Scaled jtc #1
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Scaled jtc #1
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* fixing structure * format * typo fix
* set last*velocity variables for open loop odometry * Make function arguments const * Update function in header file too
* Add CI coverage jobs for humble and iron * Add all packages to source build * Update repos files * Build ros-control packages from source * use humble job names Co-authored-by: Christoph Fröhlich <[email protected]> --------- Co-authored-by: Bence Magyar <[email protected]>
…jectory_end` default false (ros-controls#834)
* Simplify initialization of states * Rename read_state_from_hardware method * Don't set state_desired in on_activate --------- Co-authored-by: Dr. Denis <[email protected]>
* Fix dynamic reconfigure of tolerances * Fix static cast syntax
Bumps [codecov/codecov-action](https://github.com/codecov/codecov-action) from 3.1.5 to 4.0.1. - [Release notes](https://github.com/codecov/codecov-action/releases) - [Changelog](https://github.com/codecov/codecov-action/blob/main/CHANGELOG.md) - [Commits](codecov/codecov-action@v3.1.5...v4.0.1) --- updated-dependencies: - dependency-name: codecov/codecov-action dependency-type: direct:production update-type: version-update:semver-major ... Signed-off-by: dependabot[bot] <[email protected]> Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com>
Bumps [actions/upload-artifact](https://github.com/actions/upload-artifact) from 4.3.0 to 4.3.1. - [Release notes](https://github.com/actions/upload-artifact/releases) - [Commits](actions/upload-artifact@v4.3.0...v4.3.1) --- updated-dependencies: - dependency-name: actions/upload-artifact dependency-type: direct:production update-type: version-update:semver-patch ... Signed-off-by: dependabot[bot] <[email protected]> Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com> Co-authored-by: Dr. Denis <[email protected]>
Bumps [pre-commit/action](https://github.com/pre-commit/action) from 3.0.0 to 3.0.1. - [Release notes](https://github.com/pre-commit/action/releases) - [Commits](pre-commit/action@v3.0.0...v3.0.1) --- updated-dependencies: - dependency-name: pre-commit/action dependency-type: direct:production update-type: version-update:semver-patch ... Signed-off-by: dependabot[bot] <[email protected]> Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com>
This adds a scaling factor between 0 and 1 to the JTC so that the trajectory time inside the controller is extended respectively. A value of 0.5 means that trajectory execution will take twice as long as the trajectory states. The scaling factor itself is read from the hardware for now.
Co-authored-by: Christoph Fröhlich <[email protected]>
…etting of scaling factor
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Service used for setting the scaling factor: StoglRobotics-forks/control_msgs#3
Make exchange of scaling factor with hardware optional.
Make possible to set scaling factor via service call