implement dynamics modeling#737

Draft

sugikazu75 wants to merge 63 commits intojsk-ros-pkg:masterfrom

sugikazu75:PR/feature/dynamics

Commits on Sep 30, 2025

add new dependency pinocchio
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[dragon] fix urdf not to include rotor as joint
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[dragon] add launcher to set robot_description to rosparameter
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[aerial_robot_dynamics] add new package
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[aerial_robot_dynamics] implement forward dynamics with thruster wrench and test code
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[dragon] add actuator limits to xacro
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[aerial_robot_dynamics] implement inverse dynamics with thrust using OSQP and its test code
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[aerial_robot_dynamics] measure execution time of FD and ID in testing, format code, and enable to set verbose when execute
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[aerial_robot_dynamics] improve test for FD and ID using random noise in input and print errors
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[aerial_robot_dynamics] implement forwardDynamicsDerivative with thrust force and its test
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[aerial_robot_dynamics] implement external wrench by thrust calculate function and derivative of tau by thrust
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[aerial_robot_dynamics] implement numerical derivative of jacobian of tau by thrust
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[aerial_robot_dynamics] find openmp for parallel computing for eigen
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[aerial_robot_dynamics] implement contraction of tensor and vector
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[aerial_robot_dynamics] refactor QP for inverse dynamics
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[aerial_robot_dynamics][WIP] implement inverse dynamics derivatives using KKT condition at optimal solution
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[aerial_robot_dynamics][WIP] implementing analytical derivative of jacobian of tau by thrust
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[aerial_robot_dynamics] implement derivatives of inverse dynamics
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[aerial_robot_dynamics] separate base class and test class and refactor all code
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[aerial_robot_dynamics] enable to switch build test code or not
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[aerial_robot_dynamics] test tauext partial thrust partial q (not passed)
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[aerial_robot_dynamics] format all code
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[rosinstall] update pinocchio version
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[aerial_robot_dynamics] consider offset from parent joint and rotor frame
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[aerial_robot_dynamics] implement analytical second derivative of thruster wrench w.r.t joint configuration vector q
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[rosinstall] add pinocchio for ros one distro
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[aerial_robot_dynamics] change catkin package config
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[aerial_robot_dynamics] improve differential calculation for q. Use pinocchio::integrate
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[aerial_robot_dynamics] support fixed based robot model
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[aerial_robot_dynamics] fix variable for constructor in test node
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[aerial_robot_dynamics] fix reset pose quaternion depend on floating base or not
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[aerial_robot_dynamics] fix return value of inverse dynamics and its derivatives to get calculation is successed or not
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[aerial_robot_dynamics] update test code for inverse dynamics because API is changed
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[aerial_robot_dynamics] change parameter name of robot model description for pinocchio
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[aerial_robot_dynamics] get thrust limit and joint torque limit from urdf
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[aerial_robot_dynamics] measure inverse dynamics solve time
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[aerial_robot_dynamics] get thrust hessian weight from ros parameter server
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[aerial_robot_dynamics] get rotor direction from urdf and wait until pioncchio_robot_description is registered
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[aerial_robot_dynamics] make a function public to get tau by thrust derivative
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[aerial_robot_dynamics] add accessors to thrust_hessian_weight and joint torque limit
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[aerial_robot_dynamics] set upper and lower limit for joint q
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[aerial_robot_dynamics] enable to access fext by thrust from other class
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[aerial_robot_dynarmics] enable to get rotor frame indices
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[aerial_robot_dynamics] set joint torque limit for floating base part as 0 because no generalized force can be directly added to root link
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Commits on Oct 27, 2025

[aerial_robot_dynamics] add compile options
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Commits on Dec 1, 2025