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

0.8.2 (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