v2.0.0 Impedance Control

[Woolfrey]

✨ Features

New option for impedance control class that can be used as a launch argument. For example:

    trajectory_tracking = Node(
        package    = 'serial_link_action_server',
        executable = 'trajectory_tracking_server',
        name       = 'trajectory_tracking_server',
        output     = 'screen',
        parameters = [os.path.join(this_directory, 'config/control_parameters.yaml')],
        arguments  = [urdf,                                                                         # URDF location
                     'link7',                                                                       # Endpoint name
                     'joint_command_relay',                                                         # Topic to publish joint commands to
                     'joint_states',                                                                # Joint state topic to subscribe to
                     'IMPEDANCE']

💥 Breaking Changes

The load_control_parameters() method in the utilities.hpp / utilities.cpp file now expects a vector:

    parameters.jointPositionGains    = node->declare_parameter<std::vector<double>>("joint_position_gains", std::vector<double>{});
    parameters.jointVelocityGains    = node->declare_parameter<std::vector<double>>("joint_velocity_gains", std::vector<double>{});

This is in line with version 2.0.0 of RobotLibrary.

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This discussion was created from the release v2.0.0 Impedance Control.