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Chainable Admittance Controller #1371

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pac48 opened this issue Jun 15, 2022 · 0 comments
Closed

Chainable Admittance Controller #1371

pac48 opened this issue Jun 15, 2022 · 0 comments
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@pac48
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pac48 commented Jun 15, 2022

My primary goal is to reduce P-stop during trajectory execution.

This can be achieved via admittance control, but it will require some open source contribution. First, Denis' admittance controller (ros-controls/ros2_controllers#173) needs to be refactored into the new chainable controller pattern (ros-controls/ros2_control#667). Second, Denis' controller depended on a kinematics interface, but it never made it into ros2_control. Third, I need to make a PR and merge the refactored admittance controller into ros2_controllers. This can be broken into sub goals:

Integrating the admittance controller into ros2_controllers will help ensure that it is supported long term.

@henningkayser henningkayser changed the title Open Source Contributions Chainable Admittance Controller Jun 16, 2022
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