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Extend interfaces melodic #395

Merged
merged 7 commits into from
Jan 3, 2020
Merged

Extend interfaces melodic #395

merged 7 commits into from
Jan 3, 2020

Commits on Dec 30, 2019

  1. joint_limits: use an open-loop policy for velocity staturation 

    The feedback from the controller is way too slow to be used on an
actual robot. A robot that had 15 rad.s^-2 on each wheel as
an acceleration limit could not even reach 2 rad.s^-2

This is in line with ros_controllers#23
    @bmagyar
    Paul Mathieu authored and bmagyar committed Dec 30, 2019
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  2. Created new hardware interface for switching between controller modes

    @davetcoleman @bmagyar
    davetcoleman authored and bmagyar committed Dec 30, 2019
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  3. hardware_interface: fix initialization order

    @bmagyar
    Paul Mathieu authored and bmagyar committed Dec 30, 2019
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  4. Fix argument types to use enum

    @bmagyar
    bmagyar committed Dec 30, 2019
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Commits on Dec 31, 2019

  1. Modified structures to have absolute encoder and torque sensor parame… 

    …ters
    @bmagyar
    Hilario Tome authored and bmagyar committed Dec 31, 2019
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Commits on Jan 2, 2020

  1. Add torque sensor and absolute encoder support to transmissions and a… 

    …djust tests

Add pointer accessors for torque sensor and absoute position encoders
    @bmagyar
    Hilario Tome authored and bmagyar committed Jan 2, 2020
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  2. Extend joint mode interface

    @bmagyar
    Hilario Tome authored and bmagyar committed Jan 2, 2020
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