Add JointTrajectoryController system plugin #473

AndrejOrsula · 2020-12-03T22:59:50Z

Hello everyone,

About a month ago, I wanted to utilise MoveIt2 inside of Ignition Gazebo. At the time, I could not find anything ready-to-use that would suit my needs, so I investigated my options.
My initial plan was to employ ros2_control. However, it was still under "heavy" development last time I checked, and integrating it in a similar manner to gazebo_ros2_control is beyond my competences. Therefore, I have decided to implement JointTrajectoryController instead, bringing me to this PR.

In its simplest, JointTrajectoryController subscribes to ignition.msgs.JointTrajectory messages (PR - gazebosim/gz-msgs#106) and controls multiple single-axis joints simultaneously to follow the desired trajectory. The resulting force/torque for each joint is computed as a sum position PID commands + velocity PID commands + effort, which is then applied to joints as force/torque commands. Any of these terms can be ignored by a) disabling PID; b) not including the corresponding commands in the JointTrajectory message. This allows the plugin to be used without a motion planning framework like MoveIt, e.g. for direct effort control of a manipulator or a simple gripper, which can even be in real-time if JointTrajectory is published frequently with only a single point.

I am not really sure if this plugin fits here or there is something else designed to obtain a similar functionality. If integration with ros2_control is preferred, or there are some other plans to obtain such functionality, then feel free to close this PR 😄.

Examples: An example of using MoveIt2 to control Franka Emika Panda can be seen under ign_moveit2. Below is a small animation of utilising this plugin control all joints, including the gripper.

Inclusion in SDF (example with Franka Emika Panda):

<include>
    <uri>https://fuel.ignitionrobotics.org/1.0/AndrejOrsula/models/panda</uri>
    <plugin 
        filename="libignition-gazebo-joint-trajectory-controller-system.so"
        name="ignition::gazebo::systems::JointTrajectoryController">
        <joint_name>panda_joint1</joint_name>
        <initial_position>0</initial_position>
        <position_p_gain>3000</position_p_gain>
        <position_d_gain>15</position_d_gain>
        <position_i_gain>1650</position_i_gain>
        <position_i_min>-15</position_i_min>
        <position_i_max>15</position_i_max>
        <position_cmd_min>-87</position_cmd_min>
        <position_cmd_max>87</position_cmd_max>

        <joint_name>panda_joint2</joint_name>
        <initial_position>0</initial_position>
        <position_p_gain>9500</position_p_gain>
        <position_d_gain>47.5</position_d_gain>
        <position_i_gain>5225</position_i_gain>
        <position_i_min>-47.5</position_i_min>
        <position_i_max>47.5</position_i_max>
        <position_cmd_min>-87</position_cmd_min>
        <position_cmd_max>87</position_cmd_max>

        <joint_name>panda_joint3</joint_name>
        <initial_position>0</initial_position>
        <position_p_gain>6500</position_p_gain>
        <position_d_gain>32.5</position_d_gain>
        <position_i_gain>3575</position_i_gain>
        <position_i_min>-32.5</position_i_min>
        <position_i_max>32.5</position_i_max>
        <position_cmd_min>-87</position_cmd_min>
        <position_cmd_max>87</position_cmd_max>

        <joint_name>panda_joint4</joint_name>
        <initial_position>-1.57</initial_position>
        <position_p_gain>6000</position_p_gain>
        <position_d_gain>30</position_d_gain>
        <position_i_gain>3300</position_i_gain>
        <position_i_min>-30</position_i_min>
        <position_i_max>30</position_i_max>
        <position_cmd_min>-87</position_cmd_min>
        <position_cmd_max>87</position_cmd_max>

        <joint_name>panda_joint5</joint_name>
        <initial_position>0</initial_position>
        <position_p_gain>2750</position_p_gain>
        <position_d_gain>2.75</position_d_gain>
        <position_i_gain>1515</position_i_gain>
        <position_i_min>-6.88</position_i_min>
        <position_i_max>6.88</position_i_max>
        <position_cmd_min>-12</position_cmd_min>
        <position_cmd_max>12</position_cmd_max>

        <joint_name>panda_joint6</joint_name>
        <initial_position>1.57</initial_position>
        <position_p_gain>2500</position_p_gain>
        <position_d_gain>2.5</position_d_gain>
        <position_i_gain>1375</position_i_gain>
        <position_i_min>-6.25</position_i_min>
        <position_i_max>6.25</position_i_max>
        <position_cmd_min>-12</position_cmd_min>
        <position_cmd_max>12</position_cmd_max>

        <joint_name>panda_joint7</joint_name>
        <initial_position>0.79</initial_position>
        <position_p_gain>2000</position_p_gain>
        <position_d_gain>2</position_d_gain>
        <position_i_gain>1100</position_i_gain>
        <position_i_min>-5</position_i_min>
        <position_i_max>5</position_i_max>
        <position_cmd_min>-12</position_cmd_min>
        <position_cmd_max>12</position_cmd_max>

        <joint_name>panda_finger_joint1</joint_name>
        <initial_position>0</initial_position>
        <position_p_gain>250</position_p_gain>
        <position_d_gain>0.2</position_d_gain>
        <position_i_gain>50</position_i_gain>
        <position_i_min>-10</position_i_min>
        <position_i_max>10</position_i_max>
        <position_cmd_min>-20</position_cmd_min>
        <position_cmd_max>20</position_cmd_max>

        <joint_name>panda_finger_joint2</joint_name>
        <initial_position>0</initial_position>
        <position_p_gain>250</position_p_gain>
        <position_d_gain>0.2</position_d_gain>
        <position_i_gain>50</position_i_gain>
        <position_i_min>-10</position_i_min>
        <position_i_max>10</position_i_max>
        <position_cmd_min>-20</position_cmd_min>
        <position_cmd_max>20</position_cmd_max>
    </plugin>
</include>

JointTrajectoryController.hh documents this further.

Signed-off-by: Andrej Orsula <[email protected]>

src/systems/joint_trajectory_controller/JointTrajectoryController.cc

src/systems/joint_trajectory_controller/JointTrajectoryController.hh

Signed-off-by: Andrej Orsula <[email protected]>

chapulina

Thank you for the PR! The new plugin seems like a superset of the existing JointController plugin, so my initial impulse was to suggest targeting the new functionality at the old plugin. But while looking at the implementation, I think that this adds enough to deserve being its own plugin, and we leave the other one as a simpler implementation that handles one command at a time.

Unfortunately, I have not added any automated tests with this PR.

It would be good to add a test before merging, we want to make sure that the plugin continues working. Would it be possible to add a simple test similar to INTEGRATION_joint_controller_system? Covering all features would be great, but just a couple of use cases would also be helpful.

Fails because it is not using fork of ign-msgs

ign-msgs 6.2.0 was released with the new message, so the next time you push to this PR, CI should be fixed. Please also be sure to bump the required ign-msgs version here:

https://github.com/ignitionrobotics/ign-gazebo/blob/a830b443989877b1e83170390f483b6c02952b25/CMakeLists.txt#L56

It's awesome that you have a package demonstrating how to use this with MoveIt2! It would be nice to add a simple demo using just Ignition Gazebo too. We usually add worlds to the example/worlds folder with some instructions on the top. See joint_controller.sdf for example. You could add an example that sends a couple of trajectory points from the command line, just to exercise the plugin.

src/systems/joint_trajectory_controller/JointTrajectoryController.hh

src/systems/joint_trajectory_controller/JointTrajectoryController.cc

Signed-off-by: Andrej Orsula <[email protected]>

AndrejOrsula · 2021-01-01T19:06:13Z

It would be good to add a test before merging

Added tests for position and velocity control. PID/PI gains were tuned to have somewhat aggressive response in order to reduce the necessary duration of the test. Both should succeed with tolerance of 1e-5 (position even with 1e-6), but I set it to 1e-4 in case there are some minor/negligible future changes in physics.

These tests should* cover the main functionality of the plugin, parsing of parameters and communication via Ignition Transport. I did not add any complicated case of hybrid control as I wasn't really sure how to design such test.

It would be nice to add a simple demo using just Ignition Gazebo

Added a simple world with three planar RR robots to demonstrate position, velocity and effort control. Sending joint trajectories with CLI is a bit messy but I hope that's okay.

AndrejOrsula · 2021-01-01T19:33:13Z

Just a few thoughts for future. I have not included them, but they could be implemented as optional features of the plugin and enabled via parameters.

Use `JointPositionReset` component to set `initial_position` of joints

Currently, this plugin uses initial_position just as the first position target that the joint should reach. If position control is not enabled, this property is more or less ignored. JointPositionReset component could therefore be used to set the joint positions right after the model is spawned (inside Configure() if possible or at the first call to PreUpdate() and at each reset) and then just maintain them with regular control.

Add interpolation between trajectory points to provide smoother motion and reach points exactly at their `time_from_start`

This plugin currently does not perform any interpolation, therefore, the produced motion will be only as smooth as the input joint trajectory. With sparse points such as those in demo, it is possible to tune the smoothness a bit with the combination of PID gains and joint dynamics (e.g. damping), but it is quite limited.

Although some motion planning frameworks, e.g. MoveIt, might already produce trajectories with configurable number of points via their own interpolation/parameterization, it might still be beneficial to add simple interpolation inside of this plugin.

codecov · 2021-01-05T21:50:16Z

Codecov Report

Merging #473 (a830b44) into ign-gazebo4 (2a25fc7) will increase coverage by 0.32%.
The diff coverage is 85.58%.

@@               Coverage Diff               @@
##           ign-gazebo4     #473      +/-   ##
===============================================
+ Coverage        77.29%   77.61%   +0.32%     
===============================================
  Files              208      213       +5     
  Lines            11198    11624     +426     
===============================================
+ Hits              8655     9022     +367     
- Misses            2543     2602      +59

Impacted Files	Coverage Δ
...e/ignition/gazebo/detail/EntityComponentManager.hh	`95.00% <ø> (ø)`
include/ignition/gazebo/gui/GuiRunner.hh	`100.00% <ø> (ø)`
src/SimulationRunner.hh	`100.00% <ø> (ø)`
src/gui/plugins/entity_tree/EntityTree.hh	`100.00% <ø> (ø)`
.../gui/plugins/transform_control/TransformControl.hh	`100.00% <ø> (ø)`
src/ign.cc	`72.18% <ø> (ø)`
src/systems/buoyancy/Buoyancy.cc	`75.28% <ø> (ø)`
src/systems/diff_drive/DiffDrive.cc	`84.10% <ø> (ø)`
src/systems/follow_actor/FollowActor.cc	`57.00% <ø> (ø)`
src/systems/physics/Physics.cc	`71.44% <ø> (ø)`
... and 17 more

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Signed-off-by: Louise Poubel <[email protected]>

chapulina

This works great, thanks again for the PR! I love the demo world! Just waiting on CI results to merge.

chapulina

The code checker has several complaints, mind addressing those? You can try locally with make codecheck:

Codecheck warnings

2021-02-10T02:56:23.3810134Z /github/workspace/src/systems/joint_trajectory_controller/JointTrajectoryController.cc:44:  Line ends in whitespace.  Consider deleting these extra spaces.  [whitespace/end_of_line] [4]
2021-02-10T02:56:23.3815770Z /github/workspace/src/systems/joint_trajectory_controller/JointTrajectoryController.cc:44:  Lines should be <= 80 characters long  [whitespace/line_length] [2]
2021-02-10T02:56:23.3817456Z /github/workspace/src/systems/joint_trajectory_controller/JointTrajectoryController.cc:48:  Lines should be <= 80 characters long  [whitespace/line_length] [2]
2021-02-10T02:56:23.3819131Z /github/workspace/src/systems/joint_trajectory_controller/JointTrajectoryController.cc:51:  Lines should be <= 80 characters long  [whitespace/line_length] [2]
2021-02-10T02:56:23.3821090Z /github/workspace/src/systems/joint_trajectory_controller/JointTrajectoryController.cc:52:  Lines should be <= 80 characters long  [whitespace/line_length] [2]
2021-02-10T02:56:23.3822731Z /github/workspace/src/systems/joint_trajectory_controller/JointTrajectoryController.cc:58:  Lines should be <= 80 characters long  [whitespace/line_length] [2]
2021-02-10T02:56:23.3824321Z /github/workspace/src/systems/joint_trajectory_controller/JointTrajectoryController.cc:60:  Lines should be <= 80 characters long  [whitespace/line_length] [2]
2021-02-10T02:56:23.3825918Z /github/workspace/src/systems/joint_trajectory_controller/JointTrajectoryController.cc:63:  Lines should be <= 80 characters long  [whitespace/line_length] [2]
2021-02-10T02:56:23.3827508Z /github/workspace/src/systems/joint_trajectory_controller/JointTrajectoryController.cc:66:  Lines should be <= 80 characters long  [whitespace/line_length] [2]
2021-02-10T02:56:23.3829263Z /github/workspace/src/systems/joint_trajectory_controller/JointTrajectoryController.cc:71:  Lines should be <= 80 characters long  [whitespace/line_length] [2]
2021-02-10T02:56:23.3830919Z /github/workspace/src/systems/joint_trajectory_controller/JointTrajectoryController.cc:72:  Lines should be <= 80 characters long  [whitespace/line_length] [2]
2021-02-10T02:56:23.3832814Z /github/workspace/src/systems/joint_trajectory_controller/JointTrajectoryController.cc:74:  Lines should be <= 80 characters long  [whitespace/line_length] [2]
2021-02-10T02:56:23.3834464Z /github/workspace/src/systems/joint_trajectory_controller/JointTrajectoryController.cc:126:  Lines should be <= 80 characters long  [whitespace/line_length] [2]
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2021-02-10T02:56:23.3860860Z /github/workspace/src/systems/joint_trajectory_controller/JointTrajectoryController.cc:247:  Lines should be <= 80 characters long  [whitespace/line_length] [2]
2021-02-10T02:56:23.3862521Z /github/workspace/src/systems/joint_trajectory_controller/JointTrajectoryController.cc:248:  Lines should be <= 80 characters long  [whitespace/line_length] [2]
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2021-02-10T02:56:23.4525758Z /github/workspace/src/systems/joint_trajectory_controller/JointTrajectoryController.cc:512:  Lines should be <= 80 characters long  [whitespace/line_length] [2]
2021-02-10T02:56:23.4527774Z /github/workspace/src/systems/joint_trajectory_controller/JointTrajectoryController.cc:513:  Lines should be <= 80 characters long  [whitespace/line_length] [2]
2021-02-10T02:56:23.4529559Z /github/workspace/src/systems/joint_trajectory_controller/JointTrajectoryController.cc:528:  Lines should be <= 80 characters long  [whitespace/line_length] [2]
2021-02-10T02:56:23.4531359Z /github/workspace/src/systems/joint_trajectory_controller/JointTrajectoryController.cc:535:  Lines should be <= 80 characters long  [whitespace/line_length] [2]
2021-02-10T02:56:23.4533390Z /github/workspace/src/systems/joint_trajectory_controller/JointTrajectoryController.cc:541:  Lines should be <= 80 characters long  [whitespace/line_length] [2]
2021-02-10T02:56:23.4535540Z /github/workspace/src/systems/joint_trajectory_controller/JointTrajectoryController.cc:555:  Lines should be <= 80 characters long  [whitespace/line_length] [2]
2021-02-10T02:56:23.4537400Z /github/workspace/src/systems/joint_trajectory_controller/JointTrajectoryController.cc:564:  Lines should be <= 80 characters long  [whitespace/line_length] [2]
2021-02-10T02:56:23.4539202Z /github/workspace/src/systems/joint_trajectory_controller/JointTrajectoryController.cc:565:  Lines should be <= 80 characters long  [whitespace/line_length] [2]
2021-02-10T02:56:23.4541004Z /github/workspace/src/systems/joint_trajectory_controller/JointTrajectoryController.cc:570:  Lines should be <= 80 characters long  [whitespace/line_length] [2]
2021-02-10T02:56:23.4542798Z /github/workspace/src/systems/joint_trajectory_controller/JointTrajectoryController.cc:588:  Lines should be <= 80 characters long  [whitespace/line_length] [2]
2021-02-10T02:56:23.4546749Z /github/workspace/src/systems/joint_trajectory_controller/JointTrajectoryController.cc:593:  Lines should be <= 80 characters long  [whitespace/line_length] [2]
2021-02-10T02:56:23.4548415Z /github/workspace/src/systems/joint_trajectory_controller/JointTrajectoryController.cc:596:  Lines should be <= 80 characters long  [whitespace/line_length] [2]
2021-02-10T02:56:23.4556575Z /github/workspace/src/systems/joint_trajectory_controller/JointTrajectoryController.cc:605:  Lines should be <= 80 characters long  [whitespace/line_length] [2]
2021-02-10T02:56:23.4558240Z /github/workspace/src/systems/joint_trajectory_controller/JointTrajectoryController.cc:610:  Lines should be <= 80 characters long  [whitespace/line_length] [2]
2021-02-10T02:56:23.4560013Z /github/workspace/src/systems/joint_trajectory_controller/JointTrajectoryController.cc:615:  Lines should be <= 80 characters long  [whitespace/line_length] [2]
2021-02-10T02:56:23.4561775Z /github/workspace/src/systems/joint_trajectory_controller/JointTrajectoryController.cc:616:  Lines should be <= 80 characters long  [whitespace/line_length] [2]
2021-02-10T02:56:23.4563434Z /github/workspace/src/systems/joint_trajectory_controller/JointTrajectoryController.cc:666:  Lines should be <= 80 characters long  [whitespace/line_length] [2]
2021-02-10T02:56:23.4565087Z /github/workspace/src/systems/joint_trajectory_controller/JointTrajectoryController.cc:668:  Lines should be <= 80 characters long  [whitespace/line_length] [2]
2021-02-10T02:56:23.4566734Z /github/workspace/src/systems/joint_trajectory_controller/JointTrajectoryController.cc:669:  Lines should be <= 80 characters long  [whitespace/line_length] [2]
2021-02-10T02:56:23.4568504Z /github/workspace/src/systems/joint_trajectory_controller/JointTrajectoryController.cc:670:  Lines should be <= 80 characters long  [whitespace/line_length] [2]
2021-02-10T02:56:23.4570226Z /github/workspace/src/systems/joint_trajectory_controller/JointTrajectoryController.cc:671:  Lines should be <= 80 characters long  [whitespace/line_length] [2]
2021-02-10T02:56:23.4572069Z /github/workspace/src/systems/joint_trajectory_controller/JointTrajectoryController.cc:672:  Lines should be <= 80 characters long  [whitespace/line_length] [2]
2021-02-10T02:56:23.4573842Z /github/workspace/src/systems/joint_trajectory_controller/JointTrajectoryController.cc:673:  Lines should be <= 80 characters long  [whitespace/line_length] [2]
2021-02-10T02:56:23.4575539Z /github/workspace/src/systems/joint_trajectory_controller/JointTrajectoryController.cc:674:  Lines should be <= 80 characters long  [whitespace/line_length] [2]
2021-02-10T02:56:23.4577188Z /github/workspace/src/systems/joint_trajectory_controller/JointTrajectoryController.cc:675:  Lines should be <= 80 characters long  [whitespace/line_length] [2]
2021-02-10T02:56:23.4578849Z /github/workspace/src/systems/joint_trajectory_controller/JointTrajectoryController.cc:677:  Lines should be <= 80 characters long  [whitespace/line_length] [2]
2021-02-10T02:56:23.4580606Z /github/workspace/src/systems/joint_trajectory_controller/JointTrajectoryController.cc:678:  Lines should be <= 80 characters long  [whitespace/line_length] [2]
2021-02-10T02:56:23.4582283Z /github/workspace/src/systems/joint_trajectory_controller/JointTrajectoryController.cc:679:  Lines should be <= 80 characters long  [whitespace/line_length] [2]
2021-02-10T02:56:23.4583931Z /github/workspace/src/systems/joint_trajectory_controller/JointTrajectoryController.cc:680:  Lines should be <= 80 characters long  [whitespace/line_length] [2]
2021-02-10T02:56:23.4585587Z /github/workspace/src/systems/joint_trajectory_controller/JointTrajectoryController.cc:681:  Lines should be <= 80 characters long  [whitespace/line_length] [2]
2021-02-10T02:56:23.4587231Z /github/workspace/src/systems/joint_trajectory_controller/JointTrajectoryController.cc:682:  Lines should be <= 80 characters long  [whitespace/line_length] [2]
2021-02-10T02:56:23.4588886Z /github/workspace/src/systems/joint_trajectory_controller/JointTrajectoryController.cc:683:  Lines should be <= 80 characters long  [whitespace/line_length] [2]
2021-02-10T02:56:23.4590541Z /github/workspace/src/systems/joint_trajectory_controller/JointTrajectoryController.cc:684:  Lines should be <= 80 characters long  [whitespace/line_length] [2]
2021-02-10T02:56:23.4592198Z /github/workspace/src/systems/joint_trajectory_controller/JointTrajectoryController.cc:690:  Lines should be <= 80 characters long  [whitespace/line_length] [2]
2021-02-10T02:56:23.4593840Z /github/workspace/src/systems/joint_trajectory_controller/JointTrajectoryController.cc:693:  Lines should be <= 80 characters long  [whitespace/line_length] [2]
2021-02-10T02:56:23.4595500Z /github/workspace/src/systems/joint_trajectory_controller/JointTrajectoryController.cc:695:  Lines should be <= 80 characters long  [whitespace/line_length] [2]
2021-02-10T02:56:23.4597403Z /github/workspace/src/systems/joint_trajectory_controller/JointTrajectoryController.cc:697:  Lines should be <= 80 characters long  [whitespace/line_length] [2]
2021-02-10T02:56:23.4599069Z /github/workspace/src/systems/joint_trajectory_controller/JointTrajectoryController.cc:699:  Lines should be <= 80 characters long  [whitespace/line_length] [2]
2021-02-10T02:56:29.6823472Z /github/workspace/src/systems/joint_trajectory_controller/JointTrajectoryController.cc:701:  Lines should be <= 80 characters long  [whitespace/line_length] [2]
2021-02-10T02:56:29.6830600Z /github/workspace/src/systems/joint_trajectory_controller/JointTrajectoryController.cc:703:  Lines should be <= 80 characters long  [whitespace/line_length] [2]
2021-02-10T02:56:29.6832791Z /github/workspace/src/systems/joint_trajectory_controller/JointTrajectoryController.cc:705:  Lines should be <= 80 characters long  [whitespace/line_length] [2]
2021-02-10T02:56:29.6835072Z /github/workspace/src/systems/joint_trajectory_controller/JointTrajectoryController.cc:707:  Lines should be <= 80 characters long  [whitespace/line_length] [2]
2021-02-10T02:56:29.6837343Z /github/workspace/src/systems/joint_trajectory_controller/JointTrajectoryController.cc:710:  Lines should be <= 80 characters long  [whitespace/line_length] [2]
2021-02-10T02:56:29.7448475Z /github/workspace/src/systems/joint_trajectory_controller/JointTrajectoryController.cc:712:  Lines should be <= 80 characters long  [whitespace/line_length] [2]
2021-02-10T02:56:29.7450150Z /github/workspace/src/systems/joint_trajectory_controller/JointTrajectoryController.cc:714:  Lines should be <= 80 characters long  [whitespace/line_length] [2]
2021-02-10T02:56:29.7452067Z /github/workspace/src/systems/joint_trajectory_controller/JointTrajectoryController.cc:716:  Lines should be <= 80 characters long  [whitespace/line_length] [2]
2021-02-10T02:56:29.7453866Z /github/workspace/src/systems/joint_trajectory_controller/JointTrajectoryController.cc:718:  Lines should be <= 80 characters long  [whitespace/line_length] [2]
2021-02-10T02:56:29.7455642Z /github/workspace/src/systems/joint_trajectory_controller/JointTrajectoryController.cc:720:  Lines should be <= 80 characters long  [whitespace/line_length] [2]
2021-02-10T02:56:29.7457463Z /github/workspace/src/systems/joint_trajectory_controller/JointTrajectoryController.cc:722:  Lines should be <= 80 characters long  [whitespace/line_length] [2]
2021-02-10T02:56:29.7459149Z /github/workspace/src/systems/joint_trajectory_controller/JointTrajectoryController.cc:724:  Lines should be <= 80 characters long  [whitespace/line_length] [2]
2021-02-10T02:56:29.7460801Z /github/workspace/src/systems/joint_trajectory_controller/JointTrajectoryController.cc:726:  Lines should be <= 80 characters long  [whitespace/line_length] [2]
2021-02-10T02:56:29.7462491Z /github/workspace/src/systems/joint_trajectory_controller/JointTrajectoryController.cc:735:  Lines should be <= 80 characters long  [whitespace/line_length] [2]
2021-02-10T02:56:29.7464144Z /github/workspace/src/systems/joint_trajectory_controller/JointTrajectoryController.cc:742:  Lines should be <= 80 characters long  [whitespace/line_length] [2]
2021-02-10T02:56:29.7465815Z /github/workspace/src/systems/joint_trajectory_controller/JointTrajectoryController.cc:803:  Lines should be <= 80 characters long  [whitespace/line_length] [2]
2021-02-10T02:56:29.7467461Z /github/workspace/src/systems/joint_trajectory_controller/JointTrajectoryController.cc:824:  Lines should be <= 80 characters long  [whitespace/line_length] [2]
2021-02-10T02:56:29.7469126Z /github/workspace/src/systems/joint_trajectory_controller/JointTrajectoryController.cc:846:  Lines should be <= 80 characters long  [whitespace/line_length] [2]
2021-02-10T02:56:29.7470790Z /github/workspace/src/systems/joint_trajectory_controller/JointTrajectoryController.cc:872:  Lines should be <= 80 characters long  [whitespace/line_length] [2]
2021-02-10T02:56:29.7472438Z /github/workspace/src/systems/joint_trajectory_controller/JointTrajectoryController.cc:873:  Lines should be <= 80 characters long  [whitespace/line_length] [2]
2021-02-10T02:56:29.7474106Z /github/workspace/src/systems/joint_trajectory_controller/JointTrajectoryController.cc:879:  Lines should be <= 80 characters long  [whitespace/line_length] [2]
2021-02-10T02:56:29.7475766Z /github/workspace/src/systems/joint_trajectory_controller/JointTrajectoryController.cc:884:  Lines should be <= 80 characters long  [whitespace/line_length] [2]
2021-02-10T02:56:29.7477427Z /github/workspace/src/systems/joint_trajectory_controller/JointTrajectoryController.cc:892:  Lines should be <= 80 characters long  [whitespace/line_length] [2]
2021-02-10T02:56:29.7479079Z /github/workspace/src/systems/joint_trajectory_controller/JointTrajectoryController.cc:917:  Lines should be <= 80 characters long  [whitespace/line_length] [2]
2021-02-10T02:56:29.7480737Z /github/workspace/src/systems/joint_trajectory_controller/JointTrajectoryController.cc:924:  Lines should be <= 80 characters long  [whitespace/line_length] [2]
2021-02-10T02:56:29.7483303Z /github/workspace/src/systems/joint_trajectory_controller/JointTrajectoryController.cc:963:  Using C-style cast.  Use static_cast<float>(...) instead  [readability/casting] [4]
2021-02-10T02:56:29.7485046Z /github/workspace/src/systems/joint_trajectory_controller/JointTrajectoryController.cc:982:  Lines should be <= 80 characters long  [whitespace/line_length] [2]
2021-02-10T02:56:29.7486786Z /github/workspace/src/systems/joint_trajectory_controller/JointTrajectoryController.cc:664:  Add #include <map> for map<>  [build/include_what_you_use] [4]
2021-02-10T02:56:29.7488407Z /github/workspace/src/systems/joint_trajectory_controller/JointTrajectoryController.cc:735:  Add #include <memory> for shared_ptr<>  [build/include_what_you_use] [4]
2021-02-10T02:56:29.7490028Z /github/workspace/src/systems/joint_trajectory_controller/JointTrajectoryController.cc:736:  Add #include <string> for string  [build/include_what_you_use] [4]
2021-02-10T02:56:29.7491648Z /github/workspace/src/systems/joint_trajectory_controller/JointTrajectoryController.cc:755:  Add #include <vector> for vector<>  [build/include_what_you_use] [4]
2021-02-10T02:56:29.7493410Z /github/workspace/src/systems/joint_trajectory_controller/JointTrajectoryController.hh:158:  At least two spaces is best between code and comments  [whitespace/comments] [2]
2021-02-10T02:56:29.7495381Z /github/workspace/src/systems/joint_trajectory_controller/JointTrajectoryController.hh:159:  At least two spaces is best between code and comments  [whitespace/comments] [2]
2021-02-10T02:56:29.7497158Z /github/workspace/src/systems/joint_trajectory_controller/JointTrajectoryController.hh:160:  At least two spaces is best between code and comments  [whitespace/comments] [2]
2021-02-10T02:56:29.7498946Z /github/workspace/src/systems/joint_trajectory_controller/JointTrajectoryController.hh:161:  At least two spaces is best between code and comments  [whitespace/comments] [2]
2021-02-10T02:56:29.7500697Z /github/workspace/src/systems/joint_trajectory_controller/JointTrajectoryController.hh:156:  Add #include <memory> for unique_ptr<>  [build/include_what_you_use] [4]
2021-02-10T02:56:29.7502179Z /github/workspace/test/integration/joint_trajectory_controller_system.cc:56:  Lines should be <= 80 characters long  [whitespace/line_length] [2]
2021-02-10T02:56:29.7503515Z /github/workspace/test/integration/joint_trajectory_controller_system.cc:57:  Lines should be <= 80 characters long  [whitespace/line_length] [2]
2021-02-10T02:56:29.7504831Z /github/workspace/test/integration/joint_trajectory_controller_system.cc:70:  Lines should be <= 80 characters long  [whitespace/line_length] [2]
2021-02-10T02:56:29.7506168Z /github/workspace/test/integration/joint_trajectory_controller_system.cc:71:  Lines should be <= 80 characters long  [whitespace/line_length] [2]
2021-02-10T02:56:29.7508255Z /github/workspace/test/integration/joint_trajectory_controller_system.cc:108:  Do not use variable-length arrays.  Use an appropriately named ('k' followed by CamelCase) compile-time constant for the size.  [runtime/arrays] [1]
2021-02-10T02:56:29.7509920Z /github/workspace/test/integration/joint_trajectory_controller_system.cc:116:  Lines should be <= 80 characters long  [whitespace/line_length] [2]
2021-02-10T02:56:29.7511254Z /github/workspace/test/integration/joint_trajectory_controller_system.cc:130:  Lines should be <= 80 characters long  [whitespace/line_length] [2]
2021-02-10T02:56:29.7512592Z /github/workspace/test/integration/joint_trajectory_controller_system.cc:131:  Lines should be <= 80 characters long  [whitespace/line_length] [2]
2021-02-10T02:56:29.7513904Z /github/workspace/test/integration/joint_trajectory_controller_system.cc:185:  Lines should be <= 80 characters long  [whitespace/line_length] [2]
2021-02-10T02:56:29.7515354Z /github/workspace/test/integration/joint_trajectory_controller_system.cc:185:  Using deprecated casting style.  Use static_cast<float>(...) instead  [readability/casting] [4]
2021-02-10T02:56:29.7516762Z /github/workspace/test/integration/joint_trajectory_controller_system.cc:198:  Lines should be <= 80 characters long  [whitespace/line_length] [2]
2021-02-10T02:56:29.7518974Z /github/workspace/test/integration/joint_trajectory_controller_system.cc:202:  Lines should be <= 80 characters long  [whitespace/line_length] [2]
2021-02-10T02:56:29.7529862Z /github/workspace/test/integration/joint_trajectory_controller_system.cc:203:  Lines should be <= 80 characters long  [whitespace/line_length] [2]
2021-02-10T02:56:29.7531236Z /github/workspace/test/integration/joint_trajectory_controller_system.cc:221:  Lines should be <= 80 characters long  [whitespace/line_length] [2]
2021-02-10T02:56:29.7532567Z /github/workspace/test/integration/joint_trajectory_controller_system.cc:222:  Lines should be <= 80 characters long  [whitespace/line_length] [2]
2021-02-10T02:56:29.7534187Z /github/workspace/test/integration/joint_trajectory_controller_system.cc:236:  Lines should be <= 80 characters long  [whitespace/line_length] [2]
2021-02-10T02:56:32.6029183Z /github/workspace/test/integration/joint_trajectory_controller_system.cc:268:  Do not use variable-length arrays.  Use an appropriately named ('k' followed by CamelCase) compile-time constant for the size.  [runtime/arrays] [1]
2021-02-10T02:56:32.6031172Z /github/workspace/test/integration/joint_trajectory_controller_system.cc:276:  Lines should be <= 80 characters long  [whitespace/line_length] [2]
2021-02-10T02:56:32.6032538Z /github/workspace/test/integration/joint_trajectory_controller_system.cc:290:  Lines should be <= 80 characters long  [whitespace/line_length] [2]
2021-02-10T02:56:32.6033854Z /github/workspace/test/integration/joint_trajectory_controller_system.cc:291:  Lines should be <= 80 characters long  [whitespace/line_length] [2]
2021-02-10T02:56:32.6035182Z /github/workspace/test/integration/joint_trajectory_controller_system.cc:345:  Lines should be <= 80 characters long  [whitespace/line_length] [2]
2021-02-10T02:56:32.6036590Z /github/workspace/test/integration/joint_trajectory_controller_system.cc:345:  Using deprecated casting style.  Use static_cast<float>(...) instead  [readability/casting] [4]
2021-02-10T02:56:32.6038016Z /github/workspace/test/integration/joint_trajectory_controller_system.cc:358:  Lines should be <= 80 characters long  [whitespace/line_length] [2]
2021-02-10T02:56:32.6039335Z /github/workspace/test/integration/joint_trajectory_controller_system.cc:362:  Lines should be <= 80 characters long  [whitespace/line_length] [2]
2021-02-10T02:56:32.6040657Z /github/workspace/test/integration/joint_trajectory_controller_system.cc:363:  Lines should be <= 80 characters long  [whitespace/line_length] [2]
2021-02-10T02:56:32.6041515Z Total errors found: 163

Signed-off-by: Andrej Orsula <[email protected]>

AndrejOrsula · 2021-02-11T10:31:06Z

The code checker has several complaints

Sorry about that. They should all be corrected by e30cbb8 now.

AndrejOrsula requested a review from chapulina as a code owner December 3, 2020 22:59

github-actions bot added the 🔮 dome Ignition Dome label Dec 3, 2020

AndrejOrsula mentioned this pull request Dec 3, 2020

Add JointTrajectory message gazebosim/gz-msgs#105

Closed

Add JointTrajectoryController system plugin

0089c2f

Signed-off-by: Andrej Orsula <[email protected]>

AndrejOrsula mentioned this pull request Dec 4, 2020

Add JointTrajectory message gazebosim/gz-msgs#106

Merged

Fix typos in docs for JointTrajectoryController

a621aee

Signed-off-by: Andrej Orsula <[email protected]>

AndrejOrsula commented Dec 5, 2020

View reviewed changes

src/systems/joint_trajectory_controller/JointTrajectoryController.cc Outdated Show resolved Hide resolved

AndrejOrsula commented Dec 5, 2020

View reviewed changes

src/systems/joint_trajectory_controller/JointTrajectoryController.cc Outdated Show resolved Hide resolved

AndrejOrsula commented Dec 5, 2020

View reviewed changes

src/systems/joint_trajectory_controller/JointTrajectoryController.hh Outdated Show resolved Hide resolved

chapulina self-assigned this Dec 7, 2020

chapulina added the needs upstream release Blocked by a release of an upstream library label Dec 7, 2020

AndrejOrsula added 3 commits December 8, 2020 23:03

Fix header indentation

acd753c

Signed-off-by: Andrej Orsula <[email protected]>

Refactor Trajectory::IsGoalReached()

de23fb9

Signed-off-by: Andrej Orsula <[email protected]>

Add per-member access specifiers

905845b

Signed-off-by: Andrej Orsula <[email protected]>

chapulina mentioned this pull request Dec 22, 2020

⬆️ 6.2.0 gazebosim/gz-msgs#116

Merged

Merge branch 'ign-gazebo4' into add_joint_trajectory_controller

733ece0

chapulina reviewed Dec 28, 2020

View reviewed changes

AndrejOrsula added 11 commits December 31, 2020 14:11

Bump ignition-msgs to VERSION 6.2

839eb59

Signed-off-by: Andrej Orsula <[email protected]>

Add copyright headers

d2abb72

Signed-off-by: Andrej Orsula <[email protected]>

Update JointTrajectoryController documentation

a914fbc

Signed-off-by: Andrej Orsula <[email protected]>

Refactor parameter parsing

ff6c82e

Signed-off-by: Andrej Orsula <[email protected]>

Alphabetize includes

5e5a743

Signed-off-by: Andrej Orsula <[email protected]>

Indent switch block

1c78071

Signed-off-by: Andrej Orsula <[email protected]>

Refactor joint trajectory topic handling

8feb9c4

Signed-off-by: Andrej Orsula <[email protected]>

Warn user about ignored acceleration commands

8e3f7a1

Signed-off-by: Andrej Orsula <[email protected]>

Fix joint entity number when logging

6f5dd12

Signed-off-by: Andrej Orsula <[email protected]>

Add example world for JointTrajectoryController

d35bbe7

Signed-off-by: Andrej Orsula <[email protected]>

Fix stream indent and simplify checking for invalid topic

88bfc52

Signed-off-by: Andrej Orsula <[email protected]>

AndrejOrsula added 4 commits January 1, 2021 18:26

Enable arbitrary order of joint names params

54c8d7d

Signed-off-by: Andrej Orsula <[email protected]>

Add unique names to all entities in example

1b7a490

Signed-off-by: Andrej Orsula <[email protected]>

Add position and velocity control tests

c43e646

Signed-off-by: Andrej Orsula <[email protected]>

Simplify creation of joint components

c462446

Signed-off-by: Andrej Orsula <[email protected]>

AndrejOrsula requested a review from chapulina January 1, 2021 19:37

chapulina removed the needs upstream release Blocked by a release of an upstream library label Jan 23, 2021

chapulina mentioned this pull request Jan 26, 2021

Add screenshots of simulation demos gazebosim/docs#135

Closed

merged from ign-gazebo4

1f8f00e

Signed-off-by: Louise Poubel <[email protected]>

chapulina approved these changes Feb 10, 2021

View reviewed changes

chapulina suggested changes Feb 10, 2021

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AndrejOrsula added 2 commits February 10, 2021 23:21

Fix codecheck errors

e30cbb8

Signed-off-by: Andrej Orsula <[email protected]>

Merge branch 'ign-gazebo4' into add_joint_trajectory_controller

0536f4a

AndrejOrsula requested a review from chapulina February 11, 2021 10:32

chapulina approved these changes Feb 11, 2021

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chapulina merged commit 14cc837 into gazebosim:ign-gazebo4 Feb 11, 2021

ARLunan mentioned this pull request Dec 25, 2023

Include arm64 machines as used in MAC M1 Virtual, Raspberry Pi & Nvidia machine as a gz-sim supported platform #2160

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Add JointTrajectoryController system plugin #473

Add JointTrajectoryController system plugin #473

AndrejOrsula commented Dec 3, 2020 •

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AndrejOrsula commented Jan 1, 2021

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AndrejOrsula commented Feb 11, 2021

Add JointTrajectoryController system plugin #473

Add JointTrajectoryController system plugin #473

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AndrejOrsula commented Jan 1, 2021

AndrejOrsula commented Jan 1, 2021

Use JointPositionReset component to set initial_position of joints

Add interpolation between trajectory points to provide smoother motion and reach points exactly at their time_from_start

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AndrejOrsula commented Feb 11, 2021

AndrejOrsula commented Dec 3, 2020 •

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Use `JointPositionReset` component to set `initial_position` of joints

Add interpolation between trajectory points to provide smoother motion and reach points exactly at their `time_from_start`