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[JTC] Activate update of dynamic parameters #761

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merged 20 commits into from Nov 15, 2023
Merged

[JTC] Activate update of dynamic parameters #761

merged 20 commits into from Nov 15, 2023

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christophfroehlich
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@christophfroehlich christophfroehlich commented Sep 1, 2023 •
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This fixes #754: Parameters are now updated with on_activate (especially default_tolerances_) as well as at the beginning of the update loop (only if there are any changes)

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codecov-commenter commented Sep 1, 2023 •
edited by codecov bot

Codecov Report

Merging #761 (8b6b1d8) into master (b13ae5b) will decrease coverage by 0.02%.
The diff coverage is 54.16%.

Additional details and impacted files 
@@            Coverage Diff             @@
##           master     #761      +/-   ##
==========================================
- Coverage   44.92%   44.90%   -0.02%     
==========================================
  Files          40       40              
  Lines        3642     3654      +12     
  Branches     1716     1724       +8     
==========================================
+ Hits         1636     1641       +5     
  Misses        834      834              
- Partials     1172     1179       +7
Flag Coverage Δ
unittests 44.90% <54.16%> (-0.02%) ⬇️

Flags with carried forward coverage won't be shown. Click here to find out more.

Files Coverage Δ
...jectory_controller/joint_trajectory_controller.hpp 0.00% <ø> (ø)
...ory_controller/src/joint_trajectory_controller.cpp 47.62% <54.16%> (-0.10%) ⬇️

saikishor
saikishor approved these changes Sep 1, 2023
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LGTM

joint_trajectory_controller/src/joint_trajectory_controller.cpp Outdated Show resolved Hide resolved
joint_trajectory_controller/src/joint_trajectory_controller.cpp Show resolved Hide resolved
@christophfroehlich @saikishor
Use direct vector access
c42f0ea 
Co-authored-by: Sai Kishor Kothakota <saisastra3@gmail.com>
@christophfroehlich christophfroehlich mentioned this pull request Sep 9, 2023
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@christophfroehlich christophfroehlich mentioned this pull request Sep 11, 2023
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mergify bot commented Sep 12, 2023

This pull request is in conflict. Could you fix it @christophfroehlich?

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bmagyar commented Sep 25, 2023

Heads up @fmauch , this may break things on the scaled JTC

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@bmagyar should be fine now. The single failing test is the usual flakiness.

@christophfroehlich christophfroehlich mentioned this pull request Oct 23, 2023
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@christophfroehlich christophfroehlich added the backport-iron This label should be used by maintaines only! Label triggers PR backport to ROS2 Iron. label Nov 11, 2023
destogl
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Thanks! Very needed feature!

@bmagyar bmagyar merged commit 3fc0f50 into ros-controls:master Nov 15, 2023
11 of 14 checks passed
mergify bot pushed a commit that referenced this pull request Nov 15, 2023
@christophfroehlich @mergify
[JTC] Activate update of dynamic parameters (#761)
3cbaf87 
(cherry picked from commit 3fc0f50)
@mergify mergify bot mentioned this pull request Nov 15, 2023
Merged
@christophfroehlich christophfroehlich deleted the jtc/dynamic_parameters branch November 15, 2023 19:07
@christophfroehlich christophfroehlich mentioned this pull request Nov 15, 2023
Merged
bmagyar pushed a commit that referenced this pull request Nov 16, 2023
@mergify
[JTC] Activate update of dynamic parameters (#761) (#838)
84bd61b
christophfroehlich added a commit to christophfroehlich/ros2_controllers that referenced this pull request Nov 17, 2023
@christophfroehlich
[JTC] Activate update of dynamic parameters (backport ros-controls#761)
e7f7b3f
christophfroehlich added a commit to christophfroehlich/ros2_controllers that referenced this pull request Nov 17, 2023
@christophfroehlich
[JTC] Activate update of dynamic parameters (backport ros-controls#761)
1d3f1e2
christophfroehlich added a commit to christophfroehlich/ros2_controllers that referenced this pull request Nov 19, 2023
@christophfroehlich
Merge branch 'master' into jtc/controller_plugin
3e78665 
Squashed commit of the following:

commit 0a9f4b0
Author: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com>
Date:   Thu Nov 16 23:17:20 2023 +0000

    Bump ros-tooling/action-ros-ci from 0.3.4 to 0.3.5 (ros-controls#833)

commit 3fc0f50
Author: Christoph Fröhlich <christophfroehlich@users.noreply.github.com>
Date:   Wed Nov 15 20:03:40 2023 +0100

    [JTC] Activate update of dynamic parameters (ros-controls#761)

commit b13ae5b
Author: Christoph Fröhlich <christophfroehlich@users.noreply.github.com>
Date:   Wed Nov 15 19:14:09 2023 +0100

    [JTC] Fix tests when state offset is used (ros-controls#797)

    * Simplify initialization of states
    * Rename read_state_from_hardware method
    * Don't set state_desired in on_activate
    ---------

    Co-authored-by: Dr. Denis <denis@stoglrobotics.de>

commit f1a5397
Author: Christoph Fröhlich <christophfroehlich@users.noreply.github.com>
Date:   Wed Nov 15 12:18:38 2023 +0100

    [JTC] Remove deprecation warnings, set `allow_nonzero_velocity_at_trajectory_end` default false (ros-controls#834)

commit 232154d
Author: Christoph Fröhlich <christophfroehlich@users.noreply.github.com>
Date:   Sat Nov 11 15:30:19 2023 +0100

    [CI] Update coverage workflows and some cleanup (ros-controls#819)

    * Add CI coverage jobs for humble and iron

    * Add all packages to source build

    * Update repos files

    * Build ros-control packages from source

    * use humble job names

    Co-authored-by: Christoph Fröhlich <christophfroehlich@users.noreply.github.com>

    ---------

    Co-authored-by: Bence Magyar <bence.magyar.robotics@gmail.com>

commit 0196eeb
Author: Tony Baltovski <tony.baltovski@gmail.com>
Date:   Thu Nov 9 17:15:45 2023 -0500

    [diff_drive_controller] Fixed typos in diff_drive_controller_parameter.yaml. (ros-controls#822)

commit 71ec842
Author: Christoph Fröhlich <christophfroehlich@users.noreply.github.com>
Date:   Tue Nov 7 13:47:23 2023 +0100

    [CI] Re-add humble workflow files and add iron to readme (ros-controls#818)

commit 9d4ea6b
Author: Bence Magyar <bence.magyar.robotics@gmail.com>
Date:   Tue Nov 7 12:01:23 2023 +0000

    [diff_drive_controller] Remove non-stamped Twist option (ros-controls#812)

commit 5f78fe4
Author: Bence Magyar <bence.magyar.robotics@gmail.com>
Date:   Tue Nov 7 12:01:02 2023 +0000

    Adjust tests after passing URDF to controllers (ros-controls#817)

commit 2c6d7a6
Author: Bence Magyar <bence.magyar.robotics@gmail.com>
Date:   Mon Nov 6 18:29:10 2023 +0000

    Add iron branch (ros-controls#814)

commit f81a82c
Author: Christoph Fröhlich <christophfroehlich@users.noreply.github.com>
Date:   Fri Nov 3 21:18:31 2023 +0100

    [CI] Codecov  (ros-controls#807)

commit c6ecab7
Author: Bence Magyar <bence.magyar.robotics@gmail.com>
Date:   Wed Nov 1 21:38:16 2023 +0000

    Use pre-commit fork of clang-format instead of local (ros-controls#813)

commit 6e46053
Author: Bence Magyar <bence.magyar.robotics@gmail.com>
Date:   Tue Oct 31 21:34:10 2023 +0000

    3.17.0

commit 822552f
Author: Bence Magyar <bence.magyar.robotics@gmail.com>
Date:   Tue Oct 31 21:33:40 2023 +0000

    Update changelogs

commit 8a90b51
Author: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com>
Date:   Tue Oct 31 20:27:04 2023 +0000

    Bump ros-tooling/action-ros-ci from 0.3.3 to 0.3.4 (ros-controls#810)

commit b65314d
Author: Christoph Fröhlich <christophfroehlich@users.noreply.github.com>
Date:   Thu Oct 26 12:09:27 2023 +0200

    Cleanup comments and unnecessary checks (ros-controls#803)

commit b36b9d2
Author: Christoph Fröhlich <christophfroehlich@users.noreply.github.com>
Date:   Tue Oct 24 20:17:28 2023 +0200

    [CI] Fix coverage build and codecov stats (ros-controls#804)

commit 22356e0
Author: Dr. Denis <denis@stoglrobotics.de>
Date:   Mon Oct 16 18:49:47 2023 +0200

    [TestNodes] Optimize output about setup of JTC publisher (ros-controls#792)

commit ac291ab
Author: Christoph Fröhlich <christophfroehlich@users.noreply.github.com>
Date:   Mon Oct 16 13:00:53 2023 +0200

    Steering controllers library: fix open loop mode (ros-controls#793)

    * set last*velocity variables for open loop odometry

    * Make function arguments const

    * Update function in header file too

commit c831b6c
Author: Christoph Fröhlich <christophfroehlich@users.noreply.github.com>
Date:   Mon Oct 16 12:58:44 2023 +0200

    Update requirements of state interfaces (ros-controls#798)
@christophfroehlich christophfroehlich mentioned this pull request Nov 19, 2023
Merged
christophfroehlich added a commit to christophfroehlich/ros2_controllers that referenced this pull request Nov 27, 2023
@christophfroehlich
[JTC] Activate update of dynamic parameters (backport ros-controls#761)
578cd9c
christophfroehlich added a commit to christophfroehlich/ros2_controllers that referenced this pull request Nov 29, 2023
@christophfroehlich
[JTC] Activate update of dynamic parameters (backport ros-controls#761)
6b9e3f8
christophfroehlich added a commit to christophfroehlich/ros2_controllers that referenced this pull request Nov 30, 2023
@christophfroehlich
[JTC] Activate update of dynamic parameters (backport ros-controls#761)
1caa240
christophfroehlich added a commit to christophfroehlich/ros2_controllers that referenced this pull request Dec 5, 2023
@christophfroehlich
[JTC] Activate update of dynamic parameters (backport ros-controls#761)
dc837fe
bmagyar pushed a commit that referenced this pull request Dec 6, 2023
@christophfroehlich @bmagyar
[JTC] Activate update of dynamic parameters (backport #761)
fd09c7b
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@saikishor saikishor saikishor approved these changes

@destogl destogl destogl approved these changes

@bmagyar bmagyar bmagyar approved these changes

@anfemosa anfemosa Awaiting requested review from anfemosa

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Dynamically tuning [joint_trajectory_controller] PID gains
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