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Fix servo speed scaling YAML parameters#2211

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tylerjw merged 2 commits intomoveit:mainfrom
sea-bass:fix-servo-scale-params
May 30, 2023
Merged

Fix servo speed scaling YAML parameters#2211
tylerjw merged 2 commits intomoveit:mainfrom
sea-bass:fix-servo-scale-params

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@sea-bass sea-bass commented May 30, 2023 •
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After #2096, the servo speed scaling parameters were renamed from, e.g., scale.joint to joint_scale but were not updated in the YAML files. So we were using the defaults.

This PR fixes the parameters YAML file so the old parameter structure remains.

@sea-bass sea-bass requested a review from AndyZe May 30, 2023 18:18
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sea-bass commented May 30, 2023

@ibrahiminfinite fyi

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ibrahiminfinite commented May 30, 2023 •
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What do you think of preserving the old format using nested params ? , generate_parameter_library supports that.
So that users who are already using the old style config don't have to change their yaml

I may have originally planned to change it to nested but then forgot later on.

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sea-bass commented May 30, 2023

What do you think of preserving the old format using nested params ? , generate_parameter_library supports that. So that users who are already using the old style config don't have to change their yaml

I may have originally planned to change it to nested but then forgot later on.

Wow, yeah, that's definitely better. Let me do that real quick.

@sea-bass sea-bass force-pushed the fix-servo-scale-params branch from 7ab7c3c to a639b8c Compare May 30, 2023 18:30
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codecov bot commented May 30, 2023 •
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Codecov Report

Patch coverage: 100.00% and project coverage change: -0.02 ⚠️

Comparison is base (5fea33d) 50.54% compared to head (4b9bdfe) 50.51%.

Additional details and impacted files 
@@            Coverage Diff             @@
##             main    #2211      +/-   ##
==========================================
- Coverage   50.54%   50.51%   -0.02%     
==========================================
  Files         386      386              
  Lines       31736    31736              
==========================================
- Hits        16037    16028       -9     
- Misses      15699    15708       +9
Impacted Files Coverage Δ
moveit_ros/moveit_servo/src/servo_calcs.cpp 71.14% <100.00%> (ø)

... and 4 files with indirect coverage changes

☔ View full report in Codecov by Sentry.
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@ibrahiminfinite ibrahiminfinite mentioned this pull request May 30, 2023
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@ibrahiminfinite ibrahiminfinite mentioned this pull request May 30, 2023
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@tylerjw tylerjw merged commit 9782d9a into moveit:main May 30, 2023
@sea-bass sea-bass deleted the fix-servo-scale-params branch May 30, 2023 20:07
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@tylerjw tylerjw tylerjw approved these changes

@AndyZe AndyZe Awaiting requested review from AndyZe

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