Admittance with filters

[guihomework]

Re-introduced filters to the admittance_controller as originally done in #382. Improved testing, variable names and comments.

Depends on ros-controls/control_toolbox#152 and ros-controls/control_toolbox#153

Tests currently fail due to compensation already moving the robot after the first update step. This is expected but was not expected in past test. So a discussion should occur to decide how to change the test.

[codecov-commenter]

Codecov Report

❌ Patch coverage is 87.27273% with 7 lines in your changes missing coverage. Please review.
✅ Project coverage is 85.60%. Comparing base (1321ae8) to head (dfe3be0).

Files with missing lines	Patch %	Lines
...ude/admittance_controller/admittance_rule_impl.hpp	80.95%	2 Missing and 2 partials ⚠️
...dmittance_controller/src/admittance_controller.cpp	62.50%	2 Missing and 1 partial ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##           master     #560      +/-   ##
==========================================
- Coverage   85.64%   85.60%   -0.05%     
==========================================
  Files         123      123              
  Lines       12417    12431      +14     
  Branches     1057     1060       +3     
==========================================
+ Hits        10635    10642       +7     
- Misses       1432     1436       +4     
- Partials      350      353       +3     

Flag	Coverage Δ
unittests	85.60% <87.27%> (-0.05%)	⬇️

Flags with carried forward coverage won't be shown. Click here to find out more.

Files with missing lines	Coverage Δ
.../include/admittance_controller/admittance_rule.hpp	100.00% <100.00%> (ø)
...nce_controller/test/test_admittance_controller.cpp	100.00% <100.00%> (ø)
...nce_controller/test/test_admittance_controller.hpp	94.88% <100.00%> (ø)
...dmittance_controller/src/admittance_controller.cpp	74.35% <62.50%> (-0.41%)	⬇️
...ude/admittance_controller/admittance_rule_impl.hpp	91.38% <80.95%> (-2.14%)	⬇️

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[mergify]

This pull request is in conflict. Could you fix it @guihomework?

[guihomework]

@destogl I discover that "allowing edits" means allow others to write to my branch. I did not knot this was possible. Isn't it better to always rebase rather than do a merge from the master (which is then not a straight line merging for the PR anymore) ? I can force-push a rebased PR now if desired to get a cleaner history.

[mergify]

This pull request is in conflict. Could you fix it @guihomework?

[guihomework]

Merging master into this branch introduced a test failure (another one than the known one). This came from some invalid parameters that cannot be tested in on_init because they are only used on_configure

Additionally I should have fixed the other test failing due to gravity compensation. In fact this test (receive_message_and_publish_updated_status) should not pass when there is a mass at eef because gravity compensation (the one of the filter in PR or the hard-coded one in existing code) will necessarily make the posture after one iteration deviate from the start.
Why that particular test passed before is because a smoothing (equivalent to the new LP filter) was hard-coded and applied after gravity compensation, which meant that after one iteration almost no gravity compensation was seen by the eef (0.1 instead 23 N). It makes no sense to filter the gravity compensation, only the noisy input data from the sensor should be filtered and that is what the proposed implementation does (LP then GC filter)

I think CI fails as it relies on 2 other PRs.

[mergify]

This pull request is in conflict. Could you fix it @guihomework?

[github-actions]

This PR is stale because it has been open for 45 days with no activity. Please tag a maintainer for help on completing this PR, or close it if you think it has become obsolete.

[mergify]

This pull request is in conflict. Could you fix it @guihomework?

[github-actions]

This PR is stale because it has been open for 45 days with no activity. Please tag a maintainer for help on completing this PR, or close it if you think it has become obsolete.

[mergify]

This pull request is in conflict. Could you fix it @guihomework?

[github-actions]

This PR is stale because it has been open for 45 days with no activity. Please tag a maintainer for help on completing this PR, or close it if you think it has become obsolete.

[mergify]

This pull request is in conflict. Could you fix it @guihomework?