Package Summary

Tags No category tags.
Version 0.14.3
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 2019-03-16
Dev Status MAINTAINED
Released RELEASED

Package Description

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

Additional Links

Maintainers

  • Bence Magyar
  • Mathias L├╝dtke
  • 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

0.14.3 (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.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Recent questions tagged joint_trajectory_controller at answers.ros.org

Package Summary

Tags No category tags.
Version 0.13.5
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 2019-02-09
Dev Status MAINTAINED
Released RELEASED

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

0.13.5 (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 answers.ros.org

Package Summary

Tags No category tags.
Version 0.13.5
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 2019-02-09
Dev Status MAINTAINED
Released RELEASED

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

0.13.5 (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 answers.ros.org

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
Released RELEASED

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 answers.ros.org

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
Released RELEASED

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 answers.ros.org

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
Released RELEASED

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 answers.ros.org