Passthrough controllers

[fmauch]

Feature summary

We should implement a trajectory forwarding controller similar to https://github.com/UniversalRobots/Universal_Robots_ROS_passthrough_controllers

We already have multiple possibilities to forward trajectories to the robot controller instead of interpolating it on the ROS machine and sending commands to the robot in each control cycle. Recently, the ur_client_library got added the possibility to do spline interpolation on the robot controller similar to the one done by ros2_control's JTC.

Interpolating on the robot has the advantage of a lower real-time requirement of the driver, since only the trajectory points are sent to the robot in the beginning. For this to be possible, we also recently added the possibility to make the receive timeout on the robot depending on the actual control mode.

Related issues

• Spline merge Universal_Robots_Client_Library#151
• Added watchdog configuration for the reverse socket Universal_Robots_Client_Library#178
• Implemented spline interpolation in joint space Universal_Robots_ROS_Driver#543

Tasks

To complete this issue involves

• Implement the controller
• Make documentation
• Make Unit test
• Make example
• Test on real hardware

[LucasLabarussiat]

Hi @fmauch,

I see this is marked as "in progress". Is there a fork somewhere to have a look at it ?
If I am able to I will gladly give a hand, as this passthrough controller is a feature that some people in my team are asking for.

[fmauch]

#944 should resolve this.