ros-controls/ros2_controllers

Enable synchronized execution of trajector, gripper movements, and GPIOs activation

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#150 opened on Feb 23, 2021

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 (1 comment) (0 reactions) (0 assignees)C++ (520 forks)auto 404
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Description

It is interesting to synchronize the robot's GPIOs and gripper with the trajectory execution for many industrial scenarios. When the latter is possible doable with JointTrajectoryController, the use-case with GPIOs message and controller extension is needed.

It would be good to have examples of both use-cases.

Contributor guide

Research direction
Study the existing JointTrajectoryController to understand its synchronization mechanism. Then explore how GPIOs and gripper commands can be integrated into the controller's update loop. Look at the controller interface and ROS2 hardware interface to design a solution. Examine similar implementations in the ros2 control repository for patterns.
Tech stack
cpp
Domain
backend
Issue type
Feature
DifficultyEstimated implementation difficulty for a new contributor, from 1 for very small changes to 5 for expert-level work.
3
Estimated timeA rough time range for an experienced contributor to investigate, implement, test, and prepare a pull request.
1-2 days
Activity statusHow available the issue appears right now: fresh, active, stale, blocked, or waiting on maintainer input.
Fresh
ClarityHow clearly the issue explains the expected change, acceptance criteria, and next step.
Mostly clear
Prerequisites
C++
Newbie friendlinessA 1-100 score estimating how approachable this issue is for first-time contributors.
40