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Ported LowPass and GravityCompensation filters iirob_filters repository #115

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Ported LowPass and GravityCompensation filters iirob_filters repository #115

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destogl
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@destogl destogl commented Sep 23, 2021

  • using the dynamic parametrization as implemented in existing gravity_compensation filter
  • added testcases for loading parameters

destogl and others added 2 commits June 12, 2021 17:05
@destogl
Added initial files of control filters
e8794ee
@dzumkeller
Ported low_pass_filter from iirob_filters:
c41eb9a 
- using the dynamic parametrization as implemented in existing gravity_compensation filter
- added testcases for loading parameters
destogl
destogl commented Sep 23, 2021
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there are few simplifications to do.

to do:

  • plugin loading test as for controllers
  • Filter loading from Param-server
  • FilterChain loading from Param-server (see Admittance controller)

control_filters.xml Outdated Show resolved Hide resolved
include/control_filters/low_pass_filter.hpp Outdated Show resolved Hide resolved
include/control_filters/low_pass_filter.hpp Outdated Show resolved Hide resolved
include/control_filters/low_pass_filter.hpp Outdated Show resolved Hide resolved
include/control_filters/low_pass_filter.hpp Outdated Show resolved Hide resolved
CMakeLists.txt Outdated Show resolved Hide resolved
include/control_filters/low_pass_filter.hpp Outdated Show resolved Hide resolved
include/control_filters/low_pass_filter.hpp Outdated Show resolved Hide resolved
include/control_filters/low_pass_filter.hpp Outdated Show resolved Hide resolved
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@dzumkeller
Update low_pass_filter.hpp
ee8a6ff 
removed parameter_namespace and added override flag
dzumkeller
dzumkeller previously approved these changes Sep 30, 2021
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dzumkeller and others added 9 commits September 30, 2021 18:31
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f0ec3be 
Co-authored-by: Denis Štogl <[email protected]>
@dzumkeller
added new testcase after review
ff01bf1
@dzumkeller
Merge branch 'add-control-filters-gravity-compensation' of https://gi…
2cecfd6 
…thub.com/StoglRobotics-forks/control_toolbox into add-control-filters-gravity-compensation
@destogl
Added initial files of control filters
79aeeb2
@dzumkeller @destogl
Ported low_pass_filter from iirob_filters:
1ea8b37 
- using the dynamic parametrization as implemented in existing gravity_compensation filter
- added testcases for loading parameters
@dzumkeller @destogl
added new testcase after review
06391d8
@dzumkeller @destogl
Update low_pass_filter.hpp
1cebf05 
removed parameter_namespace and added override flag
@dzumkeller @destogl
Apply suggestions from code review
c0f365a 
Co-authored-by: Denis Štogl <[email protected]>
@destogl
Update version of gravity compensation to use parameter_handler and o…
8b391c6 
…ptimize code.
@destogl destogl force-pushed the add-control-filters-gravity-compensation branch from 2cecfd6 to 8b391c6 Compare October 29, 2021 15:44
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Codecov Report

❗ No coverage uploaded for pull request base (add-control-filters-gravity-compensation@e8794ee). Click here to learn what that means.
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@@                             Coverage Diff                             @@
##             add-control-filters-gravity-compensation     #115   +/-   ##
===========================================================================
  Coverage                                            ?   29.11%           
===========================================================================
  Files                                               ?      440           
  Lines                                               ?    30360           
  Branches                                            ?    15600           
===========================================================================
  Hits                                                ?     8840           
  Misses                                              ?     7920           
  Partials                                            ?    13600
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@destogl destogl mentioned this pull request Oct 30, 2021
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@destogl destogl changed the base branch from add-control-filters-gravity-compensation to ros2-master November 16, 2021 10:27
@destogl destogl changed the title Ported low_pass_filter from iirob_filters: Ported LowPass and GravityCompensation filters iirob_filters repository Dec 3, 2021
@destogl destogl marked this pull request as draft December 3, 2021 08:21
destogl
destogl commented Jun 8, 2022
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src/control_filters/gravity_compensation.cpp
tf2::doTransform(parameters_->cog_, cog_transformed, transform_cog_);

// Compensate for gravity force
temp_force_transformed.vector.z += parameters_->force_z_;
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We should always subtract the parameter value independently if it is positive or negative.

guihomework
guihomework reviewed Jan 20, 2023
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include/control_filters/gravity_compensation.hpp
{
world_frame_ = string_parameters_[0].second;
RCUTILS_LOG_INFO_NAMED(logger_name_.c_str(), "World frame: %s", world_frame_.c_str());
sensor_frame_ = string_parameters_[0].second;
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Suggested change
sensor_frame_ = string_parameters_[0].second;
sensor_frame_ = string_parameters_[1].second;

guihomework
guihomework reviewed Jan 20, 2023
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include/control_filters/gravity_compensation.hpp
RCUTILS_LOG_INFO_NAMED(logger_name_.c_str(), "World frame: %s", world_frame_.c_str());
sensor_frame_ = string_parameters_[0].second;
RCUTILS_LOG_INFO_NAMED(logger_name_.c_str(), "Sensor frame: %s", sensor_frame_.c_str());
force_frame_ = string_parameters_[0].second;
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Suggested change
force_frame_ = string_parameters_[0].second;
force_frame_ = string_parameters_[2].second;

This was referenced Mar 7, 2023
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destogl commented Mar 13, 2023

closed in favor of #152 and #153

@destogl destogl closed this Mar 13, 2023
@destogl destogl deleted the add-control-filters-gravity-compensation branch March 13, 2023 18:55
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