Scaled jtc #1191

fmauch · 2024-07-03T18:22:51Z

This is my take2 on #301.

I plan to finish this until Friday, @firesurfer feel free to poke me :-)

Currently missing

tests for scaled execution
There are some ToDos in the documentation:
- Algorithmics
- Handling tolerances

Things that will get changed, as discussed in the latest working group meeting

Allowing scaling factors above 1 ~~might get postponed to a later point.~~
Report the scaling factor in the controller state
Use a custom datatype for the scaling_factor subscriber (std_msgs are deprecated)
Change subscription to transient_local. This will require documentation, as a standard ros2 topic pub will not work with this.

This adds a scaling factor between 0 and 1 to the JTC so that the trajectory time inside the controller is extended respectively. A value of 0.5 means that trajectory execution will take twice as long as the trajectory states. The scaling factor itself is read from the hardware for now.

Co-authored-by: Christoph Fröhlich <[email protected]>

This avoids writing the explicit conversion by hand Internally that basically does: static_cast<rcl_duration_value_t>(static_cast<long double>(rcl_duration_.nanoseconds) * scale_ld)

…etting of scaling factor Co-authored-by: Manuel M <[email protected]>

That was changed in a previous commit

used The current implementation only works correctly when a position interface is used. When the hardware in fact slows down the robot (as UR does), also velocity interfaces should be scaled correctly, but that't rather an edge case right now.

It is accessed from the RT thread only, anyway.

See UniversalRobots/Universal_Robots_ROS2_Driver#882

fmauch · 2024-07-03T19:05:12Z

Thoughts on tests I should implement:

Execution with scaling factor of 0.5 takes twice as long (and does not fail, when no tolerances are set)
Execution with scaling < 1 and goal time tolerance leads to an early halt and failed execution
Execution with scaling < 1 and path tolerances set should not fail (if goal_time_tolerance is large enough)
Execution with scaling > 1 should not fail independent of the tolerances set <-- is that true?

joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller.hpp

joint_trajectory_controller/src/joint_trajectory_controller.cpp

firesurfer · 2024-07-04T05:46:13Z

hi @fmauch Great to see this being worked on again. I added some comments to the code.

Regarding the tests:

Execution with scaling factor of 0.5 takes twice as long (and does not fail, when no tolerances are set)

Makes sense

Execution with scaling < 1 and goal time tolerance leads to an early halt and failed execution

Isn't this what we patched in: UniversalRobots/Universal_Robots_ROS2_Driver#882. As far as I can tell you also backported this patch. (And I still think the goal time should be also scaled ;) )

Execution with scaling > 1 should not fail independent of the tolerances set <-- is that true?

Same as above. From heavily using this controller in our system I have the opinion that in most use cases it makes sense (and is what a user would expect) that the goal time should also be scaled. But perhaps I understood your suggestion wrong.

fmauch · 2024-07-04T06:59:55Z

From heavily using this controller in our system I have the opinion that in most use cases it makes sense (and is what a user would expect) that the goal time should also be scaled. But perhaps I understood your suggestion wrong.

Thank you for your input. That's why I put my brain dump on that here, so we can discuss this :-) And that's also why I didn't write the documentation on that, yet.

I'll wrap my head around this a little more and try to get a better feeling for the current behavior, then come back to this.

ros2_controllers-not-released.jazzy.repos

ros2_controllers-not-released.rolling.repos

saikishor

That's some nice work. @fmauch Great job 👏🏽

Just a few nitpicks here and there

joint_trajectory_controller/src/joint_trajectory_controller_parameters.yaml

joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller.hpp

joint_trajectory_controller/src/joint_trajectory_controller.cpp

Co-authored-by: Sai Kishor Kothakota <[email protected]>

christophfroehlich

👍

saikishor

LGTM

@christophfroehlich just let us know your opinion on the topic renaming. Rest looks great

christophfroehlich

One last thing: Could you please add a brief summary to the release_notes? 😬

saikishor

LGTM

christophfroehlich

Thanks again :)

fmauch · 2025-06-24T19:58:21Z

Sorry, for opening this again, but going through the unresolved comments, I refined the docstring requested in #1191 (comment) and extended the userdocs regarding #1191 (comment).

saikishor

Perfect

fmauch and others added 13 commits July 3, 2024 17:38

use reset+initRT due to missing writeFromRT

55c3bb0

Co-authored-by: Christoph Fröhlich <[email protected]>

Reformat scaling the time period

79a8b7c

This avoids writing the explicit conversion by hand Internally that basically does: static_cast<rcl_duration_value_t>(static_cast<long double>(rcl_duration_.nanoseconds) * scale_ld)

synchronization of scaling factor with hw optional, add service for s…

600ba71

…etting of scaling factor Co-authored-by: Manuel M <[email protected]>

Improve scaling exchange with hardware

c01b1ad

Check command interface name when setting speed scaling

c003883

Update code formatting

aa63e5d

That was changed in a previous commit

WIP: Adding documentation about speed scaling

f7d0ae0

Use a subscriber instead of a service

71ccb39

Do not put the time_data_ into a RealtimeBuffer

1fb38b8

It is accessed from the RT thread only, anyway.

Fix goal time violated

6890d6e

See UniversalRobots/Universal_Robots_ROS2_Driver#882

Merge remote-tracking branch 'origin/master' into scaled_jtc

b5a567d

fmauch mentioned this pull request Jul 3, 2024

Add speed_scaling_factor msg and field in JointTrajectoryControllerState ros-controls/control_msgs#143

Merged

fmauch added 5 commits July 3, 2024 20:38

Use custom message to subscribe speed scaling

908b539

Add scaling factor to controller state

1e66e44

Code formatting

7daf240

Allow scaling factors greater than 1

66abfd9

Add parameter validator for default scaling factor

45fa036

More formatting...

5e9592b

firesurfer reviewed Jul 4, 2024

View reviewed changes

joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller.hpp Outdated Show resolved Hide resolved

firesurfer reviewed Jul 4, 2024

View reviewed changes

joint_trajectory_controller/src/joint_trajectory_controller.cpp Outdated Show resolved Hide resolved

firesurfer reviewed Jul 4, 2024

View reviewed changes

joint_trajectory_controller/src/joint_trajectory_controller.cpp Outdated Show resolved Hide resolved

fmauch added 2 commits July 4, 2024 08:34

Remove unnecessary iostream include

42394b9

REVERT_ME: Use dev branch for control_msgs

ba5fecb

fmauch commented Jul 4, 2024

View reviewed changes

ros2_controllers-not-released.jazzy.repos Outdated Show resolved Hide resolved

ros2_controllers-not-released.rolling.repos Outdated Show resolved Hide resolved

firesurfer mentioned this pull request Jul 4, 2024

Ported scaled_jtc #1188

Closed

saikishor requested changes Jun 23, 2025

View reviewed changes

Apply suggestions from code review

6c886b5

Co-authored-by: Sai Kishor Kothakota <[email protected]>

fmauch dismissed christophfroehlich’s stale review via 6c886b5 June 23, 2025 20:18

fmauch added 3 commits June 23, 2025 20:39

Add API documentation for set_scaling_factor

ddf5724

Use hierarchical parameter naming

76a9261

Remove unnecessary check for ACTIVE

38e0ff3

fmauch requested review from saikishor and christophfroehlich June 23, 2025 20:48

fmauch added 2 commits June 23, 2025 21:10

fix parameter loading in tests

e0fff8d

Merge branch 'master' into scaled_jtc

35a0cc5

christophfroehlich approved these changes Jun 24, 2025

View reviewed changes

saikishor previously approved these changes Jun 24, 2025

View reviewed changes

christophfroehlich requested changes Jun 24, 2025

View reviewed changes

Add release notes about speed scaling

06a159e

fmauch dismissed saikishor’s stale review via 06a159e June 24, 2025 18:13

fmauch requested review from christophfroehlich and saikishor June 24, 2025 18:14

saikishor previously approved these changes Jun 24, 2025

View reviewed changes

christophfroehlich previously approved these changes Jun 24, 2025

View reviewed changes

fmauch added 2 commits June 24, 2025 19:52

Correct method docstring

2515c2a

Clarified documentation when on-robot scaling can be used

c839c94

fmauch dismissed stale reviews from christophfroehlich and saikishor via c839c94 June 24, 2025 19:57

fmauch requested review from christophfroehlich and saikishor June 24, 2025 19:58

saikishor approved these changes Jun 24, 2025

View reviewed changes

christophfroehlich approved these changes Jun 24, 2025

View reviewed changes

christophfroehlich merged commit 4a42b1f into ros-controls:master Jun 24, 2025
21 of 27 checks passed

fmauch deleted the scaled_jtc branch June 24, 2025 21:09

Scaled jtc #1191

Scaled jtc #1191

Uh oh!

Conversation

fmauch commented Jul 3, 2024 • edited Loading Uh oh! There was an error while loading. Please reload this page.

Uh oh!

Currently missing

Things that will get changed, as discussed in the latest working group meeting

Uh oh!

fmauch commented Jul 3, 2024

Uh oh!

Uh oh!

Uh oh!

Uh oh!

firesurfer commented Jul 4, 2024

Uh oh!

fmauch commented Jul 4, 2024

Uh oh!

Uh oh!

Uh oh!

saikishor left a comment

Choose a reason for hiding this comment

Uh oh!

Uh oh!

Uh oh!

Uh oh!

Uh oh!

Uh oh!

Uh oh!

Uh oh!

Uh oh!

Uh oh!

Uh oh!

christophfroehlich left a comment

Choose a reason for hiding this comment

Uh oh!

saikishor left a comment

Choose a reason for hiding this comment

Uh oh!

christophfroehlich left a comment

Choose a reason for hiding this comment

Uh oh!

saikishor left a comment

Choose a reason for hiding this comment

Uh oh!

christophfroehlich left a comment

Choose a reason for hiding this comment

Uh oh!

fmauch commented Jun 24, 2025

Uh oh!

saikishor left a comment

Choose a reason for hiding this comment

Uh oh!

Uh oh!

Uh oh!

fmauch commented Jul 3, 2024 •

edited

Loading