Integration tests and debug #11

tpoignonec · 2023-10-29T23:01:20Z

fix NaN errors (see bcb3e15)
fix state interface issue (see fbbf9d3)
general clean-up
test with mock hardware

* Add roadmap for beta version * Ininitial boilerplate: - copy ros2_controllers/admittance_controller - rename files and namespace - adapt for cartesian control (only partially) * start controller description in README.md * Update README.md : - "command" instead of "target" - use acceleration command * add empty admittance solver structure * implement vanilla rule * use a trajectory of reference compliant frames * move compliance trajectory data to dedicated class * fix AdmittanceState * plugify rules * fix plugin init/configure error * fix export plugin * make controller a normal controller (as opposed to a chainable one) * use frame trajectory msg * fix errors + split update_ref from update * move load admittance_rule to configure * add basic tests * major edits: introduce an "admittance_frame and move fill_traj to rule cpp * add set cart ref from eigen method * add "init_reference_frame_trajectory()" method * fix getters/setters in frame trajectory * reset ref at startup * make CartesianAdmittanceRule more verbose * fix tests * uncrustify * add custom kinematics_interface version (VCS) * run pre-commit * fix ref frame for admittance * update workflow * add some verbose * fix wrench in wrong frame * minor fixes * add disclaimer in README.md * update README.md * make CI less sad * Integration tests and debug (#11) * draft launch and config * fix ros2-control layer + launch * more realistic impedance params * store last commanded twist * fix init rule * add broadcasters for debug * update launch * fix state reading (RQ: pareil sur le repos ros!!!) * general clean-up * comment interaction (will use ft interface later) * update params and visu (foxglove) * make CI happy --------- Co-authored-by: iris@I2RM_PC2 <iris@I2RM_PC2> * fix gravity compensation * reduce stiffness * cleanup config * fix command_interface indexing and add verbose * make CI happier * fix VCS * fix kinematics_interface branch name * add CompliantFrameTrajectory::resize() func. * resize trajectory container if needed * make impedance profile matrices dense * fill target compliance from msg * add impedance to AdmittanceState * set velocities to zero in case of errors * log and publish controller state * add: stamp status msg * add filter velocity * extra linting * add joint commands to cartesian ctrl status * filter position as well as state * add cutoff freqs to parameters * linting * add cmd filter * add deps to "hardware_interface_testing" * fix test config * add test verbose * remove commented verbose * fix tests * clean-up files --------- Co-authored-by: iris@I2RM_PC2 <iris@I2RM_PC2> Co-authored-by: iris2 <[email protected]>

iris@I2RM_PC2 and others added 13 commits October 27, 2023 12:15

draft launch and config

aeb64ce

fix ros2-control layer + launch

bcb3e15

more realistic impedance params

c24d966

store last commanded twist

bfdec16

fix init rule

1f11b0b

backup state before WE :)

18c9e50

add broadcasters for debug

38e63ff

update launch

9eecb16

fix state reading (RQ: pareil sur le repos ros!!!)

fbbf9d3

general clean-up

8693653

comment interaction (will use ft interface later)

686f904

update params and visu (foxglove)

beb2ed9

make CI happy

14b9a23

tpoignonec marked this pull request as ready for review October 29, 2023 23:05

tpoignonec merged commit 5ca7ce0 into add_cartesian_admittance_controller Oct 29, 2023
1 check passed

tpoignonec deleted the integration_tests_and_debug branch October 29, 2023 23:05

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Integration tests and debug #11

Integration tests and debug #11

tpoignonec commented Oct 29, 2023

Integration tests and debug #11

Integration tests and debug #11

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tpoignonec commented Oct 29, 2023