Readded open_loop_control param with deprecation notice, added migrat…

…ion and release notes

doc/migration.rst

@@ -20,3 +20,4 @@ joint_trajectory_controller
 * Angle wraparound behavior (continuous joints) was added from the current state to the first segment of the incoming trajectory (`#796 <https://github.com/ros-controls/ros2_controllers/pull/796>`_).
 * The URDF is now parsed for continuous joints and angle wraparound is automatically activated now (`#949 <https://github.com/ros-controls/ros2_controllers/pull/949>`_). Remove the ``angle_wraparound`` parameter from the configuration and set continuous joint type in the URDF of the respective joint.
 * Tolerances sent with the action goal were not used before, but are now processed and used for the upcoming action. (`#716 <https://github.com/ros-controls/ros2_controllers/pull/716>`_). Adaptions to the action goal might be necessary.
+* Parameter ``open_loop_control`` is replaced by ``interpolate_from_desired_state`` and setting the feedback gains to zero (`#1525 <https://github.com/ros-controls/ros2_controllers/pull/1525>`_).

doc/release_notes.rst

@@ -52,6 +52,7 @@ joint_trajectory_controller
             allowed to move without restriction.
 
 * Add the boolean parameter ``set_last_command_interface_value_as_state_on_activation``. When set to ``true``, the last command interface value is used as both the current state and the last commanded state upon activation. When set to ``false``, the current state is used for both (`#1231 <https://github.com/ros-controls/ros2_controllers/pull/1231>`_).
+* Parameter ``open_loop_control`` is replaced by ``interpolate_from_desired_state`` and setting the feedback gains to zero (`#1525 <https://github.com/ros-controls/ros2_controllers/pull/1525>`_).
 
 mecanum_drive_controller
 ************************

joint_trajectory_controller/src/joint_trajectory_controller.cpp

@@ -192,7 +192,7 @@ controller_interface::return_type JointTrajectoryController::update(
     if (!traj_external_point_ptr_->is_sampled_already())
     {
       first_sample = true;
-      if (params_.interpolate_from_desired_state)
+      if (params_.interpolate_from_desired_state || params_.open_loop_control)
       {
         traj_external_point_ptr_->set_point_before_trajectory_msg(
           time, last_commanded_state_, joints_angle_wraparound_);
@@ -661,6 +661,17 @@ controller_interface::CallbackReturn JointTrajectoryController::on_configure(
     return controller_interface::CallbackReturn::ERROR;
   }
 
+  // START DEPRECATE
+  if (params_.open_loop_control)
+  {
+    RCLCPP_WARN(
+      logger,
+      "[deprecated] open_loop_control parameter is deprecated, instead set the feedback gains to zero and use interpolate_from_desired_state parameter"
+      "NAN");
+
+  }
+  // END DEPRECATE
+
   // update the dynamic map parameters
   param_listener_->refresh_dynamic_parameters();
 
@@ -719,7 +730,8 @@ controller_interface::CallbackReturn JointTrajectoryController::on_configure(
   // if there is only velocity or if there is effort command interface
   // then use also PID adapter
   use_closed_loop_pid_adapter_ =
-    (has_velocity_command_interface_ && params_.command_interfaces.size() == 1) ||
+    (has_velocity_command_interface_ && params_.command_interfaces.size() == 1 &&
+     !params_.open_loop_control) ||
     has_effort_command_interface_;
 
   if (use_closed_loop_pid_adapter_)

joint_trajectory_controller/src/joint_trajectory_controller_parameters.yaml

@@ -44,6 +44,12 @@ joint_trajectory_controller:
     default_value: false,
     description: "Allow joint goals defining trajectory for only some joints.",
   }
+  open_loop_control: {
+    type: bool,
+    default_value: false,
+    description: "depcrecated: use interpolate_from_desired_state and set feedback gains to zero instead",
+    read_only: true,
+  }
   interpolate_from_desired_state: {
     type: bool,
     default_value: false,

joint_trajectory_controller/test/test_trajectory_controller_utils.hpp

@@ -167,6 +167,10 @@ class TestableJointTrajectoryController
 
   bool use_closed_loop_pid_adapter() const { return use_closed_loop_pid_adapter_; }
 
+  // START DEPRECATE
+  bool is_open_loop() const { return params_.open_loop_control; }
+  // END DEPRECATE
+
   joint_trajectory_controller::SegmentTolerances get_active_tolerances()
   {
     return *(active_tolerances_.readFromRT());