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Add Mecanum Drive Controller #512

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Add Mecanum Drive Controller #512

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Commits on Jun 17, 2024

  1. compiling without error

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    GiridharBukka authored and destogl committed Jun 17, 2024
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  2. all tests working

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  3. reorganized publishers added code to print values for debug

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  4. added meaning full param values

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  5. next line in comment

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  6. Automated formatting files.

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  7. Manual changes of formatting.

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  8. Delete LICENSE

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  9. Apply suggestions from code review 

    general changes not any fundamental changes

Co-authored-by: Denis Štogl <denis@stoglrobotics.de>
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  10. Apply suggestions from code review 

    using std instead of boost

Co-authored-by: Denis Štogl <denis@stoglrobotics.de>
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  11. used the suggested structure

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  12. general changes

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  13. removed bacc accumulators

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  14. renaming to more meaningful and readable variable names

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  15. code review suggestions implementing

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  16. Apply suggestions from code review 

    re-positioned controller_state_publisher_->unlock();

Co-authored-by: Denis Štogl <denis@stoglrobotics.de>
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  17. added description

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  18. checked more values against the behavior of controller methods

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  19. changed controller type to CtrlType

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  20. Update mecanum_drive_controller/test/test_mecanum_drive_controller.cpp

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  21. updated cmakelists structure

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  22. renaming variables

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  23. changed description

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  24. resetting msg if msg is valid after receiving a to old msg

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  25. estructuring parameters in yaml

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  26. comparing float values

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  27. Apply suggestions from code review 

    Co-authored-by: Dr. Denis <denis@stoglrobotics.de>
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  28. added description for each test as comment

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  29. added preceding controller tests

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  30. reorganized reference_interfaces configuration method

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  31. configuration of interfaces in loop

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  32. final fixups

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  33. using control_msgs::msg::MecanumDriveControllerState and removing cus… 

    …tom_msgs folder
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  34. using control_msgs::msg::MecanumDriveControllerState and removing cus… 

    …tom_msgs folder
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  35. added chained mode test for update logic

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  36. changed wheel vl names to more descriptive

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  37. renamed rot and traslation matrix variable names

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  38. renamed vl variable to more descriptive

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  39. ran pre-commit formatter

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  40. set ref_itfces to 0 to stop vehicle in case of timeout

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  41. added description

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  42. check nan

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  43. odom vel naming descriptive

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  44. removed outdated nomenclature

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  45. add comment

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  46. Apply suggestions from code review

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  47. Update mecanum_drive_controller/src/mecanum_drive_controller.cpp

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  48. Update mecanum_drive_controller/src/mecanum_drive_controller.cpp

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  49. Update .pre-commit-config.yaml

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  50. Update package.xml

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  51. removing boost

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  52. removing unused variable

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  53. addressing warnings

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  54. update cmake version

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  55. renaming wheels_k to more descriptive naming sum_of_robot_center_proj… 

    …ection_on_X_Y_axis
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  56. renames joint_names to command_joint_names

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  57. removing unused variable

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  58. pre-commit clang format 14

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  59. updating test logic w.r.t reset ref_interfaces

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  60. added changes w.r.t control_msgs update

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  61. cpp_lint check for pre-comit

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  62. cpp_lint check update

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  63. handling ref_timeout==0 in update_and_write method

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  64. updated test comments with when xx then yy scheme

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  65. Revert "handling ref_timeout==0 in update_and_write method" 

    This reverts commit 823253a.
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  66. renaming test names to whenn xx expect yy scheme

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  67. Update tests

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  68. Restructure CMakeLists.txt and add docs.

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  69. Update mecanum_drive_controller/mecanum_drive_controller.xml

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  70. Update mecanum_drive_controller/package.xml

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  71. Update mecanum_drive_controller.yaml

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  72. implemneted suggested changes compiling and ll tests pass

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  73. ran precommit

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  74. Update mecanum_drive_controller/test/test_mecanum_drive_controller.cpp

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  75. Add missing nav_msgs dependecdy

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  76. Remove odometry field from status message

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  77. Apply suggestions from code review

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  78. Fix a few typos and rephrase 

    Co-authored-by: Christoph Fröhlich <christophfroehlich@users.noreply.github.com>
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  79. Correct controller loading test

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  80. Update mecanum_drive_controller/src/odometry.cpp

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  81. Update docs with note about odometry calculation.

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  82. Update mecanum_drive_controller/src/mecanum_drive_controller.yaml

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

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  84. Fix formatting and typos.

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Commits on Jun 19, 2024

  1. Update mecanum_drive_controller/src/mecanum_drive_controller.yaml 

    Co-authored-by: Christoph Fröhlich <christophfroehlich@users.noreply.github.com>
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  2. Update the use explict parameters for the wheels.

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Commits on Jun 27, 2024

  1. Update .pre-commit-config.yaml

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Commits on Jul 2, 2024

  1. Fix ordering of wheels to be correct.

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Commits on Jul 3, 2024

  1. Update mecanum_drive_controller/doc/userdoc.rst

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Commits on Jul 31, 2024

  1. Odometry Position Frame (#21) 

    * Add hardware interface testing dependency

* Use orientation w.r.t. odom to set position
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  2. Merge branch 'master' into add-mecanum-drive-controller

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Commits on Aug 14, 2024

  1. Merge branch 'master' into add-mecanum-drive-controller

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Commits on Aug 21, 2024

  1. Fix mecanum (#23) 

    * Fix tests

* Fix format
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Commits on Sep 11, 2024

  1. Merge branch 'master' into add-mecanum-drive-controller

    @bmagyar
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