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[JTC] Re-enabling test, bugfixing and hardening. Adding a parameter to define when trajectories with non-zero velocity at the end are used. (backport #705) #706

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merged 17 commits into from
Aug 5, 2023

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@mergify mergify bot commented Jul 17, 2023

This is an automatic backport of pull request #705 done by Mergify.
Cherry-pick of 9908a9c has failed:

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	modified:   joint_trajectory_controller/test/test_trajectory_actions.cpp
	modified:   joint_trajectory_controller/test/test_trajectory_controller_utils.hpp

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christophfroehlich and others added 11 commits July 17, 2023 17:42
(cherry picked from commit 9908a9c)

# Conflicts:
#	joint_trajectory_controller/test/test_trajectory_controller.cpp
(cherry picked from commit 8674f2d)

# Conflicts:
#	joint_trajectory_controller/CMakeLists.txt
* Fix time sources and wrong checks in tests
* Use time from update-method instead of node clock
* Readd test of last command in test_goal_tolerances_fail

---------

Co-authored-by: Bence Magyar <[email protected]>
(cherry picked from commit 7e13d1d)

# Conflicts:
#	joint_trajectory_controller/test/test_trajectory_actions.cpp
(cherry picked from commit f70c986)
(cherry picked from commit 2e0da5d)
(cherry picked from commit 12d46f2)
* Reject receiving trajectory of last velocity point is non-zero

* Update docs

* Add tests

* Change to parameterized test

* Rename parameter

* not true -> false

---------

Co-authored-by: Bence Magyar <[email protected]>
(cherry picked from commit 99b67d7)
(cherry picked from commit e49c540)

# Conflicts:
#	joint_trajectory_controller/include/joint_trajectory_controller/validate_jtc_parameters.hpp
(cherry picked from commit 259d3d8)
(cherry picked from commit 126b95c)

# Conflicts:
#	joint_trajectory_controller/test/test_trajectory_controller.cpp
@christophfroehlich
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The only ABI break is the namespace of the generate_parameter_library.

bmagyar and others added 2 commits August 4, 2023 19:28
* Use new state message

* Increase allowed delta for position_error_not_normalized

* Deactivate effort test
@bmagyar bmagyar merged commit 862928c into humble Aug 5, 2023
10 of 12 checks passed
@bmagyar bmagyar deleted the mergify/bp/humble/pr-705 branch August 5, 2023 09:32
bmagyar pushed a commit that referenced this pull request Aug 5, 2023
* Fix file name for include guard (backport #681)

(cherry picked from commit c619aac)

Co-authored-by: Christoph Fröhlich <[email protected]>

* Activate AdmittanceControllerTestParameterizedInvalidParameters (#711) (#733)

* [JTC] Re-enabling test, bugfixing and hardening. Adding a parameter to define when trajectories with non-zero velocity at the end are used. (backport #705) (#706)

* Enable effort rejection test

---------

Co-authored-by: mergify[bot] <37929162+mergify[bot]@users.noreply.github.com>
bmagyar pushed a commit that referenced this pull request Aug 5, 2023
* Small improvement in remapping (#393) (#724)

* Fix file name for include guard (backport #681)

(cherry picked from commit c619aac)

Co-authored-by: Christoph Fröhlich <[email protected]>

* Activate AdmittanceControllerTestParameterizedInvalidParameters (#711) (#733)

* [JTC] Re-enabling test, bugfixing and hardening. Adding a parameter to define when trajectories with non-zero velocity at the end are used. (backport #705) (#706)

* Add state_publish_rate parameter

---------

Co-authored-by: mergify[bot] <37929162+mergify[bot]@users.noreply.github.com>
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4 participants