Package Summary

Tags No category tags.
Version 2.33.0
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 2024-03-12
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

Controller for executing joint-space trajectories on a group of joints

Additional Links

No additional links.

Maintainers

  • Bence Magyar
  • Dr. Denis Štogl
  • Christoph Froehlich

Authors

No additional 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

Changelog for package joint_trajectory_controller

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

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

No plugins found.

Recent questions tagged joint_trajectory_controller at Robotics Stack Exchange

Package Summary

Tags No category tags.
Version 3.22.0
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 2024-03-13
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

Controller for executing joint-space trajectories on a group of joints

Additional Links

No additional links.

Maintainers

  • Bence Magyar
  • Dr. Denis Štogl
  • Christoph Froehlich

Authors

No additional 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

Changelog for package joint_trajectory_controller

3.22.0 (2024-02-12)

  • Fix usage of M_PI on Windows (#1036) (#1038)
  • Add test_depend on [hardware_interface_testing]{.title-ref} (backport #1018) (#1020)
  • Add tests for [interface_configuration_type]{.title-ref} consistently (backport #899) (#1007)
  • Let sphinx add parameter description with nested structures to documentation (#652) (#1006)
  • [JTC] Fill action error_strings (#887) (#1010)
  • [JTC] Invalidate empty trajectory messages (#902) (#1001)
  • Revert \"[JTC] Remove read_only from \'joints\', \'state_interfaces\' and \'command_interfaces\' parameters (#967)\" (#978) (#987)
  • Contributors: mergify[bot]

3.21.0 (2024-01-20)

  • [Docs] Update deprecated topic name (#964) (#965)
  • [JTC] Cancel goal in on_deactivate (#962) (#971)
  • Contributors: mergify[bot]

3.20.2 (2024-01-11)

  • [JTC] Remove read_only from \'joints\', \'state_interfaces\' and \'command_interfaces\' parameters (#967) (#969)
  • Contributors: mergify[bot]

3.20.1 (2024-01-08)

3.20.0 (2024-01-03)

  • [JTC] Cleanup includes (#943) (#960)
  • Add rqt_JTC to docs (#950) (#953)
  • [JTC] Add console output for tolerance checks (#932) (#939)
  • Contributors: mergify[bot]

3.19.2 (2023-12-12)

  • Cleanup package.xml und clarify tests of JTC. (#889) (#925)
  • Contributors: mergify[bot]

3.19.1 (2023-12-05)

  • Fix floating point comparison in JTC (#879) (#880)
  • Contributors: mergify[bot]

3.19.0 (2023-12-01)

  • [JTC] Activate checks for parameter validation (backport #857) (#873)
  • [JTC] Improve update methods for tests (backport #858)
  • [JTC] Fix dynamic reconfigure of tolerances (backport #849)
  • [JTC] Fix tests when state offset is used (backport #797)
  • [JTC] Set [allow_nonzero_velocity_at_trajectory_end]{.title-ref} default false and rename class variables (backport #834) (#843)
  • [JTC] Remove unused home pose (#845) (#852)
  • Contributors: Christoph Fr

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

No plugins found.

Recent questions tagged joint_trajectory_controller at Robotics Stack Exchange

Package Summary

Tags No category tags.
Version 4.6.0
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 2024-03-18
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

Controller for executing joint-space trajectories on a group of joints

Additional Links

No additional links.

Maintainers

  • Bence Magyar
  • Dr. Denis Štogl
  • Christoph Froehlich

Authors

No additional 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

Changelog for package joint_trajectory_controller

4.6.0 (2024-02-12)

  • Fix usage of M_PI on Windows (#1036)
  • [JTC] Angle wraparound for first segment of trajectory (#796)
  • Add test_depend on [hardware_interface_testing]{.title-ref} (#1018)
  • Fix tests for using new [get_node_options]{.title-ref} API (#840)
  • Contributors: Christoph Fr

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

No plugins found.

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 No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Controller for executing joint-space trajectories on a group of joints.

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

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

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

Recent questions tagged joint_trajectory_controller at Robotics Stack Exchange

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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

Controller for executing joint-space trajectories on a group of joints

Additional Links

No additional links.

Maintainers

  • Bence Magyar
  • Jordan Palacios
  • Karsten Knese

Authors

No additional 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

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)

  • Remove compile warnings. (#245)
  • Add time and period to update function (#241)
  • Quickfix

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

No plugins found.

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

Controller for executing joint-space trajectories on a group of joints

Additional Links

No additional links.

Maintainers

  • Bence Magyar
  • Jordan Palacios
  • Karsten Knese

Authors

No additional 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

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

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

No plugins found.

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 No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Controller for executing joint-space trajectories on a group of joints.

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

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

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

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 No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Controller for executing joint-space trajectories on a group of joints.

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

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.

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

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 No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Controller for executing joint-space trajectories on a group of joints.

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

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.

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

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 No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Controller for executing joint-space trajectories on a group of joints.

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

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.

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

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 No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Controller for executing joint-space trajectories on a group of joints.

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

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

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Dependant Packages

Name Repo Deps
caster_control github-I-Quotient-Robotics-caster
cob_bringup github-ipa320-cob_robots
cob_hardware_config github-ipa320-cob_robots
crane_x7_control github-rt-net-crane_x7_ros
denso_robot_gazebo github-DENSORobot-denso_robot_ros
fake_joint_driver github-tork-a-fake_joint
gundam_rx78_control github-gundam-global-challenge-gundam_robot
husky_control github-husky-husky
khi_robot_bringup github-Kawasaki-Robotics-khi_robot
khi_robot_control github-Kawasaki-Robotics-khi_robot
tra1_bringup github-tork-a-minas
pilz_control github-PilzDE-pilz_robots
play_motion github-pal-robotics-play_motion
ros_controllers github-ros-controls-ros_controllers
sciurus17_control github-rt-net-sciurus17_ros
seed_r7_ros_controller github-seed-solutions-seed_r7_ros_pkg
sr_description github-shadow-robot-sr_common
staubli_rx160_gazebo github-ros-industrial-staubli_experimental
staubli_tx60_gazebo github-ros-industrial-staubli_experimental
staubli_tx90_gazebo github-ros-industrial-staubli_experimental
talos_controller_configuration github-pal-robotics-talos_robot
ur_e_gazebo github-ros-industrial-universal_robot
ur_gazebo github-ros-industrial-universal_robot
abb_irb1200_gazebo github-ros-industrial-abb_experimental
abb_irb120_gazebo github-ros-industrial-abb_experimental
denso_ros_control github-start-jsk-denso
iiwa_moveit github-ipa-rwu-iiwa_stack
jaguar_control github-gstavrinos-jaguar
katana_arm_gazebo github-uos-katana_driver
melfa_driver github-tork-a-melfa_robot
nao_control github-ros-naoqi-nao_virtual
roch_teleop github-SawYer-Robotics-roch
roch_control github-SawYer-Robotics-roch_robot
ur_modern_driver github-ros-industrial-ur_modern_driver

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

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 No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Controller for executing joint-space trajectories on a group of joints.

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

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

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Dependant Packages

Name Repo Deps
caster_control github-I-Quotient-Robotics-caster
cob_bringup github-ipa320-cob_robots
cob_hardware_config github-ipa320-cob_robots
crane_x7_control github-rt-net-crane_x7_ros
denso_robot_gazebo github-DENSORobot-denso_robot_ros
fake_joint_driver github-tork-a-fake_joint
franka_control github-frankaemika-franka_ros
gundam_rx78_control github-gundam-global-challenge-gundam_robot
husky_control github-husky-husky
khi_robot_bringup github-Kawasaki-Robotics-khi_robot
khi_robot_control github-Kawasaki-Robotics-khi_robot
tra1_bringup github-tork-a-minas
omnibase_control github-ERC-BPGC-omnibase
omnibase_description github-ERC-BPGC-omnibase
omnibase_gazebo github-ERC-BPGC-omnibase
pass_through_controllers github-UniversalRobots-Universal_Robots_ROS_passthrough_controllers
pilz_control github-PilzDE-pilz_robots
play_motion github-pal-robotics-play_motion
ros_controllers github-ros-controls-ros_controllers
cartesian_trajectory_controller github-UniversalRobots-Universal_Robots_ROS_controllers_cartesian
cartesian_trajectory_interpolation github-UniversalRobots-Universal_Robots_ROS_controllers_cartesian
scaled_joint_trajectory_controller github-UniversalRobots-Universal_Robots_ROS_scaled_controllers
schunk_svh_driver github-SCHUNK-GmbH-Co-KG-schunk_svh_ros_driver
sciurus17_control github-rt-net-sciurus17_ros
seed_r7_ros_controller github-seed-solutions-seed_r7_ros_pkg
sr_description github-shadow-robot-sr_common
staubli_rx160_gazebo github-ros-industrial-staubli_experimental
staubli_tx60_gazebo github-ros-industrial-staubli_experimental
staubli_tx90_gazebo github-ros-industrial-staubli_experimental
talos_controller_configuration github-pal-robotics-talos_robot
ur_gazebo github-ros-industrial-universal_robot
ur_robot_driver github-UniversalRobots-Universal_Robots_ROS_Driver

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Recent questions tagged joint_trajectory_controller at Robotics Stack Exchange