ros-controls / ros-controls/ros2_controllers
Enable synchronized execution of trajector, gripper movements, and GPIOs activation
Nobody has claimed this yet.
- Dominant language
- C++
- Stars
- 834
- Forks
- 530
- Avg merge
- 18h 3m
- Merged PRs (30d)
- 19
Description
It is interesting to synchronize the robot's GPIOs and gripper with the trajectory execution for many industrial scenarios. When the latter is possible doable with JointTrajectoryController, the use-case with GPIOs message and controller extension is needed.
It would be good to have examples of both use-cases.
Contributor guide
First steps
- Read the whole issue, then the project's contributing guide.
- Comment on the issue to say you are picking it up — it saves two people doing the same work.
- Fork the repository and make your change on a branch.
- Open a pull request that references the issue number.
Research direction
Start by reviewing the JointTrajectoryController execution path and the proposed GPIO message and controller extension. Compare how gripper movements and GPIO activation would need to align with trajectory execution, then identify the two example use-cases requested. Done means synchronized execution is supported and both use-cases are documented with working examples.
Written by the indexing model from the issue text.
Assessment
- Tech stack
- cpp
- Domain
- robotics
- Issue type
- Feature
- Difficulty
- 5/5
- Estimated time
- Over a week
- Activity status
- Stale
- Clarity
- Needs clarification
- Newbie friendliness
- 25/100