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Scaled jtc#1191

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fmauch wants to merge 57 commits intoros-controls:masterros-controls/ros2_controllers:masterfrom fmauch:scaled_jtcfmauch/ros2_controllers:scaled_jtcCopy head branch name to clipboard

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Commits on Jul 3, 2024

• Add scaling factor to JTC

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  fmauch

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• use reset+initRT due to missing writeFromRT

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  fmauch

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  christophfroehlich

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• Reformat scaling the time period

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  fmauch

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• synchronization of scaling factor with hw optional, add service for setting

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  fmauch

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  mamueluth

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• Improve scaling exchange with hardware

  fmauch

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• Check command interface name when setting speed scaling

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• Update code formatting

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• Do not advertise speed scaling service unless only position interface is

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• WIP: Adding documentation about speed scaling

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• Use a subscriber instead of a service

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• Do not put the time_data_ into a RealtimeBuffer

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  fmauch

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• Fix goal time violated

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  Lennart Nachtigall

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• Merge remote-tracking branch 'origin/master' into scaled_jtc

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• Use custom message to subscribe speed scaling

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• Add scaling factor to controller state

  fmauch

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• Code formatting

  fmauch

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• Allow scaling factors greater than 1

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• Add parameter validator for default scaling factor

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• More formatting...

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Commits on Jul 4, 2024

• Remove unnecessary iostream include

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• REVERT_ME: Use dev branch for control_msgs

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• Write back scaling factor to buffer when updated from hardware

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• Remove additional time_data structure in update method

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• Use std::atomic for scaling factor buff

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• Use transient_local for the speed scaling topic subscriber

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Commits on Jul 5, 2024

• Added documentation on tolerance effects

  fmauch

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• Added a short explanation of scaling

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  fmauch

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Commits on Jul 8, 2024

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

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Commits on Jul 23, 2024

• Merge branch 'master' into scaled_jtc

  fmauch

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• REVERT_ME Use my version of control_msgs

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• Use period directly instead of calculating an own period

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Commits on Aug 8, 2024

• Merge branch 'master' into scaled_jtc

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Commits on Oct 7, 2024

• Set update rate in testing controller

  fmauch

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• Tests: Call controller.configure() instead of controller.get_node().configure()

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• Sample trajectory at point t+dT

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• Update trajectory_controller_tests

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Commits on Oct 8, 2024

• Merge branch 'master' into jtc_tdt

  fmauch

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Commits on Oct 13, 2024

• Fix period calculation in trajectory_actions test

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  fmauch

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• Sample trajectory based on the sum of periods instead of the absolute time

  fmauch

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• Merge branch 'jtc_sum_periods' into scaled_jtc

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Commits on Oct 14, 2024

• Cleanup some logging

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Commits on Dec 1, 2024

• Merge remote-tracking branch 'origin/master' into scaled_jtc_merged

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• Add test for scaled trajectory execution

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Commits on Dec 3, 2024

• Merge remote-tracking branch 'origin/master' into scaled_jtc

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• Use master branch of control_msgs repo

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  christophfroehlich

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  fmauch

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Commits on Dec 4, 2024

• Apply suggestions from code review

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  fmauch

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  christophfroehlich

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• Update tolerances documentation

  fmauch

  committed
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• Only log set scaling factor if it is changed

  fmauch

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• Remove duplicate reading period from parameter

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• Make trajectory test use tolerances

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Commits on Dec 7, 2024

• Check goal tolerance from error to next command

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• Add a test that verifies that the JTC samples the trajectory correctly

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  fmauch

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• Fix goal constraint specifications in test

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Commits on Jan 15, 2025

• Merge remote-tracking branch 'origin/master' into scaled_jtc

  fmauch

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• Adding some tests for setting the speed scaling factor

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Commits on Jan 26, 2025

• Merge remote-tracking branch 'origin/master' into scaled_jtc

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• Add tests using speed_scaling hardware interfaces

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