Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

[JTC] Remove manual angle-wraparound parameter #1152

Merged
merged 1 commit into from
Jun 5, 2024
Merged

[JTC] Remove manual angle-wraparound parameter #1152

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
2 changes: 1 addition & 1 deletion doc/release_notes/Jazzy.rst
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -32,7 +32,7 @@ joint_trajectory_controller
* Empty trajectory messages are discarded (`#902 <https://github.com/ros-controls/ros2_controllers/pull/902>`_).
* Action field ``error_string`` is now filled with meaningful strings (`#887 <https://github.com/ros-controls/ros2_controllers/pull/887>`_).
* Angle wraparound behavior (continuous joints) was added from the current state to the first segment of the incoming trajectory (`#796 <https://github.com/ros-controls/ros2_controllers/pull/796>`_).
* The URDF is now parsed for continuous joints and angle wraparound is automatically activated now (`#949 <https://github.com/ros-controls/ros2_controllers/pull/949>`_).
* The URDF is now parsed for continuous joints and angle wraparound is automatically activated now (`#949 <https://github.com/ros-controls/ros2_controllers/pull/949>`_). ``angle_wraparound`` parameter was completely removed.

pid_controller
************************
Expand Down
11 changes: 0 additions & 11 deletions joint_trajectory_controller/src/joint_trajectory_controller.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -703,17 +703,6 @@ controller_interface::CallbackReturn JointTrajectoryController::on_configure(
joints_angle_wraparound_.resize(dof_);
for (size_t i = 0; i < dof_; ++i)
{
const auto & gains = params_.gains.joints_map.at(params_.joints[i]);
if (gains.angle_wraparound)
{
// TODO(christophfroehlich): remove this warning in a future release (ROS-J)
RCLCPP_WARN(
logger,
"[Deprecated] Parameter 'gains.<joint>.angle_wraparound' is deprecated. The "
"angle_wraparound is now used if a continuous joint is configured in the URDF.");
joints_angle_wraparound_[i] = true;
}

if (!urdf_.empty())
{
auto urdf_joint = model_.getJoint(params_.joints[i]);
Expand Down
6 changes: 0 additions & 6 deletions joint_trajectory_controller/src/joint_trajectory_controller_parameters.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -122,12 +122,6 @@ joint_trajectory_controller:
default_value: 0.0,
description: "Feed-forward scaling :math:`k_{ff}` of velocity"
}
angle_wraparound: {
type: bool,
default_value: false,
description: "[deprecated] For joints that wrap around (ie. are continuous).
Normalizes position-error to -pi to pi."
}
constraints:
stopped_velocity_tolerance: {
type: double,
Expand Down
Loading