RT controller and simplification
The implementation is split such that the Navigator component only generates the trajectory that will subsequently be executed by a RT controller (see: platform_controller/PlatformTrajectory)
Note:
Currently, this cannot be merged as it depends on some unmerged features in armarx::control (branch: new_mp_controller_aron__memory_and_component_plugin__whole_body_control)
Edited by Fabian Reister
Merge request reports
Activity
requested review from @dreher
added 19 commits
- 4ca2dc10 - scneario update
- 35b6ff47 - scenario update
- 93cfea39 - minor
- d17f3f6c - platform controller update
- 7f5b77b0 - controller configs
- 56fdef2e - server/execution
- e025bcb7 - fix: sync robot
- aa932d1c - json conversion
- 8d05593c - scene provider /updater
- 3b2cc42d - prettifying includes
- 10f48ea3 - removing time provider
- 1ab7081f - usage of scene provider
- 04c4f972 - navigator component: cleanup : moved scene update logic into separate class
- b2c66dc8 - minor
- c0840fbf - TrajectoryFollowingController: floating point rounding fix
- e720b9cf - minor
- 5b0ecd9a - navigator: simplification
- 5532a311 - platform_controller: tested in simulation
- 90416614 - minor
Toggle commit listadded 3 commits
By ARMAR-6 on 2022-07-25T11:03:55 (imported from GitLab)
added 1 commit
- 44f3f88f - fix: TrajectoryFollowingController: returing twist in local frame
By ARMAR-6 on 2022-07-25T18:01:31 (imported from GitLab)
added 3 commits
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1b34e305...6cedc050 - 2 commits from branch
master - d3bd22e3 - Merge remote-tracking branch 'origin/master' into chore/rt-controller-and-simplification
By ARMAR-6 on 2022-07-25T18:06:31 (imported from GitLab)
-
1b34e305...6cedc050 - 2 commits from branch
mentioned in commit 0fdeb1c5
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