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[JTC] Proposal for custom "controller" plugins #885

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[JTC] Proposal for custom "controller" plugins #885

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Commits on Dec 10, 2023

  1. First draft of trajectory controllers plugins

    @christophfroehlich
    christophfroehlich committed Dec 10, 2023
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  2. Move pid plugin to own package

    @christophfroehlich
    christophfroehlich committed Dec 10, 2023
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  3. Move base class to separate package

    @christophfroehlich
    christophfroehlich committed Dec 10, 2023
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  4. Delete duplicate parameters

    @christophfroehlich
    christophfroehlich committed Dec 10, 2023
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  5. Reactivate tests

    @christophfroehlich
    christophfroehlich committed Dec 10, 2023
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  6. Fix unused parameter warnings

    @christophfroehlich
    christophfroehlich committed Dec 10, 2023
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  7. Remove duplicate LICENSE file

    @christophfroehlich
    christophfroehlich committed Dec 10, 2023
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  8. Rename jtc plugin package

    @christophfroehlich
    christophfroehlich committed Dec 10, 2023
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  9. Add class_loader as persistent jtc-class member variable

    @christophfroehlich
    christophfroehlich committed Dec 10, 2023
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  10. Set PID parameters during tests only if plugin is loaded

    @christophfroehlich
    christophfroehlich committed Dec 10, 2023
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  11. Add test to propery initialize PID plugin

    @christophfroehlich
    christophfroehlich committed Dec 10, 2023
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  12. Use lifecycle_node inside trajectory_controller plugin

    @christophfroehlich
    christophfroehlich committed Dec 10, 2023
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  13. Deactivate reconfigure of controller plugin

    @christophfroehlich
    christophfroehlich committed Dec 10, 2023
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  14. Compute gains on on_activate

    @christophfroehlich
    christophfroehlich committed Dec 10, 2023
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  15. Let PID controller parse command joint names instead of joints

    @christophfroehlich
    christophfroehlich committed Dec 10, 2023
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  16. Rename pid_adapter variable and update gains with every new trajectory

    @christophfroehlich
    christophfroehlich committed Dec 10, 2023
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  17. Split non-RT and RT methods

    @christophfroehlich
    christophfroehlich committed Dec 10, 2023
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  18. Use command joints instead of joints for gains structure

    @christophfroehlich
    christophfroehlich committed Dec 10, 2023
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  19. Add RT buffer to base class

    @christophfroehlich
    christophfroehlich committed Dec 10, 2023
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  20. Add trajectory start time

    @christophfroehlich
    christophfroehlich committed Dec 10, 2023
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  21. Rename variable

    @christophfroehlich
    christophfroehlich committed Dec 10, 2023
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  22. Remove local vars and just call compute-commands with duration in tra… 

    …jectory
    @christophfroehlich
    christophfroehlich committed Dec 10, 2023
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  23. Update control law also for hold position

    @christophfroehlich
    christophfroehlich committed Dec 10, 2023
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  24. Fix parameter updates and tests after rebase

    @christophfroehlich
    christophfroehlich committed Dec 10, 2023
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  25. Export dependencies and update comments

    @christophfroehlich
    christophfroehlich committed Dec 10, 2023
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  26. Rename updateGains method

    @christophfroehlich
    christophfroehlich committed Dec 10, 2023
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  27. Call activate() of traj_contr_

    @christophfroehlich
    christophfroehlich committed Dec 10, 2023
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Commits on Dec 12, 2023

  1. Merge branch 'master' into jtc/controller_plugin

    @christophfroehlich
    christophfroehlich authored Dec 12, 2023
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  2. Add missing )

    @christophfroehlich
    christophfroehlich authored Dec 12, 2023
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Commits on Dec 14, 2023

  1. Parse traj_control gains before sending hold position

    @christophfroehlich
    christophfroehlich committed Dec 14, 2023
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Commits on Jan 2, 2024

  1. Merge branch 'master' into jtc/controller_plugin

    @christophfroehlich
    christophfroehlich authored Jan 2, 2024
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Commits on Jan 11, 2024

  1. Merge branch 'master' into jtc/controller_plugin

    @christophfroehlich
    christophfroehlich authored Jan 11, 2024
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Commits on Mar 7, 2024

  1. Fix wrong text in test

    @christophfroehlich
    christophfroehlich committed Mar 7, 2024
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  2. Merge branch 'master' into jtc/controller_plugin

    @christophfroehlich
    christophfroehlich committed Mar 7, 2024
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