1. 12 Dec, 2022 1 commit
  2. 05 Dec, 2022 1 commit
    • Florent Lamiraux's avatar
      Take into account when some joints are not controlled. · 3a9cb28d
      Florent Lamiraux authored
        In the case of the Franka robot, the URDF model does not propose position
        control via ROS control for the fingers. In this case the control vector
        is smaller than the encoder reading vector.
      
        This commit makes the asumption that the not controlled joints are at the end
        of the control vector. Some work is needed to make this more general.
      3a9cb28d
  3. 04 Dec, 2022 3 commits
  4. 22 Nov, 2022 1 commit
  5. 21 Nov, 2022 1 commit
  6. 12 Sep, 2022 3 commits
  7. 06 Sep, 2022 8 commits
  8. 30 Aug, 2022 1 commit
    • Florent Lamiraux's avatar
      [RSSotController] Better handle subsampling. · 461af7f5
      Florent Lamiraux authored
        Formerly, when the computation of the graph was subsampled, computation was
        launched once in several iterations. As a result, the iteration when the
        computation was launched was usually exceeding Roscontrol time period and
        the scheduler would catch up at the next iteration since no computation was
        launched.
      
        With this commit, the computation of the control graph is launched in
        a separate thread in such a way that reatime constraints are satisfied.
      461af7f5
  9. 28 Jul, 2022 11 commits
  10. 14 Apr, 2022 1 commit
  11. 11 Apr, 2022 1 commit
    • Diane Bury's avatar
      [RCSotController] Save log in destructor · 32eaedb6
      Diane Bury authored
        instead of in method stopping.
        The ROS driver for UniversalRobot stops from time to time.
        When this happens, roscontrol process is stopped and restarted.
        Before this commit, saving the logs between stop and restart
        made the robot stop for a few seconds. This is undesirable.
      32eaedb6
  12. 08 Apr, 2022 1 commit
  13. 22 Feb, 2022 1 commit
  14. 10 Dec, 2021 1 commit
  15. 09 Dec, 2021 1 commit
  16. 08 Dec, 2021 1 commit
  17. 07 Dec, 2021 3 commits