Create a demo that uses transmissions (backport #226) #241
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* add copy for transmission demo and set in the urdf * Renamed to rrbot_transmissions * Changed reduction value of transmission2 * Added the rrbot_transmissions_system_position_only Exact copy of rrbot_system_position_only for now. Using it from the transmission demo * Moved logger into its own variable * Uncrustify * Renamed hw interface to joint. Added actuator interfaces * Formatting. Remove comments * Using transmissions for joint and actuator interfaces Added a helper object to manage the joint to transmissions to actuator data handling * Propagating data between all the interfaces * Cleanup. Added some consts * Simulate motor motion * Added logging to periodically show interface data * Refactored the parameters a bit. Removed unused ones * Added try/catches where needed Checking joint consistency in the description not required. Already done by the parser * Added transmission demo to README * Use clang-format instead * rename transmissions ros2_control macro * Remove unnecessary actuator parameters * Typo * Removed gazebo, mock hardware and fake sensors from the transmission demo * Missing 'explicit' from constructor * Further cleanup of gazebo, mock hardware and fake sensors from the transmission demo * branding fix * Remove pointer definitions Co-authored-by: Bence Magyar <[email protected]> * Fixed comment about reserve Co-authored-by: Bence Magyar <[email protected]> * Renamed member variable and added description --------- Co-authored-by: Noel Jimenez <[email protected]> Co-authored-by: Bence Magyar <[email protected]> (cherry picked from commit 1007b1d)
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* Create a demo that uses transmissions (#226) * add copy for transmission demo and set in the urdf * Renamed to rrbot_transmissions * Changed reduction value of transmission2 * Added the rrbot_transmissions_system_position_only Exact copy of rrbot_system_position_only for now. Using it from the transmission demo * Moved logger into its own variable * Uncrustify * Renamed hw interface to joint. Added actuator interfaces * Formatting. Remove comments * Using transmissions for joint and actuator interfaces Added a helper object to manage the joint to transmissions to actuator data handling * Propagating data between all the interfaces * Cleanup. Added some consts * Simulate motor motion * Added logging to periodically show interface data * Refactored the parameters a bit. Removed unused ones * Added try/catches where needed Checking joint consistency in the description not required. Already done by the parser * Added transmission demo to README * Use clang-format instead * rename transmissions ros2_control macro * Remove unnecessary actuator parameters * Typo * Removed gazebo, mock hardware and fake sensors from the transmission demo * Missing 'explicit' from constructor * Further cleanup of gazebo, mock hardware and fake sensors from the transmission demo * branding fix * Remove pointer definitions Co-authored-by: Bence Magyar <[email protected]> * Fixed comment about reserve Co-authored-by: Bence Magyar <[email protected]> * Renamed member variable and added description --------- Co-authored-by: Noel Jimenez <[email protected]> Co-authored-by: Bence Magyar <[email protected]> (cherry picked from commit 1007b1d) * Fix preformatted block * fix header guard --------- Co-authored-by: Jordan Palacios <[email protected]> Co-authored-by: Bence Magyar <[email protected]>
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This is an automatic backport of pull request #226 done by Mergify.
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