ros-controls / ros-controls/ros2_controllers
Admittance Controller should use filters from `control_toolbox` for gravity compensation and smoothing.
Open
persistent
stale
- Dominant language
- C++
- Stars
- 834
- Forks
- 530
- Avg merge
- 18h 3m
- Merged PRs (30d)
- 19
Description
Please use filter for gravity compensation. If needed, the filter can be extended. And not only that, we want to use filter for other things too, like noise reduction and similar.
Originally posted by @destogl in https://github.com/ros-controls/ros2_controllers/pull/370#discussion_r917714081
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 with the Admittance Controller and the discussion that led to this issue, then inspect linked pull request #560 for the current work. Determine how control_toolbox filters should cover gravity compensation, smoothing, and possible noise reduction; done means the controller consistently uses the agreed filters for those paths.
Written by the indexing model from the issue text.
Assessment
- Tech stack
- cpp
- Domain
- robotics
- Issue type
- Feature
- Difficulty
- 4/5
- Estimated time
- 3-5 days
- Activity status
- Stale
- Clarity
- Mostly clear
- Newbie friendliness
- 25/100