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Add admittance controller #370
Add admittance controller #370
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Enabling chanable mode for forward command controllers. Fix all bugs in chained-controllers mode. Remove debug output from forwarding controller. Updated example ffwd chainable controller for new structure.
Co-authored-by: Denis Štogl <[email protected]>
…trollers into add-admittance-controller
Co-authored-by: Denis Štogl <[email protected]>
…_controller.hpp Co-authored-by: Denis Štogl <[email protected]>
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This pull request is in conflict. Could you fix it @pac48? |
@destogl I can't respond to some of your individual comments because they weren't left as part of a github review. I guess I'll do it here instead:
Something like this |
It looks like these videos Paul took of the admittance controller in action on a UR-5e haven't been shared here yet - enjoy! |
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I tested this PR with the admittance controller demos from ros-controls/ros2_control_demos#206 and it build and worked well for me 👍
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#include <string> | ||
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namespace ros2_control_test_assets |
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Move this to the assets' folder in the ros2_control repository.
@Mergifyio backport humble |
❌ No backport have been created
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This PR adds an admittance controller that conforms to the chained controller interface. Additionally, this depends on a PR to control_msgs.