Add first example robot (rrbot as system) #37

destogl · 2020-09-11T23:06:40Z

Some TODOs:

add xacro dependecy
parse robot's description from the xacro file
remove urdf file

…oints.

ros2_control_demo_robot/src/ros2_control_manager_node.cpp

ros2_control_demo_hardware/src/rrbot_system_position_only.cpp

* Change package names to represent the actual state. * Describe connection to the example URDFs

…sible example.

…/ros-controls/ros2_control_demos into add_rrbot_system_position_joints

…omment out the name of the node from the roslaunch file to avoid issue with LifecycleNode-Names. Add better robot's movement simulation.

…/ros-controls/ros2_control_demos into add_rrbot_system_position_joints

codecov-io · 2020-12-03T00:10:35Z

Codecov Report

Merging #37 (732a3bc) into master (85450cc) will decrease coverage by 100.00%.
The diff coverage is n/a.

@@             Coverage Diff              @@
##            master     #37        +/-   ##
============================================
- Coverage   100.00%   0.00%   -100.00%     
============================================
  Files            4       1         -3     
  Lines            4      71        +67     
============================================
- Hits             4       0         -4     
- Misses           0      71        +71

Flag	Coverage Δ
unittests	`0.00% <ø> (-100.00%)`	⬇️

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Impacted Files	Coverage Δ
...l_demo_hardware/src/rrbot_system_position_only.cpp	`0.00% <0.00%> (ø)`

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ros2_control_demo_hardware/include/ros2_control_demo_hardware/rrbot_system_position_only.hpp

ros2_control_demo_hardware/package.xml

ros2_control_demo_hardware/src/rrbot_system_position_only.cpp

jordan-palacios

Barring @bmagyar comments, LGTM.

bmagyar · 2020-12-05T17:22:40Z

@destogl I'm happy to update these components (let's merge soon) once ros-controls/ros2_control#258 is merged. I'm happy to merge this now

…rrbot_system_position_only.hpp Co-authored-by: Bence Magyar <bence.magyar.robotics@gmail.com>

Co-authored-by: Bence Magyar <bence.magyar.robotics@gmail.com>

bmagyar

Tested with latest master of framework and controllers, nice work!
Also tested all commands in the readme

destogl added 3 commits September 11, 2020 19:39

Implementation of RRBot System Headless Hardware with only position j…

f0d7186

…oints.

rrbot system position only after first testing.

773d0c3

Added description of rrbot and example ros2_control_manager.

89dbaef

This was referenced Sep 11, 2020

Add missing component types for the examples in the roadmap ros-controls/ros2_control#131

Closed

Create descriptions for robots from examples #5

Open

destogl commented Sep 12, 2020

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ros2_control_demo_robot/src/ros2_control_manager_node.cpp Outdated Show resolved Hide resolved

destogl commented Sep 12, 2020

View reviewed changes

ros2_control_demo_robot/src/ros2_control_manager_node.cpp Outdated Show resolved Hide resolved

This was referenced Sep 12, 2020

Min max to attribute ros-controls/roadmap#25

Merged

Add ros2 control managers ros-controls/ros2_control#147

Closed

ROS2 Managers are moved to controller_interface package

e6c9fbf

destogl mentioned this pull request Sep 15, 2020

Shared implementation for *Hardware components ros-controls/ros2_control#148

Closed

AndyZe reviewed Sep 21, 2020

View reviewed changes

ros2_control_demo_hardware/src/rrbot_system_position_only.cpp Outdated Show resolved Hide resolved

Update README.md

c0e60ab

* Change package names to represent the actual state. * Describe connection to the example URDFs

destogl mentioned this pull request Sep 23, 2020

Add class diagram for the first example in the README #40

Open

destogl and others added 10 commits October 1, 2020 11:13

Add controlle to example 1 and adapt the hardware to provide more sen…

f6fddee

…sible example.

Merge branch 'add_rrbot_system_position_joints' of https://github.com…

8336c52

…/ros-controls/ros2_control_demos into add_rrbot_system_position_joints

Added controller to install path

bb0d4c3

Change parameter names because deprecated

4edaf31

Reorganize controller's yaml to have correct parameters' namespace. C…

87bf1fe

…omment out the name of the node from the roslaunch file to avoid issue with LifecycleNode-Names. Add better robot's movement simulation.

Corrected licence header and add explicit type instead of auto

8eec4e0

Update README.md

81f6551

Update parameter and launch

ccfb6e5

Merge branch 'add_rrbot_system_position_joints' of https://github.com…

ec0f715

…/ros-controls/ros2_control_demos into add_rrbot_system_position_joints

Update README.md

de05e13

destogl mentioned this pull request Nov 13, 2020

Add more sensible example parameters ros-controls/roadmap#33

Merged

destogl and others added 4 commits November 15, 2020 15:26

Reorganize to new RM structure

75f5625

Merge branch 'add_rrbot_system_position_joints' of https://github.com…

79c6323

…/ros-controls/ros2_control_demos into add_rrbot_system_position_joints

Update README.md

c8935f0

Updated to new status

0cb4877

destogl added 6 commits December 3, 2020 00:53

Add dependencies

5ba9659

Update ci.yml

5f68b67

Update CMakeLists.txt

f18145a

Update package.xml

ea5be37

Delete code_coverage.yml

9f4a384

Update ci.yml

b630ceb

destogl mentioned this pull request Dec 3, 2020

Add disable-Boost-flag for tests ros-controls/ros2_controllers#122

Merged

destogl requested review from bmagyar, jordan-palacios, v-lopez and Karsten1987 December 3, 2020 06:44

destogl added 3 commits December 3, 2020 12:04

Update ci.yml

c69b80f

Update linters.yaml

881c06a

Update linters.yaml

9cca40b

bmagyar requested changes Dec 4, 2020

View reviewed changes

jordan-palacios approved these changes Dec 4, 2020

View reviewed changes

destogl and others added 2 commits December 5, 2020 19:52

Update ros2_control_demo_hardware/include/ros2_control_demo_hardware/…

cd977b2

…rrbot_system_position_only.hpp Co-authored-by: Bence Magyar <bence.magyar.robotics@gmail.com>

Update ros2_control_demo_hardware/src/rrbot_system_position_only.cpp

635ed68

Co-authored-by: Bence Magyar <bence.magyar.robotics@gmail.com>

This was referenced Dec 5, 2020

Add tests for the example HW to be shure that the concepts are implemented properly. #46

Closed

Move joint checks into some helper class to be shared between hardware implementations #47

Open

Address review comments.

732a3bc

bmagyar approved these changes Dec 5, 2020

View reviewed changes

bmagyar merged commit 3dfe077 into master Dec 5, 2020

bmagyar mentioned this pull request Dec 5, 2020

First Foxy release ros-controls/ros2_control#74

Closed

destogl deleted the add_rrbot_system_position_joints branch December 5, 2020 22:03

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Add first example robot (rrbot as system) #37

Add first example robot (rrbot as system) #37

destogl commented Sep 11, 2020 •

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Add first example robot (rrbot as system) #37

Add first example robot (rrbot as system) #37

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