Paul Gesel

Visualize chained controllers with graphviz

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This change depends on this [PR](https://github.com/ros-controls/ros2_control/pull/758). It adds a new command line option `ros2 control view_controller_chains`, which generates an image using Graphviz. 

Currently, the `list_controllers` service topic returns the following response: ``` # The ListControllers service returns a list of controller names/states/types of the # controllers that are loaded inside the controller_manager....

Support chained controllers

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This PR adds support for ros2_control's chained controllers. Only simple chains are supported currently. That is, controller can only chain to at most one other controller. I also added logic...

Enable moveit2 kinematics framework within ros2 control loop

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### Description Previously, the RDFLoader and RobotModelLoader classes required a rclcpp::Node node in order to load a robot from the ROS network. Since the ros2_control controllers now run within a...

My primary goal is to reduce P-stop during trajectory execution. This can be achieved via admittance control, but it will require some open source contribution. First, Denis' admittance controller (https://github.com/ros-controls/ros2_controllers/pull/173)...

This change adds an minimal example to control a custom 6 DOF robot with ros2_control. The [README](https://github.com/pac48/ros2_control_demos/tree/full-example-tutorial/r6bot) acts as a tutorial for intermediate ROS 2 users.

Add admittance controller

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This PR adds an admittance controller that conforms to the [chained controller interface](https://github.com/ros-controls/ros2_control/pull/667). Additionally, this addition depends on [chained JTC](https://github.com/ros-controls/ros2_controllers/pull/380/files). The `admittance_controller_parameters.hpp` header file is generated using the [generate_parameter_library](https://github.com/PickNikRobotics/generate_parameter_library) and...

Generate parameter library for diff drive

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This is an example PR of converting the parameter usage in differential drive controller to use https://github.com/PickNikRobotics/generate_parameter_library

[Example XX] Admittance controller demo

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This PR provides an example for the admittance controller https://github.com/ros-controls/ros2_controllers/pull/370. It contains the changes from https://github.com/ros-controls/ros2_control_demos/pull/140 but with the needed changes for the new implementation. Instructions for running the example...

According to the ROS 2 documentation, the `undeclare_parameter(const std::string & name)` method of `rclcpp::node_interfaces::NodeParametersInterface` should only throw two types of exceptions: 1. `rclcpp::exceptions::ParameterNotDeclaredException`: if the parameter has not been declared....