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Ackermann odometry library#3

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destogl wants to merge 197 commits intomasterStoglRobotics-forks/ros2_controllers:masterfrom ackermann-odometry-libraryStoglRobotics-forks/ros2_controllers:ackermann-odometry-libraryCopy head branch name to clipboard

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Commits

Commits on Dec 3, 2022

• created pkg and setup controller from templates rtw

  

  GiridharBukka

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• recreated controller setup outside docker to use rtw branch with ref_timeout updated template/ updated .hpp of controller

  

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• modified .yaml and controller methods content

  

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• added odometry.hpp

  

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• modified namespace of odometry.hpp and added odometry.cpp

  

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• spotted issue with namespace naming (has xyz_ros2 when namespace everyhere is xyz) inside generated parameters.hpp, removed _ros2 from the namespace name, pkg compiles without any error,

  

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• corrected the copy paste error in the .yaml file which created the _ros2 addition in the namespace naming of the parameters.hpp file

  

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• added tests yet to debug few tests

  

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• Corrected formatting.

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• Delete services and comment out to compile.

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• Make compilable on humble.

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• Correct interfaces in ackerman controllers.

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• all tests pass

  

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• added test_time_stamp_zero test

  

  GiridharBukka

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• ackermann odometry

  

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• template state publisher

  

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• interfaces check

  

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• removed publish_period related code

  

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• compiles, tests passed, publish_period removed

  

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• state publisher

  

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• new message published

  

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• added feedback_type() method to choose position or velocity hardware interface

  

  GiridharBukka

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• Code optimization.

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• Make controller to compile again.

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• added unstamped twist topic -clean commit -functional changes

  

  GiridharBukka

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• using only one realtime buffer handle

  

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• Debuging ackermann controller.

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• updated tests to work with twist and twist_stamped cases

  

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• modifid config files

  

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• modified cmakelists

  

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• removed file not needed

  

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Commits on Dec 5, 2022

• odom lib creation

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• refrence new library

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• snake case

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Commits on Dec 6, 2022

• steer names as arrays

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Commits on Dec 7, 2022

• direct kinematics

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Commits on Dec 8, 2022

• replaced bacc acumulator with rcpputils

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• migrated to steering_controllers package

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• cleaned warnings

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• move tricycle, edit ackermann cmakelists

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• tricycle uses steering odometry, keeping odom.cpp for comparison, TODO: keep tricycle as a separate package?

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Commits on Dec 12, 2022

• cleaned cmakelists, removed tricycle odometry

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Commits on Dec 13, 2022

• affed steering_controllers package, new base class/package

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Commits on Dec 15, 2022

• namespace, visibility, parameters

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• inherited steering controller in ackermann src

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• template for modifying update function

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Commits on Dec 16, 2022

• odom configuration separated

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• function for changing intefrace number

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Commits on Dec 17, 2022

• Delete LICENSE

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• remove custom msg, integrate new msg from control msgs

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• Update steering_controllers/ackermann_steering_controller/CMakeLists.txt

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• Update steering_controllers/ackermann_steering_controller/CMakeLists.txt

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Commits on Dec 18, 2022

• cmakelists build and install interfaces

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• license and maintainers

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• removed ackermann package, integrated with steering controllers

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• renamed ackermann to steering_controller_implementations

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• added bicycle controller (the same as ackermann for now)

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• removed template from copyright

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• removed template from copyright

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• defines

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• ported tricycle controller

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• export tricycle controller

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Commits on Dec 19, 2022

• named variables for some odom parameters

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• integration function, trans rot vel to steering angle arguments

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• removed redundant classes and variables

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• removed some more redundant classes and variables

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• configure_odometry pure virtual

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• removed tricycle package, integrated steering odometry with steering controller

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• removed subfolder

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• returned configure odometry implementation that returns error, protected set intefrace number

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• odometry update implementations for bicycle and tricycle, integration and accumulators in a new function

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• Fix command_interface_configuration iterator

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Commits on Dec 20, 2022

• returned tricycle (in root folder)

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• separated implementations in files

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• remove lint tests

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• ControllerTwistReferenceMsg, ControllerAckermannReferenceMsg

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• unstamped twist deprecation, ackermann subscriber

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• authors, maintainers

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• removed rmw_qos_profile_services_hist_keep_all

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• changed deprecation error

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• parameters configured in base class, removed some comments

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Commits on Dec 21, 2022

• doc folder

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• virtual classes for odometry

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• ackermann odometry implementation

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• front_wheels_names, rear_wheels_names

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• precommit and control_msgs repos

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• Merge branch 'master' into ackermann-odometry-library

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Commits on Dec 24, 2022

• separated implementation-specific parameters to implemenation files

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• removed comments in odometry

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Commits on Dec 27, 2022

• removed multipliers

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• enable rear steering, different wheels radii

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Commits on Dec 28, 2022

• changed SteeringControllerStatus

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• command interfaces for multiple wheels

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Commits on Dec 29, 2022

• odometry types

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• forward kinematics model template

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• command interface always has traction before steering

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• configs

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• fwd kinematics implementation, TODO ackermann

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• steer_pos_ in odometry, adjusted names of arguments for update function

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Commits on Jan 3, 2023

• Add new package for Bicycle controller.

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• Add new package for Tricycle controller.

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• Add new package for Ackermann controller.

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• Correct authors and descriptions.

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• Rename to steering_controllers_library.

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• Bicycle Controller moved to a separate package.

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• Cleanup some files.

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• Move Ackermann steering controller to dedicated package.

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• Moved Tricycle controller.

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• Updated ackermann controller stuff.

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• Small fixes on bicycl eand library.

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Commits on Jan 4, 2023

• tests build

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Commits on Jan 5, 2023

• on cofigure test

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• first test finished

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Commits on Jan 7, 2023

• exported intefraces

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• on activate

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• on activate

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• publish_commands

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Commits on Jan 9, 2023

• publish_commands

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Commits on Jan 13, 2023

• cleared slow controllers, publishing test subscriber

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• command_interfaces_ don't update

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• fixed reference update

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• publisher works

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• bicycle finished

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• tricycle params#

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• tricycle tests compile, ready for implementations

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• bicycle uses CMD_DRIVE_WHEEL etc instead of hardcoded numbers

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• tricycle first test, add subscription fails

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• first test passes

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• try: first test passes

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• bi&tri: check_exported_intefaces

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• tri: activate, update, deactivate, reactivate

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• update logic init tricycle

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• update logic tricycle

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• tricycle done

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• ackermann tests

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• Delete steering_controllers.xml

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Commits on Jan 16, 2023

• Update ackermann_steering_controller/ackermann_steering_controller.xml

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• Update ackermann_steering_controller/include/ackermann_steering_controller/ackermann_steering_controller.hpp

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• changed state_drive to state_traction

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• nr itfs in the header

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• ackermann tests cmd interfaces

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• control tricycle constants

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• control bicycle constants

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• package descriptions, wheelbase param desc

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• preceeding ackermann

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• tricycle preceeding

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• bicycle preceeding

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Commits on Jan 17, 2023

• update logic chained

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• removed pragma once

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• params and cosmetics

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• preceeding params and testing

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• cosmetic changes

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• reset interfaces to nan

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• reduce code for controller state publisher

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• steering commands for ackermann

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Commits on Jan 18, 2023

• adding ref_timeout update behavior

  

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• test header and param

  

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• test cpp

  

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Commits on Jan 19, 2023

• working tests for steering_controllers_library

  

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Commits on Jan 20, 2023

• reverted to old update_and_write_commands, steering tests do not pass ATM

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• odometry config, some variables renamed

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Commits on Jan 26, 2023

• cleaned todo

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Commits on Jan 30, 2023

• fixed compile error, exported parameters to include

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• DESTINATION include/

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Commits on Feb 8, 2023

• Merge branch 'master' into ackermann-odometry-library

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• Apply suggestions from code review

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• Update ackermann_steering_controller/test/test_ackermann_steering_controller.hpp

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• Update bicycle_steering_controller/src/bicycle_steering_controller.yaml

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• Last updates of CMake files copyright year and docs.

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• Update controllers_index.rst

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Commits on Feb 21, 2023

• fix typos

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• Fix typos

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Commits on Mar 20, 2023

• Merge branch 'master' into ackermann-odometry-library

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Commits on Mar 22, 2023

• Update steering_controllers_library/src/steering_odometry.cpp

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Commits on Apr 4, 2023

• Restore control_msgs repo version

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• Merge branch 'master' into ackermann-odometry-library

  bmagyar

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  bcbc61c

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Commits on Apr 5, 2023

• Merge branch 'master' into ackermann-odometry-library

  bmagyar

  authored
  ba54cb2

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• fix format

  bmagyar

  committed
  2b41621

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• Fix typo in link

  bmagyar

  authored
  469702c

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• Braces are good for you

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  bmagyar

  and

  VX792

  authored
  63e4c28

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• Fix typo

  bmagyar

  authored
  676239e

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• Add units to parameters

  bmagyar

  authored
  ce4f36a

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• Fix typo

  bmagyar

  authored
  c609707

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• Merge branch 'master' into ackermann-odometry-library

  bmagyar

  authored
  cd7622e

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• fix format again?!

  bmagyar

  committed
  a3083e8

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• Return update_odometry() instead of return true

  bmagyar

  committed
  c1431af

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• Update to new signature of update_reference_from_subscribers

  bmagyar

  committed
  d78bb6a

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• Remove odom member from state publishing (doesn't exist)

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  bmagyar

  committed
  092b459

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Commits on Apr 12, 2023

• Fix test compilation

  bmagyar

  committed
  55d158c

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• fix format

  bmagyar

  committed
  ecdf2a5

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• Renovate load controller tests

  bmagyar

  committed
  d817144

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Commits on Apr 26, 2023

• remove typo

  bmagyar

  authored
  79f5102

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Commits on May 19, 2023

• fixed use_stamped_vel doc (#12)

  ARK3r

  authored
  96bcefa

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Commits on May 22, 2023

• Steering controller time related test fixes (#13)

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  ARK3r

  authored
  b9bdf63

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• Merge branch 'master' into ackermann-odometry-library

  bmagyar

  authored
  9e9007e

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Commits on May 26, 2023

• Controllers not initialized in the 4 steering controllers (#14)

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  ARK3r

  authored
  503f748

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• Update style for lists in docs

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  bmagyar

  and

  christophfroehlich

  authored
  a27f976

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