Support chained controllers #1482
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…d_octomap_updater.cpp Co-authored-by: AndyZe <andyz@utexas.edu>
…m/JafarAbdi/moveit2 into pr-support-chained-controllers
…ac48/moveit2 into pr-support-chained-controllers
Codecov Report
@@ Coverage Diff @@
## main #1482 +/- ##
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+ Coverage 51.10% 51.11% +0.01%
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Files 380 380
Lines 31802 31802
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+ Hits 16249 16252 +3
+ Misses 15553 15550 -3
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Why? It does not sound like it would be too difficult to extend it? |
The response from the ros2_control list controllers service does indicate which controllers are chained to which. The logic in this PR is really about taking that information and converting it to a format that MoveIt understands. Regarding chaining multiple controllers, MoveIt's controller manager plugin assumes there exists a direct mapping from controllers to controllable interfaces. If the controllers are chained with only one connection, then it is straight forward to propagate the controllable interfaces to the beginning of the chain, which ultimately controls those interfaces. If branching occurs in the chain, then propagating the interfaces is ambiguous. Lastly, I believe the ros2_control maintainers are working towards a simplified service interface to handle chained controllers. When that happens, handling the general case will be more straightforward. |
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…ager_plugin.cpp Co-authored-by: AndyZe <andyz@utexas.edu>
…ager_plugin.cpp Co-authored-by: AndyZe <andyz@utexas.edu>
…ager_plugin.cpp Co-authored-by: AndyZe <andyz@utexas.edu>
…ager_plugin.cpp Co-authored-by: AndyZe <andyz@utexas.edu>
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moveit_plugins/moveit_ros_control_interface/src/controller_manager_plugin.cpp
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…ager_plugin.cpp Co-authored-by: Tyler Weaver <squirrel428@protonmail.com>
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moveit_plugins/moveit_ros_control_interface/src/empty_controller_plugin.cpp
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* fix controller list if chained controllers exist * add comments and clean code * added additional comments * fix formatting * fix white space * add const reference and chhnage variable name * simplify logic to only work with one layer chain * Don't return false when not finding optional parameter * Update moveit_ros/perception/pointcloud_octomap_updater/src/pointcloud_octomap_updater.cpp Co-authored-by: AndyZe <andyz@utexas.edu> * add debug information * print controller names * print controllers with not known type * load controller dependencies * start chained controllers in switch * reverse order of activate controllers * prevent stoppping controller twice * revert all debug changes * add ROS error if a controller chains to more than one * use loop to index chained connections * update ros_control * add empty controller allocator for admittance controller * fix plugin xml * Update moveit_plugins/moveit_ros_control_interface/src/controller_manager_plugin.cpp Co-authored-by: AndyZe <andyz@utexas.edu> * Update moveit_plugins/moveit_ros_control_interface/src/controller_manager_plugin.cpp Co-authored-by: AndyZe <andyz@utexas.edu> * Update moveit_plugins/moveit_ros_control_interface/src/controller_manager_plugin.cpp Co-authored-by: AndyZe <andyz@utexas.edu> * Update moveit_plugins/moveit_ros_control_interface/src/controller_manager_plugin.cpp Co-authored-by: AndyZe <andyz@utexas.edu> * fix map indexing * add comment * Update moveit_plugins/moveit_ros_control_interface/src/controller_manager_plugin.cpp Co-authored-by: Tyler Weaver <squirrel428@protonmail.com> * Typos Co-authored-by: JafarAbdi <cafer.abdi@gmail.com> Co-authored-by: Jafar <jafar.uruc@gmail.com> Co-authored-by: AndyZe <andyz@utexas.edu> Co-authored-by: Vatan Aksoy Tezer <vatan@picknik.ai> Co-authored-by: Tyler Weaver <squirrel428@protonmail.com> Co-authored-by: AndyZe <zelenak@picknik.ai>
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* fix controller list if chained controllers exist * add comments and clean code * added additional comments * fix formatting * fix white space * add const reference and chhnage variable name * simplify logic to only work with one layer chain * Don't return false when not finding optional parameter * Update moveit_ros/perception/pointcloud_octomap_updater/src/pointcloud_octomap_updater.cpp Co-authored-by: AndyZe <andyz@utexas.edu> * add debug information * print controller names * print controllers with not known type * load controller dependencies * start chained controllers in switch * reverse order of activate controllers * prevent stoppping controller twice * revert all debug changes * add ROS error if a controller chains to more than one * use loop to index chained connections * update ros_control * add empty controller allocator for admittance controller * fix plugin xml * Update moveit_plugins/moveit_ros_control_interface/src/controller_manager_plugin.cpp Co-authored-by: AndyZe <andyz@utexas.edu> * Update moveit_plugins/moveit_ros_control_interface/src/controller_manager_plugin.cpp Co-authored-by: AndyZe <andyz@utexas.edu> * Update moveit_plugins/moveit_ros_control_interface/src/controller_manager_plugin.cpp Co-authored-by: AndyZe <andyz@utexas.edu> * Update moveit_plugins/moveit_ros_control_interface/src/controller_manager_plugin.cpp Co-authored-by: AndyZe <andyz@utexas.edu> * fix map indexing * add comment * Update moveit_plugins/moveit_ros_control_interface/src/controller_manager_plugin.cpp Co-authored-by: Tyler Weaver <squirrel428@protonmail.com> * Typos Co-authored-by: JafarAbdi <cafer.abdi@gmail.com> Co-authored-by: Jafar <jafar.uruc@gmail.com> Co-authored-by: AndyZe <andyz@utexas.edu> Co-authored-by: Vatan Aksoy Tezer <vatan@picknik.ai> Co-authored-by: Tyler Weaver <squirrel428@protonmail.com> Co-authored-by: AndyZe <zelenak@picknik.ai> (cherry picked from commit 3db960a)
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This PR adds support for ros2_control's chained controllers. Only simple chains are supported currently. That is, controller can only chain to at most one other controller. I also added logic to start and stop the chained controller in the correct order.
I created a demo repository under ros2_control with that uses the chnages made in this PR. Here is a link to the README