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Add doc page about joint kinematics (backport #1497) #1560

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merged 1 commit into from
Jun 2, 2024

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@mergify mergify bot commented Jun 2, 2024

I summarized some results of discussions about mimic joints and how I understand that.
Note, this is different than implemented currently with

for (const auto & mimic_joint : info_.mimic_joints)
{
for (auto i = 0u; i < joint_states_.size(); ++i)
{
joint_states_[i][mimic_joint.joint_index] =
mimic_joint.offset +
mimic_joint.multiplier * joint_states_[i][mimic_joint.mimicked_joint_index];
}
}

This came from the time where we defined the mimic joints in the ros2_control tag. IMHO, it does not make sense now using the URDF-specification, where the behavior of the mimic joint changes by switching the command interface from position to velocity, because we use the offset and calculate
velocity = multiplier * other_joint_velocity + offset

Also related to ros-controls/gazebo_ros2_control#297 and ros-controls/gz_ros2_control#276

I also included transmission interfaces, to give an overview what they are and what they aren't (they were not mentioned once in the docs).


This is an automatic backport of pull request #1497 done by [Mergify](https://mergify.com).

---------

Co-authored-by: Sai Kishor Kothakota <[email protected]>
(cherry picked from commit e122f71)
@christophfroehlich christophfroehlich merged commit 4f9bbce into iron Jun 2, 2024
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@christophfroehlich christophfroehlich deleted the mergify/bp/iron/pr-1497 branch June 2, 2024 19:50
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