Documentation for model-based controllers #1650

v8p1197 · 2025-04-22T08:22:54Z

This PR updates ros2_controller's documentation to open the possibility of creating model-based controllers, e.g. gravity compensantion PD controllers or inverse dynamics controllers.

To access the robot dynamics model, the inverse dynamics solver is proposed (here the release repository).
The solver will be soon released via rosdep for humble (here the updated rosdistro index).

(cherry picked from commit 5178503) Co-authored-by: Christoph Fröhlich <[email protected]>

Co-authored-by: Bence Magyar <[email protected]> (cherry picked from commit af54985) Co-authored-by: Christoph Fröhlich <[email protected]>

…s#753)

…eriod_ in diff_drive_controller.cpp (ros-controls#644) (ros-controls#777) Co-authored-by: Jules CARPENTIER <[email protected]> (cherry picked from commit 77420cb) Co-authored-by: julescarpentier <[email protected]>

…rols#772) (ros-controls#776)

…ontrols#766)

…os-controls#765) (ros-controls#778)

…os-controls#800)

…r.yaml. (ros-controls#822) (ros-controls#823) (cherry picked from commit 0196eeb) Co-authored-by: Tony Baltovski <[email protected]>

)

…ceMappingUpdate (ros-controls#859) (ros-controls#863)

…er works. (ros-controls#756) (ros-controls#868) (cherry picked from commit 6352a70) Co-authored-by: chama1176 <[email protected]>

…ls#867)

…s on configure (backport ros-controls#698) (ros-controls#750) * [ForceTorqueSensorBroadcaster] Create ParamListener and get parameters on configure (ros-controls#698) * Create ParamListener and get parameters on configure * Declare parameters for test_force_torque_sensor_broadcaster Since the parameters are not declared on init anymore, they cannot be set without declaring them before --------- Co-authored-by: Bence Magyar <[email protected]> (cherry picked from commit 32aaef7) * Fix "parameter is already declared" error --------- Co-authored-by: Noel Jiménez García <[email protected]> Co-authored-by: Christoph Froehlich <[email protected]>

…ros-controls#1596) (ros-controls#1597) Co-authored-by: Felix Exner (fexner) <[email protected]>

) (ros-controls#1602)

…1454) (ros-controls#1460) Co-authored-by: Christoph Fröhlich <[email protected]>

…ntrols#1620)

Update documentation to include dynamics-based controllers

mergify · 2025-04-22T08:23:28Z

@v8p1197, all pull requests must be targeted towards the master development branch.
Once merged into master, it is possible to backport to humble, but it must be in master
to have these changes reflected into new distributions.

mergify · 2025-04-22T08:25:35Z

This pull request is in conflict. Could you fix it @v8p1197?

saikishor

@v8p1197 you need to open the PRs targeting the master branch. I recommend creating a new PR using the new API of the master branch. We can later backport the changes to older distros

v8p1197 · 2025-04-22T08:50:29Z

@v8p1197 you need to open the PRs targeting the master branch. I recommend creating a new PR using the new API of the master branch. We can later backport the changes to older distros

Thank you @saikishor. I have created a new PR.

mergify bot and others added 30 commits August 17, 2023 12:19

Remove wrong description (ros-controls#742) (ros-controls#747)

76de69d

(cherry picked from commit 5178503) Co-authored-by: Christoph Fröhlich <[email protected]>

Use tabs (ros-controls#743) (ros-controls#746)

4992fd4

Co-authored-by: Bence Magyar <[email protected]> (cherry picked from commit af54985) Co-authored-by: Christoph Fröhlich <[email protected]>

Update docs for diff drive controller (ros-controls#751) (ros-control…

a58243b

…s#753)

[JTC] Rename parameter: normalize_error to angle_wraparound (ros-cont…

faa08e2

…rols#772) (ros-controls#776)

Update changelogs

1741109

2.25.0

c8fc1a3

add a broadcaster for range sensor (backport ros-controls#725) (ros-c…

7962d33

…ontrols#766)

[Doc] Add specific documentation on the available fw cmd controllers (r…

255b2f9

…os-controls#765) (ros-controls#778)

Update changelogs

d92bd9f

Fix version

8a9f1c5

Fix changelog

8f33ba8

2.26.0

5e1e695

Improve docs (ros-controls#785) (ros-controls#786)

fdec988

writing_new_controller docs fix (ros-controls#790) (ros-controls#791)

7dfdcaa

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

dc5b3b4

…os-controls#800)

[diff_drive_controller] Fixed typos in diff_drive_controller_paramete…

cc84c5b

…r.yaml. (ros-controls#822) (ros-controls#823) (cherry picked from commit 0196eeb) Co-authored-by: Tony Baltovski <[email protected]>

[CI] Codecov humble (backport ros-controls#819) (ros-controls#830)

6d75314

Update changelogs

52e01e2

2.27.0

bc66e1b

Ignore test code for codecov (ros-controls#844)

71b166e

Rearrange controllers overview page (ros-controls#846) (ros-controls#847

d7c41b3

)

joint_state_broadcaster: Add proper subscription to TestCustomInterfa…

b4b465d

…ceMappingUpdate (ros-controls#859) (ros-controls#863)

Fixed implementation so that effort_controllers/GripperActionControll…

c8f1b44

…er works. (ros-controls#756) (ros-controls#868) (cherry picked from commit 6352a70) Co-authored-by: chama1176 <[email protected]>

Update changelogs

5b783bb

2.28.0

16fb6cf

Add test for effort gripper controller (ros-controls#769) (ros-contro…

13ba381

…ls#867)

Update changelogs

9651447

2.29.0

53ec31b

christophfroehlich and others added 16 commits March 17, 2025 13:20

Update changelogs

9709694

2.43.0

0282fc0

[jtc tests] avoid dangling ref of command / state interfaces (backport …

a2ac691

…ros-controls#1596) (ros-controls#1597) Co-authored-by: Felix Exner (fexner) <[email protected]>

Replace RCLCPP_*_STREAM macros with RCLCPP_* (backport ros-controls#1600

67628b5

) (ros-controls#1602)

Fix open-loop odometry in case of ref timeout (backport ros-controls#…

cfac903

…1454) (ros-controls#1460) Co-authored-by: Christoph Fröhlich <[email protected]>

Bump version of pre-commit hooks (backport ros-controls#1618) (ros-co…

34b292a

…ntrols#1620)

Update changelogs

c70d82b

2.44.0

b265d11

Update documentation to include dynamics-based controllers

556b56c

Avoid blank lines in bullet list

492b69d

Add dependency on joint positions in inertia matrix

3106964

Update latex control law

06f9a0e

Specify the inverse dynamics solver is a plugin

7ea12ac

Use bold format to express arrays, and correct PD+g control law

0df3335

Rename dynamics-based controllers to model-based controllers

32dac20

Merge pull request #1 from unisa-acg/feature/dynamics-based-controllers

e22784f

Update documentation to include dynamics-based controllers

github-actions bot requested review from arne48, bmagyar, harderthan, mamueluth, peterdavidfagan, Raivias and saikishor April 22, 2025 08:23

v8p1197 changed the title ~~Humble~~ Documentation for model-based controllers Apr 22, 2025

v8p1197 changed the base branch from humble to master April 22, 2025 08:25

saikishor reviewed Apr 22, 2025

View reviewed changes

v8p1197 closed this Apr 22, 2025

Provide feedback

Saved searches

Use saved searches to filter your results more quickly

Documentation for model-based controllers #1650

Documentation for model-based controllers #1650

v8p1197 commented Apr 22, 2025

mergify bot commented Apr 22, 2025

mergify bot commented Apr 22, 2025

saikishor left a comment •

edited

Loading

v8p1197 commented Apr 22, 2025

Documentation for model-based controllers #1650

Documentation for model-based controllers #1650

Conversation

v8p1197 commented Apr 22, 2025

mergify bot commented Apr 22, 2025

mergify bot commented Apr 22, 2025

saikishor left a comment • edited Loading

Choose a reason for hiding this comment

v8p1197 commented Apr 22, 2025

saikishor left a comment •

edited

Loading