MoveIt Fake Controller Manager

This package implements a series of fake trajectory controllers for MoveIt – to be used in simulation. For example, the demo.launch generated by MoveIt’s setup_assistant, employs fake controllers for nice visualization in rviz.

For configuration, edit the file config/fake_controllers.yaml, and adjust the desired controller type. The following controllers are available:

• interpolate: perform smooth interpolation between via points - the default for visualization
• via points: traverse via points, w/o interpolation in between - useful for visual debugging
• last point: warp directly to the last point of the trajectory - fastest method for offline benchmarking

fake_interpolating_controller_rate: 10 (Hz)
controller_list:
  - name: fake_arm_controller
    type: interpolate | via points | last point
    joints:
      - joint_1
      - joint_2
      - joint_3
      - joint_4
      - joint_5
      - joint_6
  - name: fake_gripper_controller
    joints:
      []

In order to load an initial pose, one can have a list of (group, pose) pairs as follows:

initial:
  - group: arm
    pose:  home

Changelog for package moveit_fake_controller_manager

1.1.16 (2024-10-07)

1.1.15 (2024-09-09)

1.1.14 (2024-05-27)

1.1.13 (2023-07-28)

1.1.12 (2023-05-13)

1.1.11 (2022-12-21)

1.1.10 (2022-09-13)

• Replace bind() with lambdas (#3106)
• Contributors: Michael Görner

1.1.9 (2022-03-06)

1.1.8 (2022-01-30)

1.1.7 (2021-12-31)

• Switch to std::bind (#2967)
• Contributors: Jochen Sprickerhof

1.1.6 (2021-11-06)

• Use newly introduced cmake macro moveit_build_options() from moveit_core
• clang-tidy: modernize-make-shared, modernize-make-unique (#2762)
• Contributors: Robert Haschke, pvanlaar

1.1.5 (2021-05-23)

1.1.4 (2021-05-12)

1.1.3 (2021-04-29)

1.1.2 (2021-04-08)

• Fix formatting errors
• Contributors: Tyler Weaver

1.1.1 (2020-10-13)

• [maint] Add comment to MOVEIT_CLASS_FORWARD (#2315)
• Contributors: Felix von Drigalski

1.1.0 (2020-09-04)

1.0.6 (2020-08-19)

• [maint] Migrate to clang-format-10
• [maint] Optimize includes (#2229)
• Contributors: Markus Vieth, Robert Haschke

1.0.5 (2020-07-08)

1.0.4 (2020-05-30)

1.0.3 (2020-04-26)

• [fix] Handle "default" parameter in MoveitControllerManagers MoveIt{Fake|Simple}ControllerManager::getControllerState() now correctly returns current state
• [fix] Handle incomplete group states
• [maint] Apply clang-tidy fix to entire code base (#1394)
• [maint] Fix errors: catkin_lint 1.6.7 (#1987)
• [maint] Windows build: Fix binary artifact install locations. (#1575)
• [maint] Use CMAKE_CXX_STANDARD to enforce c++14 (#1607)
• Contributors: Robert Haschke, Sean Yen, Yu, Yan, Luca Lach

1.0.2 (2019-06-28)

1.0.1 (2019-03-08)

• [improve] Apply clang tidy fix to entire code base (Part 1) (#1366)
• Contributors: Robert Haschke, Yu, Yan

1.0.0 (2019-02-24)

• [fix] catkin_lint issues (#1341)
• Contributors: Robert Haschke

0.10.8 (2018-12-24)

0.10.7 (2018-12-13)

0.10.6 (2018-12-09)

• [maintenance] Code Cleanup (#1196)
• Contributors: Robert Haschke

0.10.5 (2018-11-01)

0.10.4 (2018-10-29)

0.10.3 (2018-10-29)

0.10.2 (2018-10-24)

• [fix] latch initial pose published by fake_controller_manager (#1092)
• [maintenance] add minimum required pluginlib version (#927)
• Contributors: Mikael Arguedas, Mike Lautman, Mohmmad Ayman, mike lautman

0.10.1 (2018-05-25)

• switch to ROS_LOGGER from CONSOLE_BRIDGE (#874)
• Contributors: Mikael Arguedas, Xiaojian Ma

0.9.11 (2017-12-25)

0.9.10 (2017-12-09)

0.9.9 (2017-08-06)

0.9.8 (2017-06-21)

0.9.7 (2017-06-05)

0.9.6 (2017-04-12)

0.9.5 (2017-03-08)

• [fix][moveit_ros_warehouse] gcc6 build error #423
• [enhancement] Remove "catch (...)" instances, catch std::exception instead of std::runtime_error (#445)
• Contributors: Bence Magyar, Dave Coleman

0.9.4 (2017-02-06)

• [maintenance] clang-format upgraded to 3.8 (#367)
• Contributors: Dave Coleman

0.9.3 (2016-11-16)

0.5.7 (2016-01-30)

0.5.6 (2014-03-23)

0.5.5 (2013-09-30)

0.5.4 (2013-09-24)

• do no look for deps we do not need

0.5.3 (2013-09-23)

• initial version