Get crisp controller release ready#4
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Pull Request Overview
This PR refactors the Cartesian impedance controller to a more generic "CartesianController" to prepare for release. The refactoring renames the class and updates all references while expanding the controller's scope to support both impedance control and operational space control (OSC).
- Renamed
CartesianImpedanceControllerclass toCartesianControllerthroughout codebase - Updated documentation to reflect broader functionality supporting both impedance and OSC modes
- Added GitHub Actions workflow for automated releases
Reviewed Changes
Copilot reviewed 6 out of 6 changed files in this pull request and generated no comments.
Show a summary per file
| File | Description |
|---|---|
| src/cartesian_controller.cpp | Renamed all class methods from CartesianImpedanceController to CartesianController |
| include/crisp_controllers/cartesian_controller.hpp | Updated class name and documentation to reflect generic cartesian control capabilities |
| docs/misc/new_robot_setup.md | Updated controller type references in configuration examples |
| crisp_controllers.xml | Updated plugin registration and description for the renamed controller |
| CMakeLists.txt | Updated source file reference from cartesian_impedance_controller.cpp to cartesian_controller.cpp |
| .github/workflows/release.yml | Added new GitHub Actions workflow for automated releases |
yizhongzhang1989
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Mar 17, 2026
Get crisp controller release ready
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