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Built on 2023-12-29 at 05:31 GMT

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Built on 2023-12-30 at 05:31 GMT

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16, 47], "suitabl": [2, 7], "strategi": [2, 16, 43], "decid": 2, "which": [2, 3, 4, 5, 6, 7, 9, 14, 15, 16, 18, 22, 23, 24, 25, 26, 27, 28, 29, 33, 35, 37, 40, 41, 42, 43, 44, 46, 47, 48], "case": [2, 3, 5, 6, 7, 8, 16, 20, 27, 35, 41, 43, 44, 53], "mayb": [2, 8], "sens": [2, 4, 34, 37], "multipl": [2, 4, 7, 8, 12, 14, 16, 41, 42], "constructor": [2, 14, 27, 35], "initi": [2, 14, 27, 35, 43], "variabl": [2, 14, 27, 35, 42], "need": [2, 3, 4, 5, 6, 7, 8, 12, 14, 16, 18, 21, 22, 23, 24, 25, 26, 27, 28, 35, 43], "commun": [2, 4, 6, 7, 14, 16, 18, 21, 22, 23, 24, 25, 27, 28, 52], "default": [2, 4, 8, 9, 13, 23, 30, 32, 38, 39, 40, 41, 42, 43, 44, 46, 47, 49], "configur": [2, 3, 4, 5, 6, 7, 8, 9, 11, 13, 15, 16, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 35, 41, 42, 43, 44, 47], "paramet": [2, 3, 5, 7, 14, 16, 18, 22, 27, 34, 35, 44], "pars": [2, 3, 5, 9, 10, 12], "urdf": [2, 7, 9, 12, 16, 18, 19, 20, 21, 22, 23, 24, 25, 26, 28, 29], "snippet": 2, "hardwareinfo": [2, 27], "here": [2, 10, 14, 27, 35, 36, 44, 45, 50], "cross": [2, 41], "valu": [2, 4, 6, 12, 13, 14, 16, 18, 19, 20, 22, 24, 25, 27, 29, 35, 40, 41, 42, 44, 46, 47], "export_": 2, "_interfac": [2, 14], "joint_a2": 2, "extract": [2, 33, 48], "sensibl": 2, "stop": [2, 7, 8, 9, 11, 15, 18, 22, 23, 27, 33, 42, 48], "usual": [2, 4, 9, 13, 14, 27, 35], "includ": [2, 3, 5, 6, 11, 14, 15, 27, 35, 44, 52], "command": [2, 3, 4, 5, 6, 7, 9, 10, 12, 13, 14, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 32, 33, 34, 35, 36, 38, 39, 42, 43, 45, 49, 50, 53], "safe": [2, 27, 33, 35, 44, 48], "interrupt": [2, 9], "stream": [2, 7], "write": [2, 4, 7, 8, 9, 10, 20, 21, 22, 26, 34], "exchang": [2, 6, 18, 21, 22, 23, 24, 25, 26, 28, 53], "equival": [2, 27], "forget": [2, 4, 16, 44], "pluginlib_export_class": [2, 14, 16, 27, 35], "macro": [2, 4, 14, 16, 27, 35], "end": [2, 4, 11, 14, 27, 35, 42, 52], "cpp": [2, 14, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 35], "file": [2, 3, 4, 5, 6, 7, 9, 13, 14, 16, 31, 33, 35, 36, 44, 45, 50], "creat": [2, 3, 4, 5, 7, 9, 13, 14, 16, 27, 35], "xml": [2, 3, 5, 11, 14, 27, 35], "librari": [2, 4, 14, 15, 16, 30, 32, 34, 35, 47, 49], "pluginlib": [2, 3, 4, 5, 9, 14, 27, 35], "exampl": [2, 3, 4, 5, 6, 7, 8, 13, 15, 22, 31, 36, 37, 41, 44, 45, 50, 53], "rrbotsystempositiononlyhardwar": [2, 4, 12, 15, 18, 20, 25], "excel": 2, "jointtrajectorycontrol": [2, 3, 5, 15, 18, 31, 44], "real": [2, 6, 7, 9, 13, 22, 35, 41, 42, 53], "critic": [2, 6], "mark": [2, 20], "controllerinterfac": [2, 4, 8, 15, 27, 35], "member": [2, 14, 27, 35, 43], "init": 2, "call": [2, 3, 4, 5, 8, 14, 22, 27, 35], "lifecycl": [2, 4, 7, 9, 11, 14, 27], "declar": [2, 14, 27, 35], "state_interface_configur": [2, 27, 35], "command_interface_configur": [2, 27, 35], "design": [2, 4, 6, 7, 8, 27, 53], "updat": [2, 4, 8, 9, 16, 27, 35, 44, 47], "manag": [2, 3, 5, 6, 7, 10, 11, 14, 15, 16, 27, 35, 44, 53], "option": [2, 3, 5, 9, 11, 13, 14, 15, 18, 23, 35, 37, 41, 44, 47], "on_configur": [2, 14, 27, 35], "on_activ": [2, 11, 14, 27, 35], "on_deactiv": [2, 11, 14, 27, 35], "deactiv": [2, 4, 15, 18, 42], "final": [2, 7, 11, 27], "joint_trajectory_plugin": 2, "integr": [3, 4, 5, 6, 7, 13, 16, 20, 22, 27, 42, 43, 44, 53], "architectur": [3, 5, 6, 7], "gazebo": [3, 5, 6, 16, 18, 29, 51], "classic": [3, 16, 29, 51], "provid": [3, 4, 5, 6, 7, 8, 9, 12, 13, 14, 16, 18, 20, 23, 24, 25, 26, 27, 28, 29, 31, 35, 41, 42, 43, 44, 47, 53], "instanti": [3, 5, 9], "connect": [3, 4, 5, 13, 16, 24, 27], "model": [3, 5, 18, 27], "cd": [3, 4, 5, 16, 27], "docker": [3, 5, 17, 18, 20, 21, 22, 23, 24, 25, 26, 28, 29], "gui": [3, 5, 16, 18, 20, 21, 23, 24, 25, 26, 28, 29], "properli": [3, 5, 8, 16, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29], "rm": [3, 4, 5, 16, 18, 29], "net": [3, 5, 7, 16, 18, 29], "host": [3, 5, 16, 18, 29, 52], "ros2": [3, 4, 5, 7, 9, 14, 15, 16, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 35], "launch": [3, 4, 5, 9, 13, 16, 18, 19, 20, 21, 22, 23, 24, 25, 26, 28, 29], "cart_example_posit": [3, 5], "py": [3, 5, 16, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29], "fals": [3, 5, 13, 16, 18, 29, 33, 39, 41, 42, 44, 47], "machin": [3, 4, 5, 6, 16, 29], "client": [3, 5, 29, 44], "gzclient": [3, 29], "rocker": [3, 5], "go": [3, 5, 7, 9, 14, 27, 35], "imag": [3, 5, 9, 29], "inject": [3, 5, 7], "nvidia": [3, 5], "And": 3, "user": [3, 5, 6, 9, 16, 27, 43], "id": [3, 5, 15, 18, 21, 22, 23, 24, 25, 26, 28], "specif": [3, 5, 6, 8, 9, 11, 12, 27, 29, 38, 41, 43, 44], "cleaner": [3, 5], "mount": [3, 5], "permiss": [3, 5, 9], "instal": [3, 5, 9, 14, 17, 18, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 35], "instruct": [3, 5, 22, 27, 29], "x11": [3, 5], "latest": [3, 4, 5], "move": [3, 5, 16, 18, 20, 21, 22, 23, 24, 25, 26, 28, 29, 39], "cart": [3, 5], "rail": [3, 5], "exec": [3, 5, 18], "bash": [3, 4, 5, 14, 16, 18, 27, 35], "home": [3, 5], "ros2_w": [3, 4, 5, 16], "example_posit": [3, 5], "element": [3, 5, 27], "access": [3, 4, 5, 7, 9, 13, 18, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 35, 41], "interfac": [3, 5, 6, 7, 8, 9, 10, 11, 13, 14, 16, 18, 20, 21, 22, 24, 25, 26, 29, 30, 32, 34, 35, 37, 40, 42, 43, 46, 49, 51, 52, 53], "gazebosystem": 3, "hardwar": [3, 5, 7, 8, 10, 13, 15, 16, 18, 19, 20, 21, 22, 23, 24, 25, 26, 28, 29, 33, 34, 35, 42, 48, 53], "slider_to_cart": [3, 5, 36, 45, 50], "command_interfac": [3, 4, 5, 12, 20, 27, 31, 42, 44], "param": [3, 4, 5, 9, 12, 13, 22, 27], "min": [3, 4, 5, 12, 27], "1000": [3, 5, 27], "max": [3, 4, 5, 12, 27, 39], "state_interfac": [3, 4, 5, 12, 27, 31, 42, 44], "initial_valu": [3, 5, 27], "mimick": [3, 5, 13], "manual": [3, 4, 5, 6, 9, 14, 16, 18, 23, 24, 25, 26, 28, 29, 35, 53], "multipli": [3, 5, 13], "definit": [3, 4, 5, 14, 27, 31, 33, 34, 35, 37, 42], "left_finger_joint": [3, 5], "prismat": [3, 5], "right_finger_joint": [3, 5], "axi": [3, 5, 6, 27, 30, 32, 33, 37, 49], "xyz": [3, 5, 27], "rpy": [3, 5, 27], "1415926535": [3, 5], "parent": [3, 5, 14, 27, 35], "base": [3, 4, 5, 7, 11, 14, 15, 16, 21, 22, 26, 27, 33, 35, 38, 47, 48, 51], "child": [3, 5, 12, 27], "finger_left": [3, 5], "lower": [3, 5, 27], "upper": [3, 5, 27], "actual": [3, 5, 8], "load": [3, 4, 5, 9, 14, 15, 16, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 35], "appropri": [3, 5, 6, 43], "By": [3, 5, 9, 27, 41, 43], "though": [3, 5, 20], "extens": [3, 5], "via": [3, 4, 5, 16, 18, 24, 25, 27, 29, 44], "between": [3, 4, 5, 6, 11, 12, 16, 27, 30, 32, 41, 42, 43, 44, 49], "filenam": [3, 5, 27], "libgazebo_ros2_control": 3, "so": [3, 4, 5, 8, 9, 14, 27, 31, 35, 44], "robot_param": [3, 5], "robot_descript": [3, 5, 9, 18, 27], "robot_param_nod": [3, 5], "robot_state_publish": [3, 5, 41], "config": [3, 5, 16], "cartpole_control": [3, 5], "yaml": [3, 4, 5, 6, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 44], "locat": [3, 27, 31], "server": [3, 39, 44], "node": [3, 4, 5, 9, 11, 13, 15, 18, 21, 22, 23, 24, 25, 26, 27, 28, 29, 35], "attempt": [3, 5, 9, 44], "get": [3, 5, 7, 8, 9, 11, 14, 16, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 43, 53], "most": [3, 5, 6, 14, 16, 27, 35], "least": [3, 5, 12, 14, 35, 44], "jointstateinterfac": [3, 5], "effortjointinterfac": [3, 5], "velocityjointinterfac": [3, 5], "complex": [3, 4, 5, 6, 7, 8], "mechan": [3, 5, 8, 44], "nonlinear": [3, 5], "spring": [3, 5], "linkag": [3, 5, 18, 20, 28], "etc": [3, 5, 9, 23, 27, 53], "These": [3, 5, 16, 27], "inherit": [3, 5, 9, 27], "gazebosysteminterfac": 3, "level": [3, 5, 6, 7, 9, 20, 21, 26, 36, 43, 45, 50], "properti": [3, 5, 27], "sub": [3, 5], "class": [3, 4, 5, 7, 9, 11, 14, 15, 27, 35, 38, 43], "specifi": [3, 5, 9, 14, 16, 27, 35, 42, 43, 44], "insid": [3, 5, 13, 16, 18], "publish": [3, 5, 6, 8, 12, 16, 19, 27, 31, 34, 37, 40, 41, 42, 43, 46, 48, 53], "stateinterfac": [3, 5, 27], "topic": [3, 5, 6, 7, 8, 12, 18, 19, 20, 21, 22, 23, 24, 25, 26, 28, 29, 34, 42, 44, 51], "sensor_msg": [3, 5, 40, 46], "msg": [3, 5, 18, 19, 20, 21, 22, 23, 24, 25, 26, 28, 29, 31, 33, 36, 37, 38, 40, 43, 44, 45, 46, 47, 50], "jointstat": [3, 5], "joint_state_control": [3, 5, 15], "ros__paramet": [3, 5, 36, 44, 45, 50], "jointstatecontrol": [3, 5, 15], "action": [3, 5, 8, 42], "cart_pole_control": [3, 5], "follow_joint_trajectori": [3, 5, 44], "followjointtrajectori": [3, 5, 42, 44], "joint_trajectory_control": [3, 5, 6, 15, 18, 34], "write_op_mod": [3, 5], "contain": [3, 16, 17, 18, 20, 21, 22, 23, 24, 25, 26, 27, 28, 31, 36, 42, 43, 45, 47, 50], "content": [3, 14, 27, 35], "There": [3, 4, 5, 9, 11, 14, 16, 21, 24, 25, 26, 35, 43, 44], "meter": [3, 5, 27], "cart_example_veloc": [3, 5], "cart_example_effort": [3, 5], "diff_driv": 3, "tricycle_dr": 3, "world": [3, 5, 9, 13, 27], "example_veloc": [3, 5], "example_effort": [3, 5], "example_diff_dr": [3, 5], "example_tricycle_dr": [3, 5], "parallel": [3, 4, 5, 12, 13], "gripper_mimic_joint_exampl": [3, 5], "send": [3, 5, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 43, 44], "example_gripp": [3, 5], "humbl": [4, 16, 27], "want": [4, 8, 9, 16], "download": [4, 16], "mkdir": [4, 16], "p": [4, 9, 16, 42], "src": [4, 14, 16, 18, 27, 29, 31, 35], "wget": 4, "raw": 4, "githubusercont": 4, "com": [4, 6, 16, 27], "org": [4, 6, 30, 32, 49], "ros_control": [4, 6, 7, 53], "vc": [4, 16], "import": [4, 14, 16, 27, 35, 42], "rosdep": [4, 16], "rosdistro": [4, 16], "sudo": [4, 9, 16], "apt": [4, 16], "path": [4, 7, 16, 27, 44], "ignor": [4, 9, 16, 33, 42, 47, 48], "r": [4, 16, 28], "y": [4, 16, 22, 24, 25, 31, 37, 40], "everyth": [4, 14, 16, 18, 20, 21, 22, 23, 24, 25, 26, 28, 29, 35], "opt": [4, 16, 18], "setup": [4, 13, 14, 16, 18, 22, 27, 29, 35, 43], "sh": [4, 16, 18, 29], "colcon": [4, 14, 16, 27, 35], "symlink": [4, 16, 27], "folder": [4, 7, 14, 16, 18, 19, 22, 30, 31, 32, 35, 47, 49], "found": [4, 10, 14, 18, 19, 22, 31, 33, 35, 38, 44, 53], "github": [4, 6, 10, 16, 27, 34, 51, 52, 53], "figur": [4, 43], "cm": [4, 9], "abstract": [4, 7, 11, 27], "side": [4, 6, 7], "entri": [4, 35], "point": [4, 27, 35, 42, 43, 44, 53], "servic": [4, 6, 9, 11, 27], "executor": [4, 9], "custom": [4, 12, 13, 16, 21, 22, 37, 41, 51], "howev": [4, 6, 8, 9, 16, 20, 27], "recommend": [4, 7, 14], "ros2_control_nod": [4, 23, 27], "controller_manag": [4, 5, 6, 9, 15, 23, 35, 36, 44, 45, 50], "assum": [4, 8], "On": [4, 27], "hand": [4, 27, 52], "unload": [4, 9, 15], "match": [4, 16, 43], "report": [4, 6, 41, 53], "error": [4, 6, 9, 14, 20, 23, 27, 35, 41, 42, 44], "execut": [4, 14, 16, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 32, 35, 39, 42, 43, 44, 49], "loop": [4, 7, 9, 13, 18, 23, 24, 25, 26, 27, 28, 29, 35, 41, 42, 44, 47], "output": [4, 6, 7, 12, 15, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 31, 37], "driver": [4, 7, 16, 27, 52], "reus": [4, 7, 8], "flexibl": 4, "motor": [4, 8, 52], "encod": [4, 27], "theori": [4, 53], "compar": [4, 6, 7], "refer": [4, 8, 20, 27, 52], "measur": [4, 13, 21, 31, 37, 41, 42, 52], "calcul": [4, 27, 31, 43, 47], "input": [4, 6, 7, 8, 12, 19, 20, 27, 31, 33, 36, 38, 42, 43, 45, 47, 48, 50], "object": [4, 27], "deriv": [4, 42, 43], "controller_interfac": [4, 15, 27, 31, 35, 37, 40, 46], "export": [4, 8, 9, 14, 16, 27, 31, 35], "plugin": [4, 9, 11, 12, 14, 15, 16, 18, 19, 20, 21, 22, 23, 24, 25, 26, 28, 29, 31, 35], "forwardcommandcontrol": [4, 18, 19, 20, 21, 23, 24, 25, 26, 28, 29], "lifecyclenod": 4, "document": [4, 6, 7, 12, 13, 14, 16, 22, 33, 43, 44], "interact": [4, 7, 9, 15, 19, 27, 29], "srv": [4, 44], "controller_manager_msg": 4, "while": [4, 6, 7, 27, 43], "directli": [4, 18, 20, 29, 53], "line": [4, 10, 11, 14, 18, 27, 35, 41, 43], "friendli": 4, "cli": [4, 9, 10, 15, 18, 19, 22, 23, 24, 25, 26, 28, 29], "auto": [4, 9], "complet": [4, 11, 20, 27, 43], "rang": [4, 12, 34], "common": [4, 6, 16, 34, 41, 53], "capabl": [4, 6], "realiz": [4, 7, 43, 44], "repres": [4, 11, 27, 33, 43], "dynam": [4, 14, 27, 35], "dof": [4, 12, 16, 27, 39], "differ": [4, 6, 7, 12, 14, 16, 18, 19, 22, 23, 27, 36, 37, 41, 43, 45, 47, 50], "transmiss": [4, 16], "humanoid": 4, "logic": 4, "channel": [4, 52], "kuka": 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"need": [2, 3, 4, 5, 6, 7, 8, 12, 14, 16, 18, 21, 22, 23, 24, 25, 26, 27, 28, 35, 43], "commun": [2, 4, 6, 7, 14, 16, 18, 21, 22, 23, 24, 25, 27, 28, 52], "default": [2, 4, 8, 9, 13, 23, 30, 32, 38, 39, 40, 41, 42, 43, 44, 46, 47, 49], "configur": [2, 3, 4, 5, 6, 7, 8, 9, 11, 13, 15, 16, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 35, 41, 42, 43, 44, 47], "paramet": [2, 3, 5, 7, 14, 16, 18, 22, 27, 34, 35, 44], "pars": [2, 3, 5, 9, 10, 12], "urdf": [2, 7, 9, 12, 16, 18, 19, 20, 21, 22, 23, 24, 25, 26, 28, 29], "snippet": 2, "hardwareinfo": [2, 27], "here": [2, 10, 14, 27, 35, 36, 44, 45, 50], "cross": [2, 41], "valu": [2, 4, 6, 12, 13, 14, 16, 18, 19, 20, 22, 24, 25, 27, 29, 35, 40, 41, 42, 44, 46, 47], "export_": 2, "_interfac": [2, 14], "joint_a2": 2, "extract": [2, 33, 48], "sensibl": 2, "stop": [2, 7, 8, 9, 11, 15, 18, 22, 23, 27, 33, 42, 48], "usual": [2, 4, 9, 13, 14, 27, 35], "includ": [2, 3, 5, 6, 11, 14, 15, 27, 35, 44, 52], "command": [2, 3, 4, 5, 6, 7, 9, 10, 12, 13, 14, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 32, 33, 34, 35, 36, 38, 39, 42, 43, 45, 49, 50, 53], "safe": [2, 27, 33, 35, 44, 48], "interrupt": [2, 9], "stream": [2, 7], "write": [2, 4, 7, 8, 9, 10, 20, 21, 22, 26, 34], "exchang": [2, 6, 18, 21, 22, 23, 24, 25, 26, 28, 53], "equival": [2, 27], "forget": [2, 4, 16, 44], "pluginlib_export_class": [2, 14, 16, 27, 35], "macro": [2, 4, 14, 16, 27, 35], "end": [2, 4, 11, 14, 27, 35, 42, 52], "cpp": [2, 14, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 35], "file": [2, 3, 4, 5, 6, 7, 9, 13, 14, 16, 31, 33, 35, 36, 44, 45, 50], "creat": [2, 3, 4, 5, 7, 9, 13, 14, 16, 27, 35], "xml": [2, 3, 5, 11, 14, 27, 35], "librari": [2, 4, 14, 15, 16, 30, 32, 34, 35, 47, 49], "pluginlib": [2, 3, 4, 5, 9, 14, 27, 35], "exampl": [2, 3, 4, 5, 6, 7, 8, 13, 15, 22, 31, 36, 37, 41, 44, 45, 50, 53], "rrbotsystempositiononlyhardwar": [2, 4, 12, 15, 18, 20, 25], "excel": 2, "jointtrajectorycontrol": [2, 3, 5, 15, 18, 31, 44], "real": [2, 6, 7, 9, 13, 22, 35, 41, 42, 53], "critic": [2, 6], "mark": [2, 20], "controllerinterfac": [2, 4, 8, 15, 27, 35], "member": [2, 14, 27, 35, 43], "init": 2, "call": [2, 3, 4, 5, 8, 14, 22, 27, 35], "lifecycl": [2, 4, 7, 9, 11, 14, 27], "declar": [2, 14, 27, 35], "state_interface_configur": [2, 27, 35], "command_interface_configur": [2, 27, 35], "design": [2, 4, 6, 7, 8, 27, 53], "updat": [2, 4, 8, 9, 16, 27, 35, 44, 47], "manag": [2, 3, 5, 6, 7, 10, 11, 14, 15, 16, 27, 35, 44, 53], "option": [2, 3, 5, 9, 11, 13, 14, 15, 18, 23, 35, 37, 41, 44, 47], "on_configur": [2, 14, 27, 35], "on_activ": [2, 11, 14, 27, 35], "on_deactiv": [2, 11, 14, 27, 35], "deactiv": [2, 4, 15, 18, 42], "final": [2, 7, 11, 27], "joint_trajectory_plugin": 2, "integr": [3, 4, 5, 6, 7, 13, 16, 20, 22, 27, 42, 43, 44, 53], "architectur": [3, 5, 6, 7], "gazebo": [3, 5, 6, 16, 18, 29, 51], "classic": [3, 16, 29, 51], "provid": [3, 4, 5, 6, 7, 8, 9, 12, 13, 14, 16, 18, 20, 23, 24, 25, 26, 27, 28, 29, 31, 35, 41, 42, 43, 44, 47, 53], "instanti": [3, 5, 9], "connect": [3, 4, 5, 13, 16, 24, 27], "model": [3, 5, 18, 27], "cd": [3, 4, 5, 16, 27], "docker": [3, 5, 17, 18, 20, 21, 22, 23, 24, 25, 26, 28, 29], "gui": [3, 5, 16, 18, 20, 21, 23, 24, 25, 26, 28, 29], "properli": [3, 5, 8, 16, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29], "rm": [3, 4, 5, 16, 18, 29], "net": [3, 5, 7, 16, 18, 29], "host": [3, 5, 16, 18, 29, 52], "ros2": [3, 4, 5, 7, 9, 14, 15, 16, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 35], "launch": [3, 4, 5, 9, 13, 16, 18, 19, 20, 21, 22, 23, 24, 25, 26, 28, 29], "cart_example_posit": [3, 5], "py": [3, 5, 16, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29], "fals": [3, 5, 13, 16, 18, 29, 33, 39, 41, 42, 44, 47], "machin": [3, 4, 5, 6, 16, 29], "client": [3, 5, 29, 44], "gzclient": [3, 29], "rocker": [3, 5], "go": [3, 5, 7, 9, 14, 27, 35], "imag": [3, 5, 9, 29], "inject": [3, 5, 7], "nvidia": [3, 5], "And": 3, "user": [3, 5, 6, 9, 16, 27, 43], "id": [3, 5, 15, 18, 21, 22, 23, 24, 25, 26, 28], "specif": [3, 5, 6, 8, 9, 11, 12, 27, 29, 38, 41, 43, 44], "cleaner": [3, 5], "mount": [3, 5], "permiss": [3, 5, 9], "instal": [3, 5, 9, 14, 17, 18, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 35], "instruct": [3, 5, 22, 27, 29], "x11": [3, 5], "latest": [3, 4, 5], "move": [3, 5, 16, 18, 20, 21, 22, 23, 24, 25, 26, 28, 29, 39], "cart": [3, 5], "rail": [3, 5], "exec": [3, 5, 18], "bash": [3, 4, 5, 14, 16, 18, 27, 35], "home": [3, 5], "ros2_w": [3, 4, 5, 16], "example_posit": [3, 5], "element": [3, 5, 27], "access": [3, 4, 5, 7, 9, 13, 18, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 35, 41], "interfac": [3, 5, 6, 7, 8, 9, 10, 11, 13, 14, 16, 18, 20, 21, 22, 24, 25, 26, 29, 30, 32, 34, 35, 37, 40, 42, 43, 46, 49, 51, 52, 53], "gazebosystem": 3, "hardwar": [3, 5, 7, 8, 10, 13, 15, 16, 18, 19, 20, 21, 22, 23, 24, 25, 26, 28, 29, 33, 34, 35, 42, 48, 53], "slider_to_cart": [3, 5, 36, 45, 50], "command_interfac": [3, 4, 5, 12, 20, 27, 31, 42, 44], "param": [3, 4, 5, 9, 12, 13, 22, 27], "min": [3, 4, 5, 12, 27], "1000": [3, 5, 27], "max": [3, 4, 5, 12, 27, 39], "state_interfac": [3, 4, 5, 12, 27, 31, 42, 44], "initial_valu": [3, 5, 27], "mimick": [3, 5, 13], "manual": [3, 4, 5, 6, 9, 14, 16, 18, 23, 24, 25, 26, 28, 29, 35, 53], "multipli": [3, 5, 13], "definit": [3, 4, 5, 14, 27, 31, 33, 34, 35, 37, 42], "left_finger_joint": [3, 5], "prismat": [3, 5], "right_finger_joint": [3, 5], "axi": [3, 5, 6, 27, 30, 32, 33, 37, 49], "xyz": [3, 5, 27], "rpy": [3, 5, 27], "1415926535": [3, 5], "parent": [3, 5, 14, 27, 35], "base": [3, 4, 5, 7, 11, 14, 15, 16, 21, 22, 26, 27, 33, 35, 38, 47, 48, 51], "child": [3, 5, 12, 27], "finger_left": [3, 5], "lower": [3, 5, 27], "upper": [3, 5, 27], "actual": [3, 5, 8], "load": [3, 4, 5, 9, 14, 15, 16, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 35], "appropri": [3, 5, 6, 43], "By": [3, 5, 9, 27, 41, 43], "though": [3, 5, 20], "extens": [3, 5], "via": [3, 4, 5, 16, 18, 24, 25, 27, 29, 44], "between": [3, 4, 5, 6, 11, 12, 16, 27, 30, 32, 41, 42, 43, 44, 49], "filenam": [3, 5, 27], "libgazebo_ros2_control": 3, "so": [3, 4, 5, 8, 9, 14, 27, 31, 35, 44], "robot_param": [3, 5], "robot_descript": [3, 5, 9, 18, 27], "robot_param_nod": [3, 5], "robot_state_publish": [3, 5, 41], "config": [3, 5, 16], "cartpole_control": [3, 5], "yaml": [3, 4, 5, 6, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 44], "locat": [3, 27, 31], "server": [3, 39, 44], "node": [3, 4, 5, 9, 11, 13, 15, 18, 21, 22, 23, 24, 25, 26, 27, 28, 29, 35], "attempt": [3, 5, 9, 44], "get": [3, 5, 7, 8, 9, 11, 14, 16, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 43, 53], "most": [3, 5, 6, 14, 16, 27, 35], "least": [3, 5, 12, 14, 35, 44], "jointstateinterfac": [3, 5], "effortjointinterfac": [3, 5], "velocityjointinterfac": [3, 5], "complex": [3, 4, 5, 6, 7, 8], "mechan": [3, 5, 8, 44], "nonlinear": [3, 5], "spring": [3, 5], "linkag": [3, 5, 18, 20, 28], "etc": [3, 5, 9, 23, 27, 53], "These": [3, 5, 16, 27], "inherit": [3, 5, 9, 27], "gazebosysteminterfac": 3, "level": [3, 5, 6, 7, 9, 20, 21, 26, 36, 43, 45, 50], "properti": [3, 5, 27], "sub": [3, 5], "class": [3, 4, 5, 7, 9, 11, 14, 15, 27, 35, 38, 43], "specifi": [3, 5, 9, 14, 16, 27, 35, 42, 43, 44], "insid": [3, 5, 13, 16, 18], "publish": [3, 5, 6, 8, 12, 16, 19, 27, 31, 34, 37, 40, 41, 42, 43, 46, 48, 53], "stateinterfac": [3, 5, 27], "topic": [3, 5, 6, 7, 8, 12, 18, 19, 20, 21, 22, 23, 24, 25, 26, 28, 29, 34, 42, 44, 51], "sensor_msg": [3, 5, 40, 46], "msg": [3, 5, 18, 19, 20, 21, 22, 23, 24, 25, 26, 28, 29, 31, 33, 36, 37, 38, 40, 43, 44, 45, 46, 47, 50], "jointstat": [3, 5], "joint_state_control": [3, 5, 15], "ros__paramet": [3, 5, 36, 44, 45, 50], "jointstatecontrol": [3, 5, 15], "action": [3, 5, 8, 42], "cart_pole_control": [3, 5], "follow_joint_trajectori": [3, 5, 44], "followjointtrajectori": [3, 5, 42, 44], "joint_trajectory_control": [3, 5, 6, 15, 18, 34], "write_op_mod": [3, 5], "contain": [3, 16, 17, 18, 20, 21, 22, 23, 24, 25, 26, 27, 28, 31, 36, 42, 43, 45, 47, 50], "content": [3, 14, 27, 35], "There": [3, 4, 5, 9, 11, 14, 16, 21, 24, 25, 26, 35, 43, 44], "meter": [3, 5, 27], "cart_example_veloc": [3, 5], "cart_example_effort": [3, 5], "diff_driv": 3, "tricycle_dr": 3, "world": [3, 5, 9, 13, 27], "example_veloc": [3, 5], "example_effort": [3, 5], "example_diff_dr": [3, 5], "example_tricycle_dr": [3, 5], "parallel": [3, 4, 5, 12, 13], "gripper_mimic_joint_exampl": [3, 5], "send": [3, 5, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 43, 44], "example_gripp": [3, 5], "humbl": [4, 16, 27], "want": [4, 8, 9, 16], "download": [4, 16], "mkdir": [4, 16], "p": [4, 9, 16, 42], "src": [4, 14, 16, 18, 27, 29, 31, 35], "wget": 4, "raw": 4, "githubusercont": 4, "com": [4, 6, 16, 27], "org": [4, 6, 30, 32, 49], "ros_control": [4, 6, 7, 53], "vc": [4, 16], "import": [4, 14, 16, 27, 35, 42], "rosdep": [4, 16], "rosdistro": [4, 16], "sudo": [4, 9, 16], "apt": [4, 16], "path": [4, 7, 16, 27, 44], "ignor": [4, 9, 16, 33, 42, 47, 48], "r": [4, 16, 28], "y": [4, 16, 22, 24, 25, 31, 37, 40], "everyth": [4, 14, 16, 18, 20, 21, 22, 23, 24, 25, 26, 28, 29, 35], "opt": [4, 16, 18], "setup": [4, 13, 14, 16, 18, 22, 27, 29, 35, 43], "sh": [4, 16, 18, 29], "colcon": [4, 14, 16, 27, 35], "symlink": [4, 16, 27], "folder": [4, 7, 14, 16, 18, 19, 22, 30, 31, 32, 35, 47, 49], "found": [4, 10, 14, 18, 19, 22, 31, 33, 35, 38, 44, 53], "github": [4, 6, 10, 16, 27, 34, 51, 52, 53], "figur": [4, 43], "cm": [4, 9], "abstract": [4, 7, 11, 27], "side": [4, 6, 7], "entri": [4, 35], "point": [4, 27, 35, 42, 43, 44, 53], "servic": [4, 6, 9, 11, 27], "executor": [4, 9], "custom": [4, 12, 13, 16, 21, 22, 37, 41, 51], "howev": [4, 6, 8, 9, 16, 20, 27], "recommend": [4, 7, 14], "ros2_control_nod": [4, 23, 27], "controller_manag": [4, 5, 6, 9, 15, 23, 35, 36, 44, 45, 50], "assum": [4, 8], "On": [4, 27], "hand": [4, 27, 52], "unload": [4, 9, 15], "match": [4, 16, 43], "report": [4, 6, 41, 53], "error": [4, 6, 9, 14, 20, 23, 27, 35, 41, 42, 44], "execut": [4, 14, 16, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 32, 35, 39, 42, 43, 44, 49], "loop": [4, 7, 9, 13, 18, 23, 24, 25, 26, 27, 28, 29, 35, 41, 42, 44, 47], "output": [4, 6, 7, 12, 15, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 31, 37], "driver": [4, 7, 16, 27, 52], "reus": [4, 7, 8], "flexibl": 4, "motor": [4, 8, 52], "encod": [4, 27], "theori": [4, 53], "compar": [4, 6, 7], "refer": [4, 8, 20, 27, 52], "measur": [4, 13, 21, 31, 37, 41, 42, 52], "calcul": [4, 27, 31, 43, 47], "input": [4, 6, 7, 8, 12, 19, 20, 27, 31, 33, 36, 38, 42, 43, 45, 47, 48, 50], "object": [4, 27], "deriv": [4, 42, 43], "controller_interfac": [4, 15, 27, 31, 35, 37, 40, 46], "export": [4, 8, 9, 14, 16, 27, 31, 35], "plugin": [4, 9, 11, 12, 14, 15, 16, 18, 19, 20, 21, 22, 23, 24, 25, 26, 28, 29, 31, 35], "forwardcommandcontrol": [4, 18, 19, 20, 21, 23, 24, 25, 26, 28, 29], "lifecyclenod": 4, "document": [4, 6, 7, 12, 13, 14, 16, 22, 33, 43, 44], "interact": [4, 7, 9, 15, 19, 27, 29], "srv": [4, 44], "controller_manager_msg": 4, "while": [4, 6, 7, 27, 43], "directli": [4, 18, 20, 29, 53], "line": [4, 10, 11, 14, 18, 27, 35, 41, 43], "friendli": 4, "cli": [4, 9, 10, 15, 18, 19, 22, 23, 24, 25, 26, 28, 29], "auto": [4, 9], "complet": [4, 11, 20, 27, 43], "rang": [4, 12, 34], "common": [4, 6, 16, 34, 41, 53], "capabl": [4, 6], "realiz": [4, 7, 43, 44], "repres": [4, 11, 27, 33, 43], "dynam": [4, 14, 27, 35], "dof": [4, 12, 16, 27, 39], "differ": [4, 6, 7, 12, 14, 16, 18, 19, 22, 23, 27, 36, 37, 41, 43, 45, 47, 50], "transmiss": [4, 16], "humanoid": 4, "logic": 4, "channel": [4, 52], "kuka": [4, 18, 23, 24, 25, 52], "rsi": [4, 18, 24, 25, 52], "relat": [4, 6, 7], "forc": [4, 7, 12, 15, 24, 25, 31, 34, 52], "torqu": [4, 12, 24, 25, 31, 34], "simpl": [4, 6, 7, 8, 14, 16, 18, 20, 22, 27, 28, 35, 39], "valv": [4, 12], "mandatori": [4, 9, 37, 42], "dc": 4, "arduino": [4, 21, 26], "board": 4, "modular": [4, 7, 16, 27], "independ": [4, 7, 25], "explan": [4, 14], "given": [4, 17, 18, 20, 21, 22, 23, 24, 25, 26, 28, 36, 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"scope-of-the-document-and-background-knowledge"]], "Motivation, Purpose and Use": [[8, "motivation-purpose-and-use"]], "Implementation": [[8, "implementation"]], "A Controller Base-Class: ChainableController": [[8, "a-controller-base-class-chainablecontroller"]], "Inner Resource Management": [[8, "inner-resource-management"]], "Activation and Deactivation Chained Controllers": [[8, "activation-and-deactivation-chained-controllers"]], "Debugging outputs": [[8, "debugging-outputs"]], "Closing remarks": [[8, "closing-remarks"]], "Determinism": [[9, "determinism"]], "Parameters": [[9, "parameters"], [13, "parameters"], [30, "parameters"], [31, "parameters"], [32, "parameters"], [33, "parameters"], [36, "parameters"], [37, "parameters"], [38, "parameters"], [39, "parameters"], [40, "parameters"], [41, "parameters"], [45, "parameters"], [46, "parameters"], [47, "parameters"], [49, "parameters"], [50, "parameters"]], "Helper scripts": [[9, "helper-scripts"]], "spawner": [[9, "spawner"]], 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a/iron/_images/rqt_joint_trajectory_controller.png b/iron/_images/rqt_joint_trajectory_controller.png new file mode 100644 index 00000000000..cb86f4620bc Binary files /dev/null and b/iron/_images/rqt_joint_trajectory_controller.png differ diff --git a/iron/_sources/doc/ros2_controllers/joint_trajectory_controller/doc/userdoc.rst b/iron/_sources/doc/ros2_controllers/joint_trajectory_controller/doc/userdoc.rst index 58ba734b452..fffa78a304a 100644 --- a/iron/_sources/doc/ros2_controllers/joint_trajectory_controller/doc/userdoc.rst +++ b/iron/_sources/doc/ros2_controllers/joint_trajectory_controller/doc/userdoc.rst @@ -191,6 +191,7 @@ Further information Trajectory Representation joint_trajectory_controller Parameters + rqt_joint_trajectory_controller <../../rqt_joint_trajectory_controller/doc/userdoc.rst> .. rubric:: Footnote diff --git a/iron/_sources/doc/ros2_controllers/rqt_joint_trajectory_controller/doc/userdoc.rst b/iron/_sources/doc/ros2_controllers/rqt_joint_trajectory_controller/doc/userdoc.rst new file mode 100644 index 00000000000..197a7afb30f --- /dev/null +++ b/iron/_sources/doc/ros2_controllers/rqt_joint_trajectory_controller/doc/userdoc.rst @@ -0,0 +1,12 @@ +:github_url: https://github.com/ros-controls/ros2_controllers/blob/{REPOS_FILE_BRANCH}/rqt_joint_trajectory_controller/doc/userdoc.rst + +.. _rqt_joint_trajectory_controller_userdoc: + +rqt_joint_trajectory_controller +=============================== + +rqt_joint_trajectory_controller is a GUI plugin for rqt that allows to command a joint_trajectory_controller. + +.. image:: rqt_joint_trajectory_controller.png + :width: 400 + :alt: rqt_joint_trajectory_controller diff --git a/iron/doc/acknowledgements/acknowledgements.html b/iron/doc/acknowledgements/acknowledgements.html index 2804a7430ae..1782b563980 100644 --- a/iron/doc/acknowledgements/acknowledgements.html +++ b/iron/doc/acknowledgements/acknowledgements.html @@ -145,18 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