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sciurus17_controlのROS 2対応 #142

Merged
merged 40 commits into from
Nov 6, 2023
Merged

sciurus17_controlのROS 2対応 #142

merged 40 commits into from
Nov 6, 2023

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Kuwamai
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@Kuwamai Kuwamai commented Nov 1, 2023

What does this implement/fix?

Does this close any currently open issues?

しません

How has this been tested?

下記コマンドを実行し、RVizから実機のアームを操作できることを確認しました。

ros2 launch sciurus17_examples demo.launch.py

Any other comments?

ありません

Checklists

Kuwamai added 17 commits October 31, 2023 13:53
@Kuwamai
パッケージ依存関係更新
2b58858
@Kuwamai
CRANE-X7のcontrollerをコピー
225da5f
@Kuwamai
腰と首のcontrol launch設定
ddf476e
@Kuwamai
動作確認のため首、腰以外のパラメータをコメントアウト
1e5b9b8
@Kuwamai
stateの格納先をジョイント名をキーにしたstd::mapクラスのメンバ変数に変更
ccb09ea
@Kuwamai
commandの格納先をジョイント名をキーにしたstd::mapクラスのメンバ変数に変更
52fd842
@Kuwamai
制御周期変更
f9ee3a8
@Kuwamai
関節のコメントアウトを解除
0860a5b
@Kuwamai
両腕のコントローラのspawner追加
b312e30
@Kuwamai
両腕のサーボグループに対応
396b3f0
@Kuwamai
disconnectのタイミングを修正
32608c9
@Kuwamai
sync_write失敗時にエラーを返さない
c79f405
@Kuwamai
Sync read失敗時にエラーを返さないように変更
62de97c
@Kuwamai
link3とlink5間の干渉判定を無効化
69e907e
@Kuwamai
不要なファイルを削除
d8464d0
@Kuwamai
ROS 2のビルドに対応
9bbf642
@Kuwamai
demo.launch追加
3a33d5c
@Kuwamai Kuwamai added the Type: Feature New Feature label Nov 1, 2023
@Kuwamai Kuwamai requested a review from ShotaAk November 1, 2023 09:02
@Kuwamai Kuwamai self-assigned this Nov 1, 2023
@Kuwamai Kuwamai mentioned this pull request Nov 1, 2023
Merged
2 tasks
@Kuwamai Kuwamai marked this pull request as ready for review November 1, 2023 10:19
ShotaAk
ShotaAk suggested changes Nov 2, 2023
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確認しました。動作OKです。

コメントの確認お願いします

sciurus17_examples/CMakeLists.txt Outdated Show resolved Hide resolved
sciurus17_control/src/sciurus17_hardware.cpp Outdated Show resolved Hide resolved
sciurus17_control/src/sciurus17_hardware.cpp Outdated
return CallbackReturn::ERROR;
}

for (auto joint : info_.joints) {
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Suggested change
for (auto joint : info_.joints) {
for (const auto & joint : info_.joints) {

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joint.parametersがconstにオーバーロードできないためこの変更はできませんでした。

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[ ]ではなくat( )を使ってみてください。

sciurus17_control/src/sciurus17_hardware.cpp Outdated
Comment on lines 65 to 66
// Load joint parameters
for (auto joint : info_.joints) {
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上のforブロックとくっつけてください

sciurus17_control/src/sciurus17_hardware.cpp Outdated Show resolved Hide resolved
sciurus17_control/src/sciurus17_hardware.cpp Outdated Show resolved Hide resolved
sciurus17_control/src/sciurus17_hardware.cpp Outdated Show resolved Hide resolved
sciurus17_control/src/sciurus17_hardware.cpp Outdated Show resolved Hide resolved
sciurus17_control/src/sciurus17_hardware.cpp Outdated Show resolved Hide resolved
sciurus17_control/src/sciurus17_hardware.cpp Outdated Show resolved Hide resolved
Kuwamai and others added 4 commits November 2, 2023 18:36
@Kuwamai
C++17に変更
af6ba22 
Co-authored-by: Shota Aoki <[email protected]>
@Kuwamai
コメント修正
619f098 
Co-authored-by: Shota Aoki <[email protected]>
@Kuwamai
auto型推定の使用
7174878 
Co-authored-by: Shota Aoki <[email protected]>
@Kuwamai
auto型推定の使用
a469bb7 
Co-authored-by: Shota Aoki <[email protected]>
Kuwamai and others added 16 commits November 2, 2023 18:42
@Kuwamai
auto型推定の使用
7deedc2 
Co-authored-by: Shota Aoki <[email protected]>
@Kuwamai
左辺値参照に変更
c69fb19 
Co-authored-by: Shota Aoki <[email protected]>
@Kuwamai
左辺値参照に変更
befd507 
Co-authored-by: Shota Aoki <[email protected]>
@Kuwamai
左辺値参照に変更
9923dfc 
Co-authored-by: Shota Aoki <[email protected]>
@Kuwamai
左辺値参照に変更
30a5e69 
Co-authored-by: Shota Aoki <[email protected]>
@Kuwamai
左辺値参照に変更
b9e45c8 
Co-authored-by: Shota Aoki <[email protected]>
@Kuwamai
左辺値参照に変更
4404997 
Co-authored-by: Shota Aoki <[email protected]>
@Kuwamai
左辺値参照に変更
2a1d5d7 
Co-authored-by: Shota Aoki <[email protected]>
@Kuwamai
左辺値参照に変更
1050b80 
Co-authored-by: Shota Aoki <[email protected]>
@Kuwamai
左辺値参照に変更
ebd8ca6 
Co-authored-by: Shota Aoki <[email protected]>
@Kuwamai
左辺値参照に変更
beab530 
Co-authored-by: Shota Aoki <[email protected]>
@Kuwamai
左辺値参照に変更
5ca919c 
Co-authored-by: Shota Aoki <[email protected]>
@Kuwamai
定数化の解除
6b02791
@Kuwamai
複数for文をまとめた
47c0adb
@Kuwamai
定数化
cea0c10
@Kuwamai
変数のconst化
e6e19e3
ShotaAk
ShotaAk approved these changes Nov 6, 2023
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LGTMです。

@ShotaAk ShotaAk merged commit bbe86b8 into ros2 Nov 6, 2023
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@ShotaAk ShotaAk deleted the support_ros2_controller branch November 6, 2023 04:09
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@ShotaAk ShotaAk ShotaAk approved these changes

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