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[JTC] Move PID to controller plugin#2

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christophfroehlich wants to merge 27 commits intomasterchristophfroehlich/ros2_controllers:masterfrom jtc/controller_pluginchristophfroehlich/ros2_controllers:jtc/controller_pluginCopy head branch name to clipboard

+1,074-157

Commits

Commits on Dec 6, 2023

• First draft of trajectory controllers plugins

  christophfroehlich

  committed
  32d93ec

• Move pid plugin to own package

  christophfroehlich

  committed
  202d6ab

• Move base class to separate package

  christophfroehlich

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  d148cee

• Delete duplicate parameters

  christophfroehlich

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  1288610

• Reactivate tests

  christophfroehlich

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  319826e

• Fix unused parameter warnings

  christophfroehlich

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  08dfd5a

• Remove duplicate LICENSE file

  christophfroehlich

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  32f2f7f

• Rename jtc plugin package

  christophfroehlich

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  91b36b4

• Add class_loader as persistent jtc-class member variable

  christophfroehlich

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  c165317

• Set PID parameters during tests only if plugin is loaded

  christophfroehlich

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  9ada3e1

• Add test to propery initialize PID plugin

  christophfroehlich

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  deda645

• Use lifecycle_node inside trajectory_controller plugin

  christophfroehlich

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  7c797fe

• Deactivate reconfigure of controller plugin

  christophfroehlich

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  fc78ece

• Compute gains on on_activate

  christophfroehlich

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  d5a3b72

• Let PID controller parse command joint names instead of joints

  christophfroehlich

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  a9a2cbf

• Rename pid_adapter variable and update gains with every new trajectory

  christophfroehlich

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  74ae3b9

• Split non-RT and RT methods

  christophfroehlich

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  581f7b2

• Use command joints instead of joints for gains structure

  christophfroehlich

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  a97511b

• Add RT buffer to base class

  christophfroehlich

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  81828bf

• Add trajectory start time

  christophfroehlich

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  35ff9db

• Rename variable

  christophfroehlich

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  7055584

• Remove local vars and just call compute-commands with duration in trajectory

  christophfroehlich

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  dc0793c

• Update control law also for hold position

  christophfroehlich

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  74af177

• Fix parameter updates and tests after rebase

  christophfroehlich

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  5864456

• Export dependencies and update comments

  christophfroehlich

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  f30dc68

• Rename updateGains method

  christophfroehlich

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  11b7d20

• Call activate() of traj_contr_

  christophfroehlich

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  4927435