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Ros2 node demo3#152

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MaximilienNaveau merged 47 commits intoagimus-project:topic/humble-devel/refactoragimus-project/agimus_controller:topic/humble-devel/refactorfrom kzorina:ros2_node_demo3kzorina/agimus_controller:ros2_node_demo3Copy head branch name to clipboardFeb 3, 2025

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Commits

Commits on Jan 20, 2025

• cherry-picked kotochleb cganges

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• draft for ros node

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• Fixed some params

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• Clean up

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Commits on Jan 21, 2025

• Hardcoded for hardware experiment

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• Hardcoded for simulation experiment

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Commits on Jan 23, 2025

• Fix TODO items

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• Merge remote-tracking branch 'origin/topic/humble-devel/refactor' into ros2_node_demo3

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• fix some tests, change to OCPPose reaching

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Commits on Jan 24, 2025

• give gravity compensation as u_ref in simple_traj

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• small cleanup

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• [pre-commit.ci] auto fixes from pre-commit.com hooks

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• played with q0 setting from hardware

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• fixed todo in simple traj publisher

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• delete params file

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• revert changes in tests

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• changed to filed for q0

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• trying to make CI happy

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• trying to make CI happy

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• trying to make CI happy

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Commits on Jan 27, 2025

• Update agimus_controller/agimus_controller/warm_start_reference.py

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• Update agimus_controller_ros/agimus_controller_ros/agimus_controller_parameters.yaml

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• Update agimus_controller/tests/test_ocp_croco_base.py

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• Update agimus_controller_ros/agimus_controller_ros/ros_utils.py

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• Update agimus_controller_ros/agimus_controller_ros/ros_utils.py

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• Update agimus_controller/tests/test_ocp_croco_base.py

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• Update agimus_controller/tests/test_ocp_croco_goal_reaching.py

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• Update agimus_controller_ros/agimus_controller_ros/agimus_controller.py

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• Update agimus_controller_ros/agimus_controller_ros/agimus_controller.py

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• Update agimus_controller_ros/agimus_controller_ros/agimus_controller.py

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• Update agimus_controller_ros/agimus_controller_ros/agimus_controller.py

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Commits on Jan 28, 2025

• add conversion to np array in buffer filling

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• change the shape of u_init in warmstart_ref

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• bring back dependencies

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• add QoS to all subscr/pub

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• rename traj publisher

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• store numpy state msg

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• Merging refactor branch

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• WIP - why effort weight makes it unstable?..

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Commits on Jan 31, 2025

• add files for OCP debugging

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• Fix bugs in demo3, now runs okay

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Commits on Feb 3, 2025

• Merge remote-tracking branch 'origin/topic/humble-devel/refactor' into ros2_node_demo3

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• Fix trajectory buffer definition

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• Fix broken tests

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• Fix warmstart size

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• Change warmstart size

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