Joint Trajectory Controller

Controller for executing joint-space trajectories on a group of joints.

Detailed user documentation can be found in the controller’s ROS wiki page.

Changelog for package joint_trajectory_controller

0.22.0 (2024-05-22)

0.21.2 (2023-09-03)

0.21.1 (2023-01-31)

• Don't hardcode plugin library path
• Contributors: Jochen Sprickerhof

0.21.0 (2022-10-21)

• std::bind and placeholders instead of boost
• Contributors: Lucas Walter

0.20.0 (2022-05-06)

• Fix joint trajectory controller so results message is returned on tolerance failures
• added description for joint trajectory controller path/goal tolerance violation to action result, include which joint violated tolerance and by how much
• I think this was responsible for at least some std::runtime_errors Duration is out of dual 32-bit range that came from initializing a ros::Duration with an uninitialized double
• Drop old C++ standard
• Use new boost bind placeholders
• Add <?xml version=1.0?> to every .launch and .test file
• Contributors: Jochen Sprickerhof, Levi Armstrong, Lucas Walter, grejj

0.19.0 (2021-06-13)

• Set time_from_start for state error too
• joint_trajectory_controller: add time_from_start feedback
• Contributors: Alexander Rössler, Bence Magyar, Matt Reynolds

0.18.1 (2020-12-03)

• Format CMakeLists.txt and package.xml files + clean deps of joint_trajectory_controller
• Contributors: Mateus Amarante Araújo

0.18.0 (2020-10-11)

• Increase joint0 smoothing to force goal tolerance violation
• Add pathToleranceViolationSingleJoint and goalToleranceViolationSingleJoint tests
• Allow setting 'smoothing' to each joint of rrbot
• Only update state_joint_error_ values in loop where used
• JointTrajectoryController: Fix tolerance checking to use state error from the correct joints
• Fix missing virtual destructor
• Contributors: Bence Magyar, Doug Morrison, Mateus Amarante, Tyler Weaver

0.17.0 (2020-05-12)

• Add extension point in update function to allow derived classes to perform e.g. additional checks.
• The stop- and hold-trajectory creation is moved into separate classes, to allow derived classes to re-use the stop- and hold-trajectory creation code.
• The old desired state and the old time data are now also stored, to allow derived classes to perfrom more comprehensive checks, etc.
• Contributors: Pilz GmbH and Co. KG, Bence Magyar

0.16.1 (2020-04-27)

0.16.0 (2020-04-16)

• Bump CMake version to prevent CMP0048
• Add #pragma once to new joint_trajectory_controller test
• Replace header guard with #pragma once
• Modernize xacro
  • Remove '--inorder'
  • Use 'xacro' over 'xacro.py'
• Add code_coverage target to CMakeLists.txt
• Contributors: Bence Magyar, Immanuel Martini, Matt Reynolds

0.15.1 (2020-03-09)

• Fix instabilities in JTC unittests
• Add test_common.h
• Re-enable tolerance tests
• Make initialization of variables consistent
• Let getState() return by value
• Use nullptr (#447)
• Comment out tolerance check tests until #48 is solved.
• Execution does not stop when goal gets aborted
• Fix how we assert that controller is running
• Introduce EPS for general double comparison
• Make stopramp tests more stable
• add missing pluginlib deps. (#451)
• Print error messages for all exceptions

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