Dear ROS community,
It is my pleasure to bring you the latest updates from the realms of ros_control.
These updates will become available after the next Kinetic sync.
* `joint_trajectory_controller`: Support for partial joint trajectories. No longer specifying full goal list if you only need to move a few of them! This in my opinion was a major setback for this controller, I'm glad it's out of the way now.
You can enable this behaviour by adding `allow_partial_joints_goal: true` to your `joint_trajectory_controller` configuration file.
I've done a test with PAL's TIAGo on ROS Kinetic that you can see [here](
https://www.youtube.com/watch?v=57a70HYQTY0)
* `combined_robot_hardware_interface`: A new addition to our core ros_control tools is the possibility to allow plugin based separation of robot_hardware implementations under a single controller_manager. Why, you may ask? It allows hardware manufacturers to ship their robot_hw along with their module which eases integration with an existing system that already runs `ros_control`.
A high-res system graph can be found [here](
https://github.com/ros-controls/ros_control/blob/kinetic-devel/combined_robot_hw/etc/architecture.svg) and the [related ROSCon talk here](
https://vimeo.com/187696094).
I see that we lack documentation therefore I'd like to ask all of you who may already have something to reach out and try to contribute that. Feel free to open a github issue or write to the ROS Control SIG mailing list. Thank you!
Big thumbs to [Shadow Robot](
http://www.shadowrobot.com) who were our biggest contributors recently.
Thanks guys, you are awesome!
---
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%0A>%20%0A>%20*%20%60combined_robot_hardware_interface%60:%20A%20new%20addition%20to%20our%20core%20ros_control%20tools%20is%20the%20possibility%20to%20allow%20plugin%20based%20separation%20of%20robot_hardware%20implementations%20under%20a%20single%20controller_manager.%20Why,%20you%20may%20ask?%20It%20allows%20hardware%20manufacturers%20to%20ship%20their%20robot_hw%20along%20with%20their%20module%20which%20eases%20integration%20with%20an%20existing%20system%20that%20already%20runs%20%60ros_control%60.%20%0A>%20A%20high-res%20system%20graph%20can%20be%20found%20%5Bhere%5D(https://github.com/ros-controls/ros_control/blob/kinetic-devel/combined_robot_hw/etc/architecture.svg)%20and%20the%20%5Brelated%20ROSCon%20talk%20here%5D(https://vimeo.com/187696094).%0A>%20%0A>%20I%20see%20that%20we%20lack%20documentation%20therefore%20I'd%20like%20to%20ask%20all%20of%20you%20who%20may%20already%20have%20something%20to%20reach%20out%20and%20try%20to%20contribute%20that.%20Feel%20free%20to%20open%20a%20github%20issue%20or%20write%20to%20the%20ROS%20Control%20SIG%20mailing%20list.%20Thank%20you!%0A>%20%0A>%20Big%20thumbs%20to%20%5BShadow%20Robot%5D(http://www.shadowrobot.com)%20who%20were%20our%20biggest%20contributors%20recently.%0A>%20Thanks%20guys,%20you%20are%20awesome!%0A>%20%0A>%20%0A>%20%0A>%20%0A>%20%0A>%20%0A>%20---%0A>%20%5BVisit%20Topic%5D(https://discourse.ros.org/t/announcing-ros-control-updates/1333/1)%20or%20reply%20to%20this%20email%20to%20respond.%0A>%20%0A>%20%0A>%20If%20you%20do%20not%20want%20to%20receive%20messages%20from%20ros-users%20please%20use%20the%20unsubscribe%20link%20below.%20If%20you%20use%20the%20one%20above,%20you%20will%20stop%20all%20of%20ros-users%20from%20receiving%20updates.%0A>%20______________________________________________________________________________%0A>%20ros-users%20mailing%20list%0A>%20ros-users@lists.ros.org%0A>%20http://lists.ros.org/mailman/listinfo/ros-users%0A>%20Unsubscribe:%20<http://lists.ros.org/mailman//options/ros-users>%0A>%20%0A>%20 "Besvar denne besked")
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