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Add force mode controller #1049

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Add force mode controller #1049

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Commits on Jul 4, 2024

  1. Added service to set force mode

    @urmarp @URJala
    urmarp authored and URJala committed Jul 4, 2024
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  2. Use tf_prefix for force_mode handles

    @fmauch @URJala
    fmauch authored and URJala committed Jul 4, 2024
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  3. Fix stuff

    @fmauch @URJala
    fmauch authored and URJala committed Jul 4, 2024
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  4. More bug fixing

    @fmauch @URJala
    fmauch authored and URJala committed Jul 4, 2024
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  5. Add service to disable force mode

    @fmauch @URJala
    fmauch authored and URJala committed Jul 4, 2024
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  6. Use an own controller for force_mode

    @fmauch @URJala
    fmauch authored and URJala committed Jul 4, 2024
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Commits on Jul 8, 2024

  1. Add force mode arguments: damping and gain scale to force mode contro… 

    …ller
    @URJala
    URJala committed Jul 8, 2024
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Commits on Jul 10, 2024

  1. Update controller to match updated service definition 

    Also add example of using force mode controller
    @URJala
    URJala committed Jul 10, 2024
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Commits on Oct 9, 2024

  1. Merge remote-tracking branch 'origin/main' into force_mode_arguments

    @fmauch
    fmauch committed Oct 9, 2024
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Commits on Oct 10, 2024

  1. Make communication thread-safe

    @fmauch
    fmauch committed Oct 10, 2024
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  2. Add a service to disable force mode again

    @fmauch
    fmauch committed Oct 10, 2024
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  3. Formatting controller param file

    @fmauch
    fmauch committed Oct 10, 2024
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Commits on Oct 16, 2024

  1. Remove superflous cmd interface write

    @fmauch
    fmauch committed Oct 16, 2024
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  2. Merge remote-tracking branch 'origin/main' into force_mode_arguments

    @fmauch
    fmauch committed Oct 16, 2024
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  3. Add required command interfaces to xacro

    @fmauch
    fmauch committed Oct 16, 2024
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  4. Disable starting force_mode_controller with joint streaming 

    Currently, this isn't working as expected and we don't really have a method
to counteract the robot "jumping" back to the joint configuration without
force mode.
    @fmauch
    fmauch committed Oct 16, 2024
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  5. Do not activate force_mode_controller by default 

    Since it isn't compatible with streaming controllers, we deactivate it
for now. It can be activated at runtime.
    @fmauch
    fmauch committed Oct 16, 2024
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  6. Move force_mode communication from AsyncIO to write 

    This should be more thread-safe, as the buffers are filled from the same thread
as the write function is called.
    @fmauch
    fmauch committed Oct 16, 2024
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Commits on Nov 7, 2024

  1. Update to changed message definition

    @urfeex
    urfeex committed Nov 7, 2024
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  2. Added first test for force_mode_controller

    @urfeex
    urfeex committed Nov 7, 2024
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Commits on Nov 8, 2024

  1. Fix interface compatibility check in prepare_switch 

    Also added tests for that
    @urfeex
    urfeex committed Nov 8, 2024
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  2. Move force_mode_controller integration test to separate file

    @urfeex
    urfeex committed Nov 8, 2024
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Commits on Nov 11, 2024

  1. Merge upstream changes with passthrough controller 

    Since the force_mode controller should be able to run with that,
we need to update resource checking.
    @urfeex
    urfeex committed Nov 11, 2024
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Commits on Nov 12, 2024

  1. Remove beta feature warning

    @urfeex
    urfeex committed Nov 12, 2024
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  2. Code formatting

    @urfeex
    urfeex committed Nov 12, 2024
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  3. Verify inputs

    @urfeex
    urfeex committed Nov 12, 2024
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  4. Remove unused parameters 

    Since those are now in the service interface, we can delete them.
    @urfeex
    urfeex committed Nov 12, 2024
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  5. Make sure (and test) that the robot stops when force_mode controller … 

    …is stopped
    @urfeex
    urfeex committed Nov 12, 2024
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  6. Added check (with tests) for gain_scaling and damping_factor limits

    @urfeex
    urfeex committed Nov 12, 2024
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  7. Add basic documentation about force_mode controller

    @urfeex
    urfeex committed Nov 12, 2024
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