
• TrajectoryController: Use desired state to calculate hold trajectory (#297)
• Add velocity feedforward term to velocity HardwareInterfaceAdapter (#227)
• Contributors: Mathias Lüdtke, Miguel Prada, agutenkunst

0.13.2 (2017-12-23)

• Changend the implementation of joint_trajectory_controller to enable the forwarding of the acceleration values from the trajectory
• Contributors: Bence Magyar, Mart Moerdijk

0.13.1 (2017-11-06)

• Linted pos_vel joint_trajectory_controllers
• Added posvel joint_trajectory_controller Added a simple posvel joint_trajectory_controller that forwards the desired state at the current point in time of the trajectory to the joint.
• Add support for an joint interfaces are not inherited from JointHandle. Add JointTrajectoryController specification for SplineJointInterface.
• Contributors: Gennaro Raiola, Igorec, Zach Anderson

0.13.0 (2017-08-10)

• Make rqt_plot optional
• Added tests for issue #275
• Address Issue #275 for kinetic
• Address issue #263, joint_trajectory_controller - wraparoundOffset
• Added warning to indicate that the verbose flag is enabled
• Set hold trajectory goal handle when empty trajectory received through action. Previously, an empty trajectory received through the action interface would set hold trajectory and accept the action goal, but the action would never be terminated, leaving clients hanging.
• Contributors: Bence Magyar, Miguel Prada, bponsler, gennaro

0.12.3 (2017-04-23)

0.12.2 (2017-04-21)

• Remove rqt_plot test_depend & make plots optional
• Contributors: Bence Magyar

0.12.1 (2017-03-08)

0.12.0 (2017-02-15)

• Fix missing controller_manager include
• Ordered dependencies & cleanup
• Change for format2
• Add Enrique and Bence to maintainers
• Add test that sends trajectory entirely in past
• Use xacro instead of xacro.py
• urdf::Model typedefs had to be added to a different repo first
• Updated copyright info
• jtc: Enable sending trajectories with a partial set of joints
• Replace boost::shared_ptr<urdf::XY> with urdf::XYConstSharedPtr when exists
• Infrastructure for testing the velocity_controllers::JointTrajectoryController.
• jtc: Enable sending trajectories with a partial set of joints
• Contributors: Beatriz Leon, Bence Magyar, Miguel Prada

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