loco-3d / linear-feedback-controller

RosControl linear feedback controller with pal base estimator and RosTopics external interface.

BSD 2-Clause "Simplified" License

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Migration to ROS 2 #32

Open MaximilienNaveau opened 3 hours ago

MaximilienNaveau commented 3 hours ago

Migration to ROS 2

Target versions:

Mainly LTS version of ROS 2

Priority to humble
Jazzy
Rolling ?

Known issues

Problem with the --march=native compiler. We think about linking pinocchio statically to the LFC binary.

Functionality

All functionality in ROS 1 migrated to ROS 2:

[ ] Packaging in ROS 2 (ament)
[ ] Create a shell of a chainable controller
[ ] PD controller
[ ] Pinocchio build model (reduced model, free-flyer)
[ ] LFC implementation
[ ] Acquire sensor and publish them. (Q, V, base)
[ ] Output the control (torques)
[ ] Transition between the PD controller and the LFC

MaximilienNaveau commented 2 hours ago

I am working on the packaging on the humble-devel branch.