Package Summary
Tags | No category tags. |
Version | 1.2.0 |
License | BSD |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/clearpathrobotics/clearpath_common.git |
VCS Type | git |
VCS Version | humble |
Last Updated | 2025-03-13 |
Dev Status | DEVELOPED |
CI status | No Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Luis Camero
- Roni Kreinin
- Tony Baltovski
Authors
- Mike Purvis
- Paul Bovbel
- Tony Baltovski
- Roni Kreinin
Changelog for package clearpath_control
1.2.0 (2025-03-13)
- Backport Fix: Sensor depends
(#129)
(#167)
- Remove the package initializations that depend on robot packages
* Add a copy of the imu_filter parameters from clearpath_sensors to clearpath_control. Change the default IMU filter config path to point to this file. Remove more unneeded initializations of clearpath_robot packages Co-authored-by: Chris Iverach-Brereton <<59611394+civerachb-cpr@users.noreply.github.com>>
- Contributors: luis-camero
1.1.1 (2025-01-16)
1.1.0 (2025-01-15)
- Add [enable_ekf]{.title-ref} launch parameter to platform -> localization launch files. Disable the EKF node if enable_ekf is false. (#133) (#134)
- Contributors: Chris Iverach-Brereton
1.0.0 (2024-11-25)
- Fix controller names and kinematics (#109)
- Contributors: luis-camero
0.3.4 (2024-10-08)
0.3.3 (2024-10-04)
0.3.2 (2024-09-29)
0.3.1 (2024-09-23)
0.3.0 (2024-09-19)
- Changes.
- Add dependency clearpath_mecanum_drive_controller
- 0.3.0 Release Candidate with Main Changes
(#81)
- Added tests
- Added action to build from release and source
- Generator linting erros
- Customization linting errors
- Linting
- Fix: Remove IP address from discovery server launch so it listens on all NICs
- Changes.
- 0.2.8
- Add sysctl config file that changes ipfrag settings to support receiving large messages
- Added Zed URDF
- Added Zed to description generator
- Modified common parameter generation to always flatten
- Changes.
- 0.2.9
- Missing important remapping to mirror hardware topics
- Added topic to gazebo plugins
- Updated topic names to match gazebo message types
- Topics of simulated onboard sensors
- Realsense adds optical links when in simulator
- Changes.
- 0.2.10
- Modifies platform param to add GQ7 IMU data to ekf_localization and adds GQ7 URDF
- Fixes styling issues
- Set spawner as super client
- Changes.
- 0.2.11
- Removed duplicate class
- Use ROS1 covariance values
- Updated renamed macanum drive controller
* Enable gazebo friction plugin on DingoO ---------Co-authored-by: Hilary Luo <<hluo@clearpathrobotics.com>> Co-authored-by: Tony Baltovski <<tbaltovski@clearpathrobotics.com>> Co-authored-by: Steve Macenski <<stevenmacenski@gmail.com>> Co-authored-by: robbiefish <<rob.fisher@hbkworld.com>>
- Add Y to controllers
- Updated wheel separation
- Keep both joint definitions
- Control updates
- Changed default canbus device to vcan0
- Added Puma control configuration
- 0.2.8
- Changes.
- 0.2.7
- Changes.
- Control adds manipulators if simulation
- Modifications to allow arms to function
- 0.2.6
- Changes.
- Disable tf_frame_prefix_enable
- 0.2.5
- Changes.
- 0.2.4
- Changes.
- 0.2.3
- Changes.
- 0.2.2
- Changes.xx
- 0.2.1
- Changes.
- Added do150 control
- Dingo O mecanum wheels
- Fixed rocker and small covariance
- Fixed wheel radius parameter
- Initial add do100
- Contributors: Luis Camero, Tony Baltovski, luis-camero
- Add dependency clearpath_mecanum_drive_controller
- Added tests
- Added action to build from release and source
- Generator linting erros
- Customization linting errors
- Linting
- Fix: Remove IP address from discovery server launch so it listens on all NICs
- Add sysctl config file that changes ipfrag settings to support receiving large messages
- Added Zed URDF
- Added Zed to description generator
- Modified common parameter generation to always flatten
- Missing important remapping to mirror hardware topics
- Added topic to gazebo plugins
- Updated topic names to match gazebo message types
- Topics of simulated onboard sensors
- Realsense adds optical links when in simulator
- Modifies platform param to add GQ7 IMU data to ekf_localization and adds GQ7 URDF
- Fixes styling issues
- Set spawner as super client
- Removed duplicate class
- Use ROS1 covariance values
- Updated renamed macanum drive controller
- Enable gazebo friction plugin on DingoO
- Add Y to controllers
- Updated wheel separation
- Keep both joint definitions
- Control updates
- Changed default canbus device to vcan0
- Added Puma control configuration
- Control adds manipulators if simulation
- Modifications to allow arms to function
- Added do150 control
- Dingo O mecanum wheels
- Fixed rocker and small covariance
- Fixed wheel radius parameter
- Initial add do100
- Contributors: Tony Baltovski, luis-camero, Steve Macenski, Hilary Luo, robbiefish
0.2.11 (2024-08-08)
- Set spawner as super client
- Contributors: Luis Camero
0.2.10 (2024-07-25)
0.2.9 (2024-05-28)
0.2.8 (2024-05-14)
0.2.7 (2024-04-08)
0.2.6 (2024-01-18)
- Disable tf_frame_prefix_enable
- Contributors: Luis Camero
0.2.5 (2024-01-15)
0.2.4 (2024-01-11)
0.2.3 (2024-01-08)
0.2.2 (2024-01-04)
0.2.1 (2023-12-21)
0.2.0 (2023-12-08)
- Pass robot description to controller manager over topic
- Added W200 Hardware interface.
- Fixed dingo control param
- Added DD150
- Fixed name
- Removed comments
- Reduced speed on turbo dd100
- Added dd100
- Added fixes to control and localization
- Extended timeout to a minute
- Added configuration files for generic robots
- Fixes to control parameters and naming
- Fixed package names and added w200 urdf macro
- Initial Warthog addition
- Contributors: Hilary Luo, Luis Camero, Roni Kreinin, Tony Baltovski
0.1.3 (2023-11-03)
0.1.2 (2023-10-02)
0.1.1 (2023-08-25)
0.1.0 (2023-08-17)
- Formatting
- Removed joy_teleop namespace, remap topics to that namespace instead
- Contributors: Roni Kreinin
0.0.9 (2023-07-31)
- Update platform nodes from extra ros parameters Flattened default parameter files
- Contributors: Roni Kreinin
0.0.8 (2023-07-24)
0.0.7 (2023-07-19)
0.0.6 (2023-07-13)
0.0.5 (2023-07-12)
0.0.4 (2023-07-07)
0.0.3 (2023-07-05)
- Updated localization configs
- J100 use Vyaw for localization
- Updated husky track value
- Wheel slip plugin Significantly improved jackal odom in sim
- Contributors: Roni Kreinin
0.0.2 (2023-07-04)
0.0.1 (2023-06-21)
- Updated launch writer make writing different object types easier Localization parameter fixes Updated gazebo wheel friction
- Added namespacing support
- Added clearpath_generator_common Moved clearpath_platform to clearpath_common Fixed use_sim_time parameter issue with ekf_node
- Use generated configs for control, localization, teleop
- use_sim_time support Added lidar gazebo plugins
- Fixed dependencies
- Moved description generator to clearpath_generators Added accessory urdf's Use launch arg for choosing controller
- Moved IMU filter to platform launch Moved localization into a separate launch file Updated decoration urdfs Added structure urdf
- Remapped topics to match API
- Corrected imu_filter_node topics and parameter node name Use joy_linux
- Bishop sensors/mounts
- Added realsense description
- [clearpath_control] Renamed robot_model to platform_model.
- control launch fixes Added ark enclosure for j100 top_plate
- Move clearpath_description to clearpath_platform_description and switched robot names to robot model number.
- [clearpath_control] Switched to using model number.
- [clearpath_control] Changed depends to exec_depends.
- [clearpath_control] Updated platform names to model.
- Select launch configuration without launch context
- Initial commit of clearpath_control.
- Contributors: Roni Kreinin, Tony Baltovski
Wiki Tutorials
Package Dependencies
System Dependencies
Dependant Packages
Name | Deps |
---|---|
clearpath_common | |
clearpath_generator_common |
Launch files
Messages
Services
Plugins
Recent questions tagged clearpath_control at Robotics Stack Exchange
Package Summary
Tags | No category tags. |
Version | 2.2.0 |
License | BSD |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/clearpathrobotics/clearpath_common.git |
VCS Type | git |
VCS Version | jazzy |
Last Updated | 2025-03-28 |
Dev Status | DEVELOPED |
CI status | No Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Luis Camero
- Roni Kreinin
- Tony Baltovski
Authors
- Mike Purvis
- Paul Bovbel
- Tony Baltovski
- Roni Kreinin
Changelog for package clearpath_control
2.2.0 (2025-03-11)
2.1.0 (2025-01-31)
- Reduced angular velocity limits from joysticks (#160)
- Feature/ekf diagnostics
(#158)
- Enable ekf node diagnostics
- Fix CI
- Diff drive parameter updates for improved odometry (#155)
- Contributors: Hilary Luo, Roni Kreinin
2.0.3 (2025-01-21)
- Bypass bluetooth link quality check
(#151)
- Comment-out the bluetooth cutoff node, the mux, and the remap from the joy_teleop to bypass the link quality check
- Add missing newlines to joy teleop config files
- Change the link quality check to be exclusive instead of inclusive
- Contributors: Chris Iverach-Brereton
2.0.2 (2025-01-20)
2.0.1 (2025-01-17)
2.0.0 (2025-01-16)
- Update diff_drive controller settings
(#137)
- Update diff_drive controller settings
- Update all diff_drive settings
- Improve joy telep support
(#131)
- Update description, add bluez dependency
- Add the quality_cutoff parameter to all of the PS4 configuration files
- Update the launch file to start the new cutoff node and additional twist_mux
- Add udev rules for various controllers
- Add dependency on the new bt cutoff package
- Add xbox controller parameters for all platforms
- Fix the PS4/5 axis ordering; the left stick shows up as axis 3/4, with the l/r analogue triggers being 2 & 5. Update omni control configurations accordingly
- Add PS5 udev rules, config files
- Add a timeout to the quality lock so we lock out the controller if the quality-checker node crashes
- Set the respawn flag for the BT cutoff node and the joy_linux node
- Add additional logging when blocking for services & IPC. Since we've added a timeout to the lock, publish fake quality data when using wired controllers. Log when this happens
- Add [enable_ekf]{.title-ref} launch parameter to platform -> localization launch files. Disable the EKF node if enable_ekf is false. (#133)
- Fix sensor depends
(#129)
- Remove the package initializations that depend on robot packages
- Add a copy of the imu_filter parameters from clearpath_sensors to clearpath_control. Change the default IMU filter config path to point to this file. Remove more unneeded initializations of clearpath_robot packages
- A300 VCAN
(#130)
- A300 vcan1
- Set vcan0 to be default can interface for lynx control
- Fix to prevent including the same package multiple times
- Added filename argument to LaunchFile
- Linting
- A300
(#118)
- Add A300 meshes
- Move A300 meshes
- Add A300 URDF
- Added A300 control configuration files
- Remove unstamped parameter, deprecated
- Use clearpath_hardware_interface LynxHardware
- Fix controller names and kinematics (#109)
- Update simulation support for Jazzy
(#117)
- Rename gazebo plugins to use new gz nomenclature instead of ign/ignition. Use stamped velocity messages.
- Restructure the twist_mux yaml file to be more legible, remove the parameters that are overwritten by the launch file anyway
- Put use_stamped back just for the sake of being explicit. Add use_stamped directly to the launch file
- Fix the tests to catch unsupported platforms & accessories
- Rename ign_ -> gz_ for gazebo dependencies, comment-out missing jazzy dependencies (for now)
- Removed unstamped remappings
- Set minimum version of teleop_twist_joy to 2.6.1 (the lowest version that supports stamped messages)
- Pass use_stamped to twist_mux
- Remap twist_mux output to stamped cmd_vel
- Pass publish_stamped_twist to joystick teleop node
- Remap stamped cmd_vel controller topic
- Contributors: Chris Iverach-Brereton, Christoph Fröhlich, Luis Camero, Roni Kreinin, Tony Baltovski
1.0.0 (2024-11-25)
- Fix controller names and kinematics (#109)
- Contributors: luis-camero
0.3.4 (2024-10-08)
0.3.3 (2024-10-04)
0.3.2 (2024-09-29)
0.3.1 (2024-09-23)
0.3.0 (2024-09-19)
- Changes.
- Add dependency clearpath_mecanum_drive_controller
- 0.3.0 Release Candidate with Main Changes
(#81)
- Added tests
- Added action to build from release and source
- Generator linting erros
- Customization linting errors
- Linting
- Fix: Remove IP address from discovery server launch so it listens on all NICs
- Changes.
- 0.2.8
- Add sysctl config file that changes ipfrag settings to support receiving large messages
- Added Zed URDF
- Added Zed to description generator
- Modified common parameter generation to always flatten
- Changes.
- 0.2.9
- Missing important remapping to mirror hardware topics
- Added topic to gazebo plugins
- Updated topic names to match gazebo message types
- Topics of simulated onboard sensors
- Realsense adds optical links when in simulator
- Changes.
- 0.2.10
- Modifies platform param to add GQ7 IMU data to ekf_localization and adds GQ7 URDF
- Fixes styling issues
- Set spawner as super client
- Changes.
- 0.2.11
- Removed duplicate class
- Use ROS1 covariance values
- Updated renamed macanum drive controller
* Enable gazebo friction plugin on DingoO ---------Co-authored-by: Hilary Luo <<hluo@clearpathrobotics.com>> Co-authored-by: Tony Baltovski <<tbaltovski@clearpathrobotics.com>> Co-authored-by: Steve Macenski <<stevenmacenski@gmail.com>> Co-authored-by: robbiefish <<rob.fisher@hbkworld.com>>
- Add Y to controllers
- Updated wheel separation
- Keep both joint definitions
- Control updates
- Changed default canbus device to vcan0
- Added Puma control configuration
- 0.2.8
- Changes.
- 0.2.7
- Changes.
- Control adds manipulators if simulation
- Modifications to allow arms to function
- 0.2.6
- Changes.
- Disable tf_frame_prefix_enable
- 0.2.5
- Changes.
- 0.2.4
- Changes.
- 0.2.3
- Changes.
- 0.2.2
- Changes.xx
- 0.2.1
- Changes.
- Added do150 control
- Dingo O mecanum wheels
- Fixed rocker and small covariance
- Fixed wheel radius parameter
- Initial add do100
- Contributors: Luis Camero, Tony Baltovski, luis-camero
- Add dependency clearpath_mecanum_drive_controller
- Added tests
- Added action to build from release and source
- Generator linting erros
- Customization linting errors
- Linting
- Fix: Remove IP address from discovery server launch so it listens on all NICs
- Add sysctl config file that changes ipfrag settings to support receiving large messages
- Added Zed URDF
- Added Zed to description generator
- Modified common parameter generation to always flatten
- Missing important remapping to mirror hardware topics
- Added topic to gazebo plugins
- Updated topic names to match gazebo message types
- Topics of simulated onboard sensors
- Realsense adds optical links when in simulator
- Modifies platform param to add GQ7 IMU data to ekf_localization and adds GQ7 URDF
- Fixes styling issues
- Set spawner as super client
- Removed duplicate class
- Use ROS1 covariance values
- Updated renamed macanum drive controller
- Enable gazebo friction plugin on DingoO
- Add Y to controllers
- Updated wheel separation
- Keep both joint definitions
- Control updates
- Changed default canbus device to vcan0
- Added Puma control configuration
- Control adds manipulators if simulation
- Modifications to allow arms to function
- Added do150 control
- Dingo O mecanum wheels
- Fixed rocker and small covariance
- Fixed wheel radius parameter
- Initial add do100
- Contributors: Tony Baltovski, luis-camero, Steve Macenski, Hilary Luo, robbiefish
0.2.11 (2024-08-08)
- Set spawner as super client
- Contributors: Luis Camero
0.2.10 (2024-07-25)
0.2.9 (2024-05-28)
0.2.8 (2024-05-14)
0.2.7 (2024-04-08)
0.2.6 (2024-01-18)
- Disable tf_frame_prefix_enable
- Contributors: Luis Camero
0.2.5 (2024-01-15)
0.2.4 (2024-01-11)
0.2.3 (2024-01-08)
0.2.2 (2024-01-04)
0.2.1 (2023-12-21)
0.2.0 (2023-12-08)
- Pass robot description to controller manager over topic
- Added W200 Hardware interface.
- Fixed dingo control param
- Added DD150
- Fixed name
- Removed comments
- Reduced speed on turbo dd100
- Added dd100
- Added fixes to control and localization
- Extended timeout to a minute
- Added configuration files for generic robots
- Fixes to control parameters and naming
- Fixed package names and added w200 urdf macro
- Initial Warthog addition
- Contributors: Hilary Luo, Luis Camero, Roni Kreinin, Tony Baltovski
0.1.3 (2023-11-03)
0.1.2 (2023-10-02)
0.1.1 (2023-08-25)
0.1.0 (2023-08-17)
- Formatting
- Removed joy_teleop namespace, remap topics to that namespace instead
- Contributors: Roni Kreinin
0.0.9 (2023-07-31)
- Update platform nodes from extra ros parameters Flattened default parameter files
- Contributors: Roni Kreinin
0.0.8 (2023-07-24)
0.0.7 (2023-07-19)
0.0.6 (2023-07-13)
0.0.5 (2023-07-12)
0.0.4 (2023-07-07)
0.0.3 (2023-07-05)
- Updated localization configs
- J100 use Vyaw for localization
- Updated husky track value
- Wheel slip plugin Significantly improved jackal odom in sim
- Contributors: Roni Kreinin
0.0.2 (2023-07-04)
0.0.1 (2023-06-21)
- Updated launch writer make writing different object types easier Localization parameter fixes Updated gazebo wheel friction
- Added namespacing support
- Added clearpath_generator_common Moved clearpath_platform to clearpath_common Fixed use_sim_time parameter issue with ekf_node
- Use generated configs for control, localization, teleop
- use_sim_time support Added lidar gazebo plugins
- Fixed dependencies
- Moved description generator to clearpath_generators Added accessory urdf's Use launch arg for choosing controller
- Moved IMU filter to platform launch Moved localization into a separate launch file Updated decoration urdfs Added structure urdf
- Remapped topics to match API
- Corrected imu_filter_node topics and parameter node name Use joy_linux
- Bishop sensors/mounts
- Added realsense description
- [clearpath_control] Renamed robot_model to platform_model.
- control launch fixes Added ark enclosure for j100 top_plate
- Move clearpath_description to clearpath_platform_description and switched robot names to robot model number.
- [clearpath_control] Switched to using model number.
- [clearpath_control] Changed depends to exec_depends.
- [clearpath_control] Updated platform names to model.
- Select launch configuration without launch context
- Initial commit of clearpath_control.
- Contributors: Roni Kreinin, Tony Baltovski
Wiki Tutorials
Package Dependencies
System Dependencies
Dependant Packages
Name | Deps |
---|---|
clearpath_common | |
clearpath_generator_common |