Removed outdated controllers, added controllers to be merged upstream#26
Merged
Removed outdated controllers, added controllers to be merged upstream#26
Conversation
amalnanavati
approved these changes
Aug 25, 2021
Contributor
amalnanavati
left a comment
amalnanavati
left a comment
There was a problem hiding this comment.
LGTM.
This PR is mostly the same as personalrobotics/rewd_controllers#41 , with the addition of an optional feature to pass on a joint mode handle. Therefore, I did a specific review of lines around mode_handle_ and JointModeInterface, and am approving the rest of it on the grounds that it is unchanged from the rewd_controllers PR, which I already approved.
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
2 participants
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
Copied PR from upstream here for use while that is being reviewed.
ros-controls/ros_controllers#569
With added functionality:
Set param
mode_handleto automatically set the joint mode to Position / Velocity / Effort on controller start.