Add motion_primitives_from_trajectory_controller with trajectory approximation using PTP/LIN primitives #1858
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…time --> added gitignore, to not push it to github --> remove it after everything is done
… the hardware interface can receive a new motion primitive — replaces the previous, more complex handling via execution_status
…ls according to other controllers in the repo
… rtw template to fit the controller implementation
…tation from rtw template to fit the controller implementation
…ontroller namespace
…o_moprim_base_controller
…_traj_controller_with_base_controller
…_traj_controller_with_base_controller
… and blend_radius_upper_limit
…o_moprim_base_controller
…_traj_controller_with_base_controller
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This pull request is in conflict. Could you fix it @mathias31415? |
Codecov Report❌ Patch coverage is Additional details and impacted files@@ Coverage Diff @@
## master #1858 +/- ##
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- Coverage 85.25% 81.73% -3.52%
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Files 143 148 +5
Lines 13794 14388 +594
Branches 1194 1279 +85
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Hits 11760 11760
- Misses 1636 2230 +594
Partials 398 398
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…controller_with_base_controller
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This PR adds the motion_primitives_from_trajectory_controller. To make reviewing easier, another PR #1857 was created first to move shared functionality into a base controller.
This PR replaces PR #1837.
This PR is marked as a draft because PR #1636 and PR #1857 must be merged first.
This PR complements motion_primitives_forward_controller PR #1636 .
Instead of sending hardcoded motion primitives to the
motion_primitives_forward_controller, this controller (motion_primitives_from_trajectory_controller) approximates aJointTrajectoryusing eitherPTPorLINmotion primitives.This allows, for example, collision-free paths planned with MoveIt to be executed as motion primitives. The approximation is performed using the Ramer-Douglas-Peucker (RDP) algorithm:
PTPprimitives in joint spaceLINprimitives in Cartesian space