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Add cartesian admittance controller (beta version) #9

Merged
merged 73 commits into from
Apr 25, 2024
Merged

Add cartesian admittance controller (beta version) #9

merged 73 commits into from
Apr 25, 2024

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tpoignonec
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@tpoignonec
Add roadmap for beta version
ab4884c
@tpoignonec
Ininitial boilerplate:
8f21382 
- copy ros2_controllers/admittance_controller
- rename files and namespace
- adapt for cartesian control (only partially)
@tpoignonec
start controller description in README.md
b3c9b59
@tpoignonec
Update README.md :
35cd986 
   - "command" instead of "target"
   - use acceleration command
@tpoignonec
add empty admittance solver structure
7676753
@tpoignonec
backup before refractor
bb84b19
@tpoignonec
remove admittance_rule
eba99bf
@tpoignonec
Revert back to "rule" insteadd of "solver" +
226b7d3 
clean-up architecture
@tpoignonec
implement vanilla rule
3319590
@tpoignonec
clean-up vanilla rule
b3219ad
@tpoignonec
use a trajectory of reference compliant frames
3af9cb4
@tpoignonec
move compliance trajectory data to dedicated class
51e0b47
@tpoignonec
fix AdmittanceState
97d7faa
@tpoignonec
clean-up includes
c92d9ae
@tpoignonec
plugify rules
1c4f605
@tpoignonec
fix plugin init/configure error + a
520a3e1
@tpoignonec
fix export plugin
6986ee4
@tpoignonec
add load test
ee2148a
@tpoignonec
make controller a normal controller
9089899 
(as opposed to a chainable one)
@tpoignonec
use frame trajectory msg
7e07985
@tpoignonec
fix errors + split update_ref from update
79ed084
@tpoignonec
move load admittance_rule to configure
89fcd48
@tpoignonec
add basic tests
a9b6a18
@tpoignonec
major edits: introduce an "admittance_frame
c5b92a3 
and move fill_traj to rule cpp
@tpoignonec
finish "update_internal_state()"
03cb69d
@tpoignonec
add set cart ref from eigen method
0df0bb2
@tpoignonec
add "init_reference_frame_trajectory()" method
662d9ef
@tpoignonec
fix getters/setters in frame trajectory
fee8bfd
@tpoignonec
reset ref at startup
cf99972
@tpoignonec
make CartesianAdmittanceRule more verbose
1463ca6
tpoignonec and others added 25 commits February 2, 2024 13:05
@tpoignonec
make CI happier
b1bc050
@tpoignonec
fix VCS
8346dd8
@tpoignonec
fix kinematics_interface branch name
dc4e9dd
@tpoignonec
add CompliantFrameTrajectory::resize() func.
c6e6b09
@tpoignonec
resize trajectory container if needed
1b3b2a2
@tpoignonec
make impedance profile matrices dense
4e647d0
@tpoignonec
fill target compliance from msg
ec89196
@tpoignonec
add impedance to AdmittanceState
3967a78
set velocities to zero in case of errors
0fdf88b
log and publish controller state
c4c9698
add: stamp status msg
00b3694
add filter velocity
859f415
extra linting
636c7a0
add joint commands to cartesian ctrl status
5fa9af1
filter position as well as state
28a5ed8
add cutoff freqs to parameters
8065a9f
linting
e905a65
add cmd filter
2440c2e
remove test for now (TODO)
630420a
Revert "remove test for now (TODO)"
0fe4ab3 
This reverts commit 630420a.
add deps to "hardware_interface_testing"
cd677c4
fix test config
258f40f
add test verbose
8fbfaf4
remove commented verbose
b326709
fix tests
eb754fa
@tpoignonec tpoignonec marked this pull request as ready for review April 25, 2024 14:22
@tpoignonec tpoignonec removed the request for review from mcbed April 25, 2024 14:22
@tpoignonec tpoignonec merged commit 802db04 into main Apr 25, 2024
3 checks passed
@tpoignonec tpoignonec deleted the add_cartesian_admittance_controller branch April 25, 2024 15:36
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