Adding use of robot description parameter in the Admittance Controller #1247

destogl · 2024-08-14T14:20:20Z

Replaces #1094.

Adds propagation of robot_description through argument to the kinematics_interface.

admittance_controller/src/admittance_controller.cpp

saikishor

LGTM
We just have to merge the Kinematics interface before merging this

destogl commented Aug 14, 2024

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admittance_controller/src/admittance_controller.cpp Outdated Show resolved Hide resolved

destogl mentioned this pull request Aug 14, 2024

Use the urdf_ to set the robot_description in admittance controller #1094

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github-actions bot requested review from aprotyas, bmagyar, christophfroehlich, fmauch, moriarty and progtologist August 14, 2024 14:42

saikishor approved these changes Aug 14, 2024

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SyllogismRXS and others added 6 commits September 19, 2024 10:52

Use the urdf_ to set the robot_description in admittance controller

609d98b

Pass robot_description to kinematics_interface using input arg

a4b90db

admittance_controller: skip large dt periods

30c149a

get robot_description correctly

0a944d1

correct for kinematics_interface initialize() API change

79f6ebf

Remove skipping of large dts because why to add that?

48131cd

Nibanovic force-pushed the admittance-robot-description-param-1094 branch from 88b66e4 to 48131cd Compare September 19, 2024 08:59

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