Add filtering capability to ft_broadcaster by OscarMrZ · Pull Request #1814 · ros-controls/ros2_controllers

OscarMrZ · 2025-07-11T10:53:55Z

Good morning!

This is a continuation of #559 as it was inactive.

The changes are minimal:

Applied @saikishor suggestions

Added sensor_filter_chain to the parameters, which serves as documentation.
I removed all the logic about the additional frames. I agree with @saikishor that transforming to different frames should be handled by the user in their application. With this, no tf calls inside the RT are needed.
No more publishing NaN if the update of the filter failed.

Added some relevant tests
IMHO, the previous tests were testing the business logic of the filters themselves, that is, checking that the actual computations were correct, rather than the actual new logic for adding filters. I added three tests for configuring, activating/deactivating, and updating with a configured filter chain. Just one consideration: I changed a little bit the logic of SetUpFTSBroadcaster a little bit to accept a node name. This is because I added some parameters in the YAML that are needed for the broadcaster with filters. I cannot do set_parameter because the filter chain expects the parameters to be overrides.

Thanks a lot for your time!

Óscar

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…ility-to-fts-broadcaster-rolling

needs ros/filters@34f154b

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…ility-to-fts-broadcaster-rolling

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Co-authored-by: Xavier Guay <xavguay@gmail.com>

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…#1793)

…ntrols#1792)

christophfroehlich

This looks quite good already. Can you please update

then this is good to be merged.

Co-authored-by: Christoph Fröhlich <christophfroehlich@users.noreply.github.com>

OscarMrZ · 2025-08-12T08:07:03Z

Good morning @christophfroehlich!

Sorry for the delay, things get slower in summer! 😄

Everything should be ready for merging. Please let me know if you think further changes may be needed.

Thanks a lot for your assistance!

…capability

Co-authored-by: Christoph Fröhlich <christophfroehlich@users.noreply.github.com>

christophfroehlich

Thanks for the follow-ups, LGTM!

saikishor

LGTM

Co-authored-by: Denis Štogl <denis@stogl.de> Co-authored-by: Guillaume Walck <guihome@wanadoo.fr> Co-authored-by: Christoph Froehlich <christoph.froehlich@ait.ac.at> Co-authored-by: Bence Magyar <bence.magyar.robotics@gmail.com> Co-authored-by: Christoph Fröhlich <christophfroehlich@users.noreply.github.com> Co-authored-by: Xavier Guay <xavguay@gmail.com> Co-authored-by: Aarav Gupta <amronos275@gmail.com> Co-authored-by: Oscar Lima <olima_84@yahoo.com> Co-authored-by: Hilary Luo <103377417+hilary-luo@users.noreply.github.com> Co-authored-by: Sai Kishor Kothakota <saisastra3@gmail.com> Co-authored-by: Sai Kishor Kothakota <sai.kishor@pal-robotics.com> (cherry picked from commit 4f9c462) # Conflicts: # doc/release_notes.rst # force_torque_sensor_broadcaster/src/force_torque_sensor_broadcaster.cpp

Co-authored-by: Óscar Martínez Martínez <oscar.robotics@tutanota.com> Co-authored-by: Christoph Fröhlich <christophfroehlich@users.noreply.github.com>

Co-authored-by: Denis Štogl <denis@stogl.de> Co-authored-by: Guillaume Walck <guihome@wanadoo.fr> Co-authored-by: Christoph Froehlich <christoph.froehlich@ait.ac.at> Co-authored-by: Bence Magyar <bence.magyar.robotics@gmail.com> Co-authored-by: Christoph Fröhlich <christophfroehlich@users.noreply.github.com> Co-authored-by: Xavier Guay <xavguay@gmail.com> Co-authored-by: Aarav Gupta <amronos275@gmail.com> Co-authored-by: Oscar Lima <olima_84@yahoo.com> Co-authored-by: Hilary Luo <103377417+hilary-luo@users.noreply.github.com> Co-authored-by: Sai Kishor Kothakota <saisastra3@gmail.com> Co-authored-by: Sai Kishor Kothakota <sai.kishor@pal-robotics.com>

destogl and others added 30 commits April 13, 2023 14:32

Add support for publishing additional topics to the FTS Broadcaster

fe36000

Added filtering capabilities

ef7ad6a

Added more tests with filters

a47926a

Removed helper that only shows declared params

a413217

Fixed filter handling and unitialized frame_id

3652ab1

Added test for additional_frames_to_publish

8163413

Merge branch 'master' into add-filtering-capability-to-fts-broadcaste…

a58bd31

…r-rolling

Fix test parameters

31e79e2

Merge remote-tracking branch 'origin/master' into add-filtering-capab…

41853ab

…ility-to-fts-broadcaster-rolling

compile filters from source on humble

c9b52f1

needs ros/filters@34f154b

Merge branch 'master' into add-filtering-capability-to-fts-broadcaste…

206da96

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Use filters from binary

0759030

Update ros2_controllers-not-released.humble.repos

aa12321

Fix pre-commit

3d15fa5

Merge remote-tracking branch 'origin/master' into add-filtering-capab…

b431110

…ility-to-fts-broadcaster-rolling

Fix the tests

a78dab0

Merge branch 'master' into add-filtering-capability-to-fts-broadcaste…

714400d

…r-rolling

Apply suggestions from code review

834e1ad

Co-authored-by: Xavier Guay <xavguay@gmail.com>

Apply suggestions from code review

98fac42

Co-authored-by: Xavier Guay <xavguay@gmail.com>

Use correct hpp file

3a6978c

Merge branch 'master' into add-filtering-capability-to-fts-broadcaste…

204e5d3

…r-rolling

Fix format

63dcce2

Update description of limit() function in speed_limiter (ros-controls…

cad2b29

…#1793)

Improve paths filtering of docs CI job (ros-controls#1796)

c6b8ca7

fix rqt_joint_trajectory_controller for robots with namespace (ros-co…

da21fd4

…ntrols#1792)

Mecanum Drive: Populate the pose covariance matrix (ros-controls#1772)

8c1fa73

Explicit cast rcutils_duration_value_t (ros-controls#1808)

284c4a1

Applying review suggestions

9619195

Simplified testing

b1de60b

Improving logic to check if there's a filter chain

4062e15

Merge branch 'master' into ft_broadcaster/add-filtering-capability

94106c2

christophfroehlich requested changes Jul 22, 2025

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christophfroehlich reviewed Jul 22, 2025

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Comment thread force_torque_sensor_broadcaster/src/force_torque_sensor_broadcaster.cpp Outdated

christophfroehlich reviewed Jul 22, 2025

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Comment thread force_torque_sensor_broadcaster/CMakeLists.txt Outdated

OscarMrZ and others added 2 commits August 12, 2025 09:15

Remove unnecessary parameter dep

df9fe94

Co-authored-by: Christoph Fröhlich <christophfroehlich@users.noreply.github.com>

Updated docs

b8c1af3

Merge branch 'master' into ft_broadcaster/add-filtering-capability

888a52f

christophfroehlich requested a review from saikishor August 29, 2025 11:17

OscarMrZ added 2 commits September 1, 2025 11:38

Properly checking chain length

817c21b

Merge branch 'ros-controls:master' into ft_broadcaster/add-filtering-…

d7f617a

…capability

christophfroehlich reviewed Sep 1, 2025

View reviewed changes

Comment thread force_torque_sensor_broadcaster/src/force_torque_sensor_broadcaster.cpp Outdated

Simplify filter check

06cdbab

Co-authored-by: Christoph Fröhlich <christophfroehlich@users.noreply.github.com>

christophfroehlich reviewed Sep 3, 2025

View reviewed changes

Comment thread force_torque_sensor_broadcaster/src/force_torque_sensor_broadcaster.cpp Outdated

saikishor reviewed Sep 3, 2025

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Comment thread force_torque_sensor_broadcaster/src/force_torque_sensor_broadcaster.cpp Outdated

saikishor and others added 2 commits September 3, 2025 10:59

Add the filter chain length clarifications

3e6d7d1

Co-authored-by: Christoph Fröhlich <christophfroehlich@users.noreply.github.com>

Merge branch 'master' into ft_broadcaster/add-filtering-capability

b1fe2f5

christophfroehlich previously approved these changes Sep 3, 2025

View reviewed changes

Fix pre-commit

72916d3

saikishor dismissed christophfroehlich’s stale review via 72916d3 September 3, 2025 10:12

saikishor approved these changes Sep 3, 2025

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saikishor requested a review from christophfroehlich September 3, 2025 11:32

christophfroehlich approved these changes Sep 3, 2025

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christophfroehlich merged commit 4f9c462 into ros-controls:master Sep 3, 2025
24 of 27 checks passed

christophfroehlich deleted the ft_broadcaster/add-filtering-capability branch September 3, 2025 12:13

christophfroehlich added the backport-jazzy Triggers PR backport to ROS 2 jazzy. label Sep 23, 2025

mergify Bot mentioned this pull request Sep 23, 2025

Add filtering capability to ft_broadcaster (backport #1814) #1927

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Add filtering capability to ft_broadcaster - #1814

Add filtering capability to ft_broadcaster#1814
christophfroehlich merged 46 commits into
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pal-robotics-forks:ft_broadcaster/add-filtering-capability

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