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Scaled jtc #1191

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Scaled jtc #1191

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Commits on Jul 3, 2024

  1. Add scaling factor to JTC 

    This adds a scaling factor between 0 and 1 to the JTC so that the trajectory
time inside the controller is extended respectively. A value of 0.5 means
that trajectory execution will take twice as long as the trajectory states.

The scaling factor itself is read from the hardware for now.
    @fmauch
    fmauch committed Jul 3, 2024
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  2. use reset+initRT due to missing writeFromRT 

    Co-authored-by: Christoph Fröhlich <[email protected]>
    @fmauch @christophfroehlich
    fmauch and christophfroehlich committed Jul 3, 2024
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  3. Reformat scaling the time period 

    This avoids writing the explicit conversion by hand

Internally that basically does:
static_cast<rcl_duration_value_t>(static_cast<long double>(rcl_duration_.nanoseconds) * scale_ld)
    @fmauch
    fmauch committed Jul 3, 2024
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  4. synchronization of scaling factor with hw optional, add service for s… 

    …etting

of scaling factor

Co-authored-by: Manuel M <[email protected]>
    @fmauch @mamueluth
    fmauch and mamueluth committed Jul 3, 2024
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  5. Improve scaling exchange with hardware

    @fmauch
    fmauch committed Jul 3, 2024
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  6. Check command interface name when setting speed scaling

    @fmauch
    fmauch committed Jul 3, 2024
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  7. Update code formatting 

    That was changed in a previous commit
    @fmauch
    fmauch committed Jul 3, 2024
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  8. Do not advertise speed scaling service unless only position interface is 

    used

The current implementation only works correctly when a position
interface is used.

When the hardware in fact slows down the robot (as UR does), also velocity interfaces
should be scaled correctly, but that't rather an edge case right now.
    @fmauch
    fmauch committed Jul 3, 2024
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  9. WIP: Adding documentation about speed scaling

    @fmauch
    fmauch committed Jul 3, 2024
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  10. Use a subscriber instead of a service

    @fmauch
    fmauch committed Jul 3, 2024
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  11. Do not put the time_data_ into a RealtimeBuffer 

    It is accessed from the RT thread only, anyway.
    @fmauch
    fmauch committed Jul 3, 2024
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  12. Fix goal time violated 

    See UniversalRobots/Universal_Robots_ROS2_Driver#882
    @fmauch
    Lennart Nachtigall authored and fmauch committed Jul 3, 2024
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  13. Merge remote-tracking branch 'origin/master' into scaled_jtc

    @fmauch
    fmauch committed Jul 3, 2024
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  14. Use custom message to subscribe speed scaling

    @fmauch
    fmauch committed Jul 3, 2024
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  15. Add scaling factor to controller state

    @fmauch
    fmauch committed Jul 3, 2024
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  16. Code formatting

    @fmauch
    fmauch committed Jul 3, 2024
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  17. Allow scaling factors greater than 1

    @fmauch
    fmauch committed Jul 3, 2024
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  18. Add parameter validator for default scaling factor

    @fmauch
    fmauch committed Jul 3, 2024
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  19. More formatting...

    @fmauch
    fmauch committed Jul 3, 2024
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Commits on Jul 4, 2024

  1. Remove unnecessary iostream include

    @fmauch
    fmauch committed Jul 4, 2024
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  2. REVERT_ME: Use dev branch for control_msgs

    @fmauch
    fmauch committed Jul 4, 2024
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  3. Write back scaling factor to buffer when updated from hardware

    @fmauch
    fmauch committed Jul 4, 2024
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  4. Remove additional time_data structure in update method 

    We can actually work with just one structure.
    @fmauch
    fmauch committed Jul 4, 2024
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  5. Use std::atomic for scaling factor buff

    @fmauch
    fmauch committed Jul 4, 2024
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  6. Use transient_local for the speed scaling topic subscriber

    @fmauch
    fmauch committed Jul 4, 2024
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Commits on Jul 5, 2024

  1. Added documentation on tolerance effects

    @fmauch
    fmauch committed Jul 5, 2024
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  2. Added a short explanation of scaling 

    This isn't the best explanation, but it's a start.
    @fmauch
    fmauch committed Jul 5, 2024
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Commits on Jul 8, 2024

  1. Use a ordering-safe reference for scaling command and state interfaces

    @fmauch
    fmauch committed Jul 8, 2024
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Commits on Jul 23, 2024

  1. Merge branch 'master' into scaled_jtc

    @fmauch
    fmauch authored Jul 23, 2024
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  2. REVERT_ME Use my version of control_msgs

    @fmauch
    fmauch committed Jul 23, 2024
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  3. Use period directly instead of calculating an own period

    @fmauch
    fmauch committed Jul 23, 2024
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Commits on Aug 8, 2024

  1. Merge branch 'master' into scaled_jtc

    @fmauch
    fmauch committed Aug 8, 2024
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