Sync humble with newest changes #123

hellantos · 2023-06-06T06:26:35Z

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[WIP] Add ros2_control system interface wrapper for ros2_canopen functionalities

[canopen_ros2_control] Dependency fix

…e it is now working in the current setup.

…system-interface

Co-authored-by: James Ward <j.ward@sydney.edu.au>

…aster Signed-off-by: Christoph Hellmann Santos <christoph.hellmann.santos@ipa.fraunhofer.de>

Signed-off-by: Christoph Hellmann Santos <christoph.hellmann.santos@ipa.fraunhofer.de>

* Split motor.hpp and motor.cpp into different files Signed-off-by: Christoph Hellmann Santos <christoph.hellmann.santos@ipa.fraunhofer.de> * Fix missing symbol error Signed-off-by: Christoph Hellmann Santos <christoph.hellmann.santos@ipa.fraunhofer.de> --------- Signed-off-by: Christoph Hellmann Santos <christoph.hellmann.santos@ipa.fraunhofer.de>

* Add Interpolated Position Mode (linear only, no PT or PVT) Signed-off-by: Christoph Hellmann Santos <christoph.hellmann.santos@ipa.fraunhofer.de> * add interpolated position mode to system interface Signed-off-by: Christoph Hellmann Santos <christoph.hellmann.santos@ipa.fraunhofer.de> * Add interpolated position mode to controllers. Signed-off-by: Christoph Hellmann Santos <christoph.hellmann.santos@ipa.fraunhofer.de> * Add to interpolated position mode to documentation Signed-off-by: Christoph Hellmann Santos <christoph.hellmann.santos@ipa.fraunhofer.de> --------- Signed-off-by: Christoph Hellmann Santos <christoph.hellmann.santos@ipa.fraunhofer.de>

* Boost lock free queue implemetation * include boost libraries in CMakelists * Testing rpdo/tpdo ping pond * pre-commit changes * Bugfix: implemented timeout for wait_and_pop to avoid thread blocking * Fixed typo * pre-commit update * FIxed: properly export Boost libraries * Update code documentation

Proper scaling from the device

* Implement rpdo/tpdo test * Removed unnecessary files

Signed-off-by: Christoph Hellmann Santos <christoph.hellmann.santos@ipa.fraunhofer.de>

* Extend and fix info statement. * Fix service handler overwriting. * Consider enum 3 as profiled velocity. Remove some code duplication by reusing private setters in service cbs. Create setter for interpolated position mode. * Fix cyclic position mode. * Simplify write method cases defined by mode of op.

* Get slave eds and bin in node_canopen_driver Signed-off-by: Christoph Hellmann Santos <christoph.hellmann.santos@ipa.fraunhofer.de> * Add dictionary to base driver Signed-off-by: Christoph Hellmann Santos <christoph.hellmann.santos@ipa.fraunhofer.de> * Enable dictionary in proxy drivers Signed-off-by: Christoph Hellmann Santos <christoph.hellmann.santos@ipa.fraunhofer.de> * Add a few test objects Signed-off-by: Christoph Hellmann Santos <christoph.hellmann.santos@ipa.fraunhofer.de> * Add pdo checks Signed-off-by: Christoph Hellmann Santos <christoph.hellmann.santos@ipa.fraunhofer.de> * Adjust 402 driver Signed-off-by: Christoph Hellmann Santos <christoph.hellmann.santos@ipa.fraunhofer.de> * Fix tests Signed-off-by: Christoph Hellmann Santos <christoph.hellmann.santos@ipa.fraunhofer.de> * rename to get_xx_queue Signed-off-by: Christoph Hellmann Santos <christoph.hellmann.santos@ipa.fraunhofer.de> * Add typed sdo operations Signed-off-by: Christoph Hellmann Santos <christoph.hellmann.santos@ipa.fraunhofer.de> --------- Signed-off-by: Christoph Hellmann Santos <christoph.hellmann.santos@ipa.fraunhofer.de>

* Get slave eds and bin in node_canopen_driver Signed-off-by: Christoph Hellmann Santos <christoph.hellmann.santos@ipa.fraunhofer.de> * Add dictionary to base driver Signed-off-by: Christoph Hellmann Santos <christoph.hellmann.santos@ipa.fraunhofer.de> * Enable dictionary in proxy drivers Signed-off-by: Christoph Hellmann Santos <christoph.hellmann.santos@ipa.fraunhofer.de> * Add a few test objects Signed-off-by: Christoph Hellmann Santos <christoph.hellmann.santos@ipa.fraunhofer.de> * Add pdo checks Signed-off-by: Christoph Hellmann Santos <christoph.hellmann.santos@ipa.fraunhofer.de> * Adjust 402 driver Signed-off-by: Christoph Hellmann Santos <christoph.hellmann.santos@ipa.fraunhofer.de> * Fix tests Signed-off-by: Christoph Hellmann Santos <christoph.hellmann.santos@ipa.fraunhofer.de> * rename to get_xx_queue Signed-off-by: Christoph Hellmann Santos <christoph.hellmann.santos@ipa.fraunhofer.de> * Add typed sdo operations Signed-off-by: Christoph Hellmann Santos <christoph.hellmann.santos@ipa.fraunhofer.de> * Remove object datatype where possible Signed-off-by: Christoph Hellmann Santos <christoph.hellmann.santos@ipa.fraunhofer.de> --------- Signed-off-by: Christoph Hellmann Santos <christoph.hellmann.santos@ipa.fraunhofer.de>

* Get slave eds and bin in node_canopen_driver Signed-off-by: Christoph Hellmann Santos <christoph.hellmann.santos@ipa.fraunhofer.de> * Add dictionary to base driver Signed-off-by: Christoph Hellmann Santos <christoph.hellmann.santos@ipa.fraunhofer.de> * Enable dictionary in proxy drivers Signed-off-by: Christoph Hellmann Santos <christoph.hellmann.santos@ipa.fraunhofer.de> * Add a few test objects Signed-off-by: Christoph Hellmann Santos <christoph.hellmann.santos@ipa.fraunhofer.de> * Add pdo checks Signed-off-by: Christoph Hellmann Santos <christoph.hellmann.santos@ipa.fraunhofer.de> * Adjust 402 driver Signed-off-by: Christoph Hellmann Santos <christoph.hellmann.santos@ipa.fraunhofer.de> * Fix tests Signed-off-by: Christoph Hellmann Santos <christoph.hellmann.santos@ipa.fraunhofer.de> * rename to get_xx_queue Signed-off-by: Christoph Hellmann Santos <christoph.hellmann.santos@ipa.fraunhofer.de> * Add typed sdo operations Signed-off-by: Christoph Hellmann Santos <christoph.hellmann.santos@ipa.fraunhofer.de> * Remove object datatype where possible Signed-off-by: Christoph Hellmann Santos <christoph.hellmann.santos@ipa.fraunhofer.de> * Add plain operation mode setting + switchingstate Signed-off-by: Christoph Hellmann Santos <christoph.hellmann.santos@ipa.fraunhofer.de> * Add robot system interface Signed-off-by: Christoph Hellmann Santos <christoph.hellmann.santos@ipa.fraunhofer.de> * Add robot system controller Signed-off-by: Christoph Hellmann Santos <christoph.hellmann.santos@ipa.fraunhofer.de> * Add robot_system_tests Signed-off-by: Christoph Hellmann Santos <christoph.hellmann.santos@ipa.fraunhofer.de> * Add a bit of documentation Signed-off-by: Christoph Hellmann Santos <christoph.hellmann.santos@ipa.fraunhofer.de> * Add in code documentation Signed-off-by: Christoph Hellmann Santos <christoph.hellmann.santos@ipa.fraunhofer.de> * Fix bug Signed-off-by: Christoph Hellmann Santos <christoph.hellmann.santos@ipa.fraunhofer.de> * Add examples section Signed-off-by: Christoph Hellmann Santos <christoph.hellmann.santos@ipa.fraunhofer.de> * Fix set_target for interpolated mode * Switch to rclcpp::sleep_for Signed-off-by: Christoph Hellmann Santos <christoph.hellmann.santos@ipa.fraunhofer.de> * Fix initialization for state and command interface variables * Add remade robot system interfce Signed-off-by: Christoph Hellmann Santos <christoph.hellmann.santos@ipa.fraunhofer.de> * Add copyright info Signed-off-by: Christoph Hellmann Santos <christoph.hellmann.santos@ipa.fraunhofer.de> * Fix missing return statement Signed-off-by: Christoph Hellmann Santos <christoph.hellmann.santos@ipa.fraunhofer.de> * processing behavior improvement Signed-off-by: Christoph Hellmann Santos <christoph.hellmann.santos@ipa.fraunhofer.de> * Minor changes to make things work Signed-off-by: Christoph Hellmann Santos <christoph.hellmann.santos@ipa.fraunhofer.de> * Add poll_timer_callback Signed-off-by: Christoph Hellmann Santos <christoph.hellmann.santos@ipa.fraunhofer.de> * Fix format Signed-off-by: Christoph Hellmann Santos <christoph.hellmann.santos@ipa.fraunhofer.de> * Add polling mode variable for config. Signed-off-by: Christoph Hellmann Santos <christoph.hellmann.santos@ipa.fraunhofer.de> --------- Signed-off-by: Christoph Hellmann Santos <christoph.hellmann.santos@ipa.fraunhofer.de> Co-authored-by: Vishnuprasad Prachandabhanu <vishnu.pbhat93@gmail.com>

* Get slave eds and bin in node_canopen_driver Signed-off-by: Christoph Hellmann Santos <christoph.hellmann.santos@ipa.fraunhofer.de> * Add dictionary to base driver Signed-off-by: Christoph Hellmann Santos <christoph.hellmann.santos@ipa.fraunhofer.de> * Enable dictionary in proxy drivers Signed-off-by: Christoph Hellmann Santos <christoph.hellmann.santos@ipa.fraunhofer.de> * Add a few test objects Signed-off-by: Christoph Hellmann Santos <christoph.hellmann.santos@ipa.fraunhofer.de> * Add pdo checks Signed-off-by: Christoph Hellmann Santos <christoph.hellmann.santos@ipa.fraunhofer.de> * Adjust 402 driver Signed-off-by: Christoph Hellmann Santos <christoph.hellmann.santos@ipa.fraunhofer.de> * Fix tests Signed-off-by: Christoph Hellmann Santos <christoph.hellmann.santos@ipa.fraunhofer.de> * rename to get_xx_queue Signed-off-by: Christoph Hellmann Santos <christoph.hellmann.santos@ipa.fraunhofer.de> * Add typed sdo operations Signed-off-by: Christoph Hellmann Santos <christoph.hellmann.santos@ipa.fraunhofer.de> * Remove object datatype where possible Signed-off-by: Christoph Hellmann Santos <christoph.hellmann.santos@ipa.fraunhofer.de> * Add plain operation mode setting + switchingstate Signed-off-by: Christoph Hellmann Santos <christoph.hellmann.santos@ipa.fraunhofer.de> * Add robot system interface Signed-off-by: Christoph Hellmann Santos <christoph.hellmann.santos@ipa.fraunhofer.de> * Add robot system controller Signed-off-by: Christoph Hellmann Santos <christoph.hellmann.santos@ipa.fraunhofer.de> * Add robot_system_tests Signed-off-by: Christoph Hellmann Santos <christoph.hellmann.santos@ipa.fraunhofer.de> * Add a bit of documentation Signed-off-by: Christoph Hellmann Santos <christoph.hellmann.santos@ipa.fraunhofer.de> * Add in code documentation Signed-off-by: Christoph Hellmann Santos <christoph.hellmann.santos@ipa.fraunhofer.de> * Fix bug Signed-off-by: Christoph Hellmann Santos <christoph.hellmann.santos@ipa.fraunhofer.de> * Add examples section Signed-off-by: Christoph Hellmann Santos <christoph.hellmann.santos@ipa.fraunhofer.de> * Fix set_target for interpolated mode * Switch to rclcpp::sleep_for Signed-off-by: Christoph Hellmann Santos <christoph.hellmann.santos@ipa.fraunhofer.de> * Fix initialization for state and command interface variables * Add remade robot system interfce Signed-off-by: Christoph Hellmann Santos <christoph.hellmann.santos@ipa.fraunhofer.de> * Add copyright info Signed-off-by: Christoph Hellmann Santos <christoph.hellmann.santos@ipa.fraunhofer.de> * Fix missing return statement Signed-off-by: Christoph Hellmann Santos <christoph.hellmann.santos@ipa.fraunhofer.de> * processing behavior improvement Signed-off-by: Christoph Hellmann Santos <christoph.hellmann.santos@ipa.fraunhofer.de> * Minor changes to make things work Signed-off-by: Christoph Hellmann Santos <christoph.hellmann.santos@ipa.fraunhofer.de> * Add poll_timer_callback Signed-off-by: Christoph Hellmann Santos <christoph.hellmann.santos@ipa.fraunhofer.de> * Fix format Signed-off-by: Christoph Hellmann Santos <christoph.hellmann.santos@ipa.fraunhofer.de> * Add polling mode variable for config. Signed-off-by: Christoph Hellmann Santos <christoph.hellmann.santos@ipa.fraunhofer.de> * Add cogen Signed-off-by: Christoph Hellmann Santos <christoph.hellmann.santos@ipa.fraunhofer.de> * Add example usage for cogen Signed-off-by: Christoph Hellmann Santos <christoph.hellmann.santos@ipa.fraunhofer.de> * Remove explicit path Signed-off-by: Christoph Hellmann Santos <christoph.hellmann.santos@ipa.fraunhofer.de> --------- Signed-off-by: Christoph Hellmann Santos <christoph.hellmann.santos@ipa.fraunhofer.de> Co-authored-by: Vishnuprasad Prachandabhanu <vishnu.pbhat93@gmail.com>

Signed-off-by: Christoph Hellmann Santos <christoph.hellmann.santos@ipa.fraunhofer.de>

livanov93 and others added 30 commits June 29, 2022 09:00

Introduce canopen system interface.

25786bd

Enable easy testing temporarily.

c59bd72

Print config paths on init.

e7e93ed

Add device manager and executor.

10ae361

Start device manager in system interface.

b901ead

Add nmt and rpdo callbacks.

15eb101

Remove pedantic cmake flags.

6db68de

Add internal caching structures for canopen nodes.

665a8ce

Expose necessary stuff from proxy driver.

e364930

Apply suggestions from code review

72fa095

Merge pull request #1 from livanov93/canopen-system-interface

153b294

[WIP] Add ros2_control system interface wrapper for ros2_canopen functionalities

Fix dependencies for canopen_ros2_control.

4044dcf

Merge pull request #4 from livanov93/fix-dependencies

af3759c

[canopen_ros2_control] Dependency fix

Move device manager instantation into on_config.

395c42d

Introduce canopen system interface.

426a10a

Enable easy testing temporarily.

9c67c49

Print config paths on init.

d784b87

Add device manager and executor.

af283d3

Start device manager in system interface.

64f6eba

Add nmt and rpdo callbacks.

2aa7613

Remove pedantic cmake flags.

ad99034

Add internal caching structures for canopen nodes.

7beca15

Expose necessary stuff from proxy driver.

d23c70a

Apply suggestions from code review

0ee1004

Add missig dependencies and execute tests only when testing.

a88d2fd

Remove unneccesary deps.

2a50bc0

Rename "device manager" to "device container" and disable test becaus…

baee2c1

…e it is now working in the current setup.

Update .gitignore

502a859

Remove some unecessary changes.

128a63d

Merge remote-tracking branch 'livanov/fix-dependencies' into canopen-…

d0d692e

…system-interface

james-ward and others added 28 commits January 12, 2023 15:22

Remove references to sympy.true (#84)

e00939b

Co-authored-by: James Ward <j.ward@sydney.edu.au>

Merge branch 'master' of github.com:bjsowa/ros2_canopen into bjsowa-m…

f9df8ce

…aster Signed-off-by: Christoph Hellmann Santos <christoph.hellmann.santos@ipa.fraunhofer.de>

add short documentation

fb86f33

Signed-off-by: Christoph Hellmann Santos <christoph.hellmann.santos@ipa.fraunhofer.de>

Add dcf_path to bus.ymls

1cbc60c

Signed-off-by: Christoph Hellmann Santos <christoph.hellmann.santos@ipa.fraunhofer.de>

Don't treat options as driver

1064dba

Signed-off-by: Christoph Hellmann Santos <christoph.hellmann.santos@ipa.fraunhofer.de>

Merge branch 'bjsowa-master'

c9d2a25

Signed-off-by: Christoph Hellmann Santos <christoph.hellmann.santos@ipa.fraunhofer.de>

Merge branch 'master' into patch-2

24a1a5e

Format updates

af796c2

Signed-off-by: Christoph Hellmann Santos <christoph.hellmann.santos@ipa.fraunhofer.de>

Merge branch 'destogl-patch-2'

f278aaf

Better organize dependencies (#88)

6767c72

Add EMCY callback to base driver (#91)

a91fe79

Add post build testing in readme (#87)

c366151

Signed-off-by: Christoph Hellmann Santos <christoph.hellmann.santos@ipa.fraunhofer.de>

Fix typo in README (#92)

351b084

Correct repo link (#94)

1ac8251

proper vel and pos scaling from device

7565840

Merge pull request #100 from ipa-vsp/bugfix/fix-vel-pos-scaling

ecd79d0

Proper scaling from the device

Include rpdo/tpdo test in launch_test. (#98)

17347dc

* Implement rpdo/tpdo test * Removed unnecessary files

Fix stack smashing (#103)

9637faf

Signed-off-by: Christoph Hellmann Santos <christoph.hellmann.santos@ipa.fraunhofer.de>

add dedicated documentation for humble, rolling and iron

afab28d

Signed-off-by: Christoph Hellmann Santos <christoph.hellmann.santos@ipa.fraunhofer.de>

hellantos merged commit e6dd562 into humble Jun 6, 2023
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hellantos deleted the ci-update-for-documentation branch June 6, 2023 09:00

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Sync humble with newest changes #123

Sync humble with newest changes #123

hellantos commented Jun 6, 2023

Sync humble with newest changes #123

Sync humble with newest changes #123

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hellantos commented Jun 6, 2023