Skip to content

Add admittance controller with full changes overview #382

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom
Closed
wants to merge 99 commits into from
Closed

Add admittance controller with full changes overview #382

wants to merge 99 commits into from

Conversation

destogl
Copy link
Member

@destogl destogl commented Jul 11, 2022

Replaces #173.

#370 should be merged into it. All changes to Joint Trajectory Controller should be moved from here.

destogl and others added 24 commits July 11, 2022 12:01
@destogl
Add shell of the controller with a test
79d5ea7
@destogl
Outline the admittance control pipeline
cf6f919 
Outline of a class for IK calculations

More outline of incremental IK

Begin hooking up with MoveIt
@destogl
Hook up with MoveIt
f3497e3
@destogl
Link against Eigen
0fc5ed7
@destogl
Do the pseudoinverse calculation
968e5db
@destogl
Set up transform buffer stuff
690562a
@destogl
Transform the incoming wrench
6ea8b76
@destogl
Correct the wrench transformation
9511ea0
@destogl
Minor renaming to be technically correct
b766b29
@destogl
Testable version of Admittance Controller. IK not yet enables, so the…
8691453 
…re is not output.
@destogl
Try to integrate IK
ea9d49e
@AndyZe @destogl
Finish the method for forward kinematics (#4)
aa42923 
* Rename incremental_ik_calculator -> incremental_kinematics

* Use Eigen double types. Rename _trafo transform variables

* Fix typo in transformation matrix

* Implement incremental forward kinematics
@destogl
Version that could work
6c07934
@destogl
Corrected subscriptions types and debugging
05a518d
@destogl
Corrected some tests and extended testing
c1d90f2
@destogl
Debugging admittance controller
a45e395
@destogl
Wait for valid wrench data
9688414
@destogl
[WIP] Debug current joint states
255e5ca
@destogl
Now output is working
b6ef47b
@destogl
Pseudoinverse method was buggy. Use a different one.
ad13200
@destogl
Admittance controller is working
749a57a
@destogl
Remove quaternion calculation because it does not work
e049593
@destogl
Corrected admittance rule
fae67c7
@destogl
Clean up unused vars and debug statements
d110623
destogl and others added 22 commits July 11, 2022 12:01
@destogl
Seems working. Neede one more round of checks.
2826ad6
@destogl
Cleaning of the not used feedforward variables.
1cfbf0c
@destogl
Change approach of calculating absolute desired pose.
a5a11fc
@destogl
Use logic to force stable behavior when no external forces are measured.
30cd6f3
@destogl
Rename the wrench variable (ik_base, not control frame)
d616f73
@destogl
Use simple forward diff formula. Delete unused vars. Set admittance v…
ec65af4 
…el to 0 in ff mode.
@destogl
Different "pose error" calculation for open-loop mode. Prevents rotat…
478a0e9 
…ion weirdness.
@destogl
Resort calculation of admittance displacement to have it in one place
1b7a679
@destogl
Do not initialize memory in update joint-deltas method. Simplify calc…
ef0cda8 
…ulation of the refrence pose from the reference deltas.
@destogl
Comment gravity comp parameter parsing, for now
3a5e111
@destogl
Delete unused EPSILON variables
62f7671
@destogl
Add admittance controller compile options
a0f275f
@destogl
Add filter_chain_ definition
726c1a7
@destogl
Add filter chain to admittance controller
400a374
@destogl
Enalbe filters by moving admittance_rule impl to a header file.
dde2cb2
@destogl
Remove protection logic since it is not needed anymore
6d67a1a
@destogl
Remove unused code
6ae99ef
@destogl
Add Admittance Controller from 79a2dfe (destogl:ros2-controllers-exte…
ef39450 
…nsion5) branch

Co-authored-by: Nathan Brooks<[email protected]>
Co-authored-by: AndyZe<[email protected]>
@destogl
Compilable with changed controllers' update() api -> against destogl:…
e1eebd9 
…admittance-controller-development branch.
@destogl
Add debuging output to the AdmittanceController to know when SRDF is …
7120817 
…not read properly.
@destogl
Update to new version of ControlParameters and add enable_paramter_up…
d29d6c2 
…date_without_reactivation parameter.
@destogl
Use updated ParameterHandler from control_toolbox.
ed51262
@destogl destogl force-pushed the add-admittance-controller branch from afe216f to ed51262 Compare July 11, 2022 10:02
@AndyZe
Copy link
Contributor

AndyZe commented Jul 21, 2022

I wouldn't mind if you squash a bunch of my commits together. 99 seems excessive ;)

@destogl destogl marked this pull request as draft August 27, 2022 20:24
@destogl
Copy link
Member Author

destogl commented Oct 6, 2022

Closing in favor of #370

@destogl destogl closed this Oct 6, 2022
@guihomework guihomework mentioned this pull request Mar 19, 2023
Closed
@guihomework guihomework mentioned this pull request Apr 3, 2023
Open
@destogl destogl deleted the add-admittance-controller branch July 17, 2023 17:47
Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment

Reviewers

@aprotyas aprotyas Awaiting requested review from aprotyas

@bmagyar bmagyar Awaiting requested review from bmagyar

@kellyprankin kellyprankin Awaiting requested review from kellyprankin

@LukasMacha97 LukasMacha97 Awaiting requested review from LukasMacha97

@mhubii mhubii Awaiting requested review from mhubii

@VX792 VX792 Awaiting requested review from VX792

Assignees

No one assigned

Labels

None yet

Projects

None yet

Milestone

No milestone

Development

Successfully merging this pull request may close these issues.

2 participants

@destogl @AndyZe