Refactor trajectory control and introduce impedance controller#78
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evan-palmer merged 20 commits intomainfrom Feb 24, 2026
Merged
Refactor trajectory control and introduce impedance controller#78evan-palmer merged 20 commits intomainfrom
evan-palmer merged 20 commits intomainfrom
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Someday std::expected will be used in the ROS API and I'll be ready for it |
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Feb 24, 2026
* start moving trajectory controller and setup pd tracking controller * continue migration * refactor and made initial pass at pd controller * compile and cleanup * testing * what * confused * maybe * maybe * maybe * maybe * maybe * maybe * cleanup? * cleanup? * test * test * revert for now * resolve upstream deprecations * bump version (cherry picked from commit 20f768d)
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Changes Made
end_effector_trajectory_controllerto be a high-leveltrajectory_controllerspackage and renames the actual controller to becartesian_trajectory_controller.Associated Issues
Testing
Testing was done using the demos.