Code

Add Mecanum Drive Controller#512

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bmagyar merged 103 commits intoros-controls:masterros-controls/ros2_controllers:masterfrom StoglRobotics-forks:add-mecanum-drive-controllerStoglRobotics-forks/ros2_controllers:add-mecanum-drive-controllerCopy head branch name to clipboardNov 19, 2024

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Commits on Jun 17, 2024

• compiling without error

  

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• all tests working

  

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• reorganized publishers added code to print values for debug

  

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• added meaning full param values

  

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• next line in comment

  

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• Automated formatting files.

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• Manual changes of formatting.

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• Delete LICENSE

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• used the suggested structure

  

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• general changes

  

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• removed bacc accumulators

  

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• renaming to more meaningful and readable variable names

  

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• code review suggestions implementing

  

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• added description

  

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• checked more values against the behavior of controller methods

  

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• changed controller type to CtrlType

  

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• Update mecanum_drive_controller/test/test_mecanum_drive_controller.cpp

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• updated cmakelists structure

  

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• renaming variables

  

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• changed description

  

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• resetting msg if msg is valid after receiving a to old msg

  

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• estructuring parameters in yaml

  

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• comparing float values

  

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• added description for each test as comment

  

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• added preceding controller tests

  

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• reorganized reference_interfaces configuration method

  

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• configuration of interfaces in loop

  

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• final fixups

  

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• using control_msgs::msg::MecanumDriveControllerState and removing custom_msgs folder

  

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• using control_msgs::msg::MecanumDriveControllerState and removing custom_msgs folder

  

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• added chained mode test for update logic

  

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• changed wheel vl names to more descriptive

  

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• renamed rot and traslation matrix variable names

  

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• renamed vl variable to more descriptive

  

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• ran pre-commit formatter

  

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• set ref_itfces to 0 to stop vehicle in case of timeout

  

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• added description

  

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• check nan

  

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• odom vel naming descriptive

  

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• removed outdated nomenclature

  

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• add comment

  

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• Apply suggestions from code review

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• Update mecanum_drive_controller/src/mecanum_drive_controller.cpp

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• Update mecanum_drive_controller/src/mecanum_drive_controller.cpp

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• removing boost

  

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• removing unused variable

  

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• addressing warnings

  

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• update cmake version

  

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• renaming wheels_k to more descriptive naming sum_of_robot_center_projection_on_X_Y_axis

  

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• renames joint_names to command_joint_names

  

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• removing unused variable

  

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• pre-commit clang format 14

  

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• updating test logic w.r.t reset ref_interfaces

  

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• added changes w.r.t control_msgs update

  

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• cpp_lint check for pre-comit

  

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• cpp_lint check update

  

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• handling ref_timeout==0 in update_and_write method

  

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• updated test comments with when xx then yy scheme

  

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• Revert "handling ref_timeout==0 in update_and_write method"

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• renaming test names to whenn xx expect yy scheme

  

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• Update tests

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• Restructure CMakeLists.txt and add docs.

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• Update mecanum_drive_controller/mecanum_drive_controller.xml

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• Update mecanum_drive_controller/package.xml

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• Update mecanum_drive_controller.yaml

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• implemneted suggested changes compiling and ll tests pass

  

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• ran precommit

  

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• Update mecanum_drive_controller/test/test_mecanum_drive_controller.cpp

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• Add missing nav_msgs dependecdy

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• Remove odometry field from status message

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• Apply suggestions from code review

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• Fix a few typos and rephrase

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• Correct controller loading test

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• Update mecanum_drive_controller/src/odometry.cpp

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• Update docs with note about odometry calculation.

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• Update mecanum_drive_controller/src/mecanum_drive_controller.yaml

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• Fix mixing of joints and fix to velocity only interface.

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• Fix formatting and typos.

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Commits on Jun 19, 2024

• Update mecanum_drive_controller/src/mecanum_drive_controller.yaml

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• Update the use explict parameters for the wheels.

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Commits on Jun 27, 2024

• Update .pre-commit-config.yaml

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Commits on Jul 2, 2024

• Fix ordering of wheels to be correct.

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Commits on Jul 3, 2024

• Update mecanum_drive_controller/doc/userdoc.rst

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Commits on Jul 31, 2024

• Odometry Position Frame (#21)

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• Merge branch 'master' into add-mecanum-drive-controller

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Commits on Aug 14, 2024

• Merge branch 'master' into add-mecanum-drive-controller

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Commits on Aug 21, 2024

• Fix mecanum (#23)

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Commits on Sep 11, 2024

• Merge branch 'master' into add-mecanum-drive-controller

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Commits on Nov 5, 2024

• Update test to new API (#26)

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• Merge branch 'master' into add-mecanum-drive-controller

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Commits on Nov 12, 2024

• Merge branch 'master' into add-mecanum-drive-controller

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Commits on Nov 18, 2024

• Fixing the error for mecanum controller.

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• Merge branch 'master' into add-mecanum-drive-controller

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• Touchup mecanum (#27)

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• Merge branch 'master' into add-mecanum-drive-controller

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Commits on Nov 19, 2024

• Merge branch 'master' into add-mecanum-drive-controller

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• Update mecanum_drive_controller/include/mecanum_drive_controller/mecanum_drive_controller.hpp

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