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

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

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Dependant Packages

Name Repo Deps
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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

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Messages

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Services

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