Topic #51 cleanup admittance branch for merge#55
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Also removes unnecessary print statement.
Removes: - get_motor_values - set_motor_values - ctx_mutex
Also make the size of motor_feedback/motor_commands dependent on actual amount of nodes (ctx instead of config).
Also adds debug statements.
Also adds debug statements.
Might need to remove in real system.
Function to transition ethercat state.
- Headers sorted - Move to transition_ec - Remove potentially unnecessary send/recvs - Add some blocks to make scope of variables clear - Update Shutdown logic
The script must be run from the workspace folder.
ROS Node calls init_ec and checks return code before starting cylic loop.
Also add a cmd line argument for controlling increment count.
Also set the target position to the current position. This avoids sudden movement on startup.
- Guard against M_v=0 division by zero (RCLCPP_ERROR_THROTTLE) - Reinitialize state vectors on feedback size change - Fix main() loop to respect rclcpp::ok() on Ctrl-C - Add std_msgs/Header to MotorFeedbackFull, MotorVelocity, AdmittanceDebug
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Awesome, you just created your first merge request! See the following link for some guidance infromation on the first merge request! https://riseos-docs-e1325d.gitlab-pages.tu-berlin.de/docs/contributing/devops/git/git-merge/
* do velocity integration for rviz visualisation (joint moves for mock manager)
- main_mock.cpp: parse num_motors from CLI argument (default 6) - AdmittanceDebug.msg: remove unused tau_gravity field
topic -> ethercat node -> apsa -> ethercat thread -> PDO
…#51-cleanup-admittance-for-merge
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Hey @florian-pages what's the status with this one, can this be deleted or will something happen here, still? |
Author
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@paulwetzel Hi! No these are the changes i need for the admittance controller in rise-os-core. So either we keep it here or merge in main. |
- Add torque_cmd_apsa buffer and set_motor_torque_apsa() to ECManager - Route TargetTorque PDO in cyclic loop when mode 10 is confirmed - Accept mode 10 in setOperationModeCallback (was 8/9 only) - Add motor_commands_torque subscription in EthercatNode - Implement set_motor_torque_apsa() as no-op in MockECManager
torque_fb, tau_gravity_nm, tau_friction_nm
Absolute pos_rad has no meaningful zero point (raw multi-turn encoder origin, machine-specific). Add a relative-position pair that a consumer node can zero on demand, for experiments that need a sensible 0-degree reference without knowing the raw calibration.
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