Add pinocchio plugin

[christophfroehlich]

@justagist is the original author, but we discussed to move it into this repo to get proper maintenance

justagist/kinematics_interface_pinocchio#11 (comment)

[codecov]

Codecov Report

❌ Patch coverage is 84.74576% with 27 lines in your changes missing coverage. Please review.
⚠️ Please upload report for BASE (test/template@7a9ce64). Learn more about missing BASE report.

Files with missing lines	Patch %	Lines
...e_pinocchio/src/kinematics_interface_pinocchio.cpp	84.39%	13 Missing and 14 partials ⚠️

Additional details and impacted files

@@               Coverage Diff                @@
##             test/template     #199   +/-   ##
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  Coverage                 ?   86.42%           
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  Files                    ?        7           
  Lines                    ?      464           
  Branches                 ?       78           
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  Hits                     ?      401           
  Misses                   ?       34           
  Partials                 ?       29           

Flag	Coverage Δ
unittests	86.42% <84.74%> (?)

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Files with missing lines	Coverage Δ
...lude/kinematics_interface/kinematics_interface.hpp	100.00% <ø> (ø)
...terface/test/kinematics_interface_common_tests.hpp	100.00% <ø> (ø)
...cchio/test/test_kinematics_interface_pinocchio.cpp	100.00% <100.00%> (ø)
...e_pinocchio/src/kinematics_interface_pinocchio.cpp	84.39% <84.39%> (ø)

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[christophfroehlich]

I'll draft it, because the plugin has some issues. The jacobian is not well-defined if the tool frame is not the end of the chain (it always has the size of DOF) -> this results in numerical flakiness and failing tests.

[qleonardolp]

I'll draft it, because the plugin has some issues. The jacobian is not well-defined if the tool frame is not the end of the chain (it always has the size of DOF) -> this results in numerical flakiness and failing tests.

I faced a similar issue writing my impedance controller. In my case, the jacobian was always considering the world frame as the base frame, thus a leg with 3-Dof was given a 3+6 dof Jacobian. My workaround was splitting the robot urdf between the part I need to pass to pinocchio, and the "whole" urdf to pass to Gazebo/Rviz2...

I'd love to her from you about this approach and how it could benefit the ros2_control framework with Pinocchio.

https://github.com/qleonardolp/ros2_impedance_controller
https://github.com/qleonardolp/ros2_descriptions

By the way, what do you guys think about a new impedance controller on ros2_controllers? 👀

[christophfroehlich]

Thanks for confirmation that there is no obvious fix ;) @saikishor mentioned that he might have an idea maybe?

[saikishor]

Thanks for confirmation that there is no obvious fix ;) @saikishor mentioned that he might have an idea maybe?

Yes, we can build a partial model out of the whole model and do the inverse kinematics etc

[mergify]

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