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Migration to ROS 2 #32

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MaximilienNaveau opened this issue Oct 14, 2024 · 3 comments
Open
5 of 8 tasks

Migration to ROS 2 #32

MaximilienNaveau opened this issue Oct 14, 2024 · 3 comments
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@olivier-stasse @MaximilienNaveau @Kotochleb

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@MaximilienNaveau
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MaximilienNaveau commented Oct 14, 2024 •
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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
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I am working on the packaging on the humble-devel branch.

@MaximilienNaveau
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MaximilienNaveau commented Oct 17, 2024 •
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I am working on extracting the component of the controller:

  • model builder
  • pd_controller
  • lfc_controller

PR is here:
#34

@MaximilienNaveau
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MaximilienNaveau commented Oct 29, 2024 •
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@MaximilienNaveau MaximilienNaveau mentioned this issue Oct 29, 2024
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@olivier-stasse @MaximilienNaveau @Kotochleb