[JTC] Fix tests and set_hold_position by christophfroehlich · Pull Request #607 · ros-controls/ros2_controllers

christophfroehlich · 2023-05-11T17:24:32Z

This a summary PR for the jtc_features branch, where individual PRs shall be tested together before merging into master

Independent of other PRs (order of merge is not relevant)

Completed:

[JTC] Reject messages with effort fields #699

These should fix (amongst others)

codecov-commenter · 2023-05-11T17:36:04Z

Codecov Report

Merging #607 (68ca860) into master (e7f9962) will increase coverage by 0.75%.
The diff coverage is 34.91%.

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@@            Coverage Diff             @@
##           master     #607      +/-   ##
==========================================
+ Coverage   35.78%   36.53%   +0.75%     
==========================================
  Files         189        7     -182     
  Lines       17570      676   -16894     
  Branches    11592      357   -11235     
==========================================
- Hits         6287      247    -6040     
+ Misses        994      134     -860     
+ Partials    10289      295    -9994

Flag	Coverage Δ
unittests	`36.53% <34.91%> (+0.75%)`	⬆️

Flags with carried forward coverage won't be shown. Click here to find out more.

Impacted Files	Coverage Δ
...ontroller/test/test_load_diff_drive_controller.cpp	`11.11% <0.00%> (ø)`
diff_drive_controller/src/odometry.cpp	`42.16% <11.11%> (ø)`
diff_drive_controller/src/speed_limiter.cpp	`46.55% <11.11%> (ø)`
...ive_controller/test/test_diff_drive_controller.cpp	`17.62% <12.08%> (ø)`
...iff_drive_controller/src/diff_drive_controller.cpp	`47.09% <46.88%> (ø)`
...de/diff_drive_controller/diff_drive_controller.hpp	`100.00% <100.00%> (ø)`
...troller/include/diff_drive_controller/odometry.hpp	`100.00% <100.00%> (ø)`

... and 189 files with indirect coverage changes

mergify · 2023-06-25T21:12:03Z

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

destogl · 2023-06-26T17:08:59Z

joint_trajectory_controller/test/test_trajectory_controller.cpp

+  // TODO(anyone): should the controller even allow calling update() when it is not active?
+  // update loop receives a new msg and updates accordingly
  updateController(rclcpp::Duration::from_seconds(0.25));


This should be clearly removed. This is something that it doesn't happen in the real world using CM - so we should not test it at all.

Fixed with 7bc67e5 in #705

destogl · 2023-06-26T17:12:10Z

joint_trajectory_controller/test/test_trajectory_controller.cpp

+  // wait so controller process the third point when reactivated
+  std::this_thread::sleep_for(std::chrono::milliseconds(3000));
+  // TODO(anyone) test copied from ROS 1: it fails now!
+  //  should the old trajectory really be processed after reactivation?


No, I think after reactivation, we should remove the trajectory that was commanded. It is basically “a reset”

Fixed with bceaf96 in #705

And even more with 0bf9844 in #558

* Fix time sources and wrong checks in tests * Use time from update-method instead of node clock * Readd test of last command in test_goal_tolerances_fail --------- Co-authored-by: Bence Magyar <bence.magyar.robotics@gmail.com>

…ve_ptr_ is nullptr (#682)" This reverts commit 9ce288b.

(cherry picked from commit 2e0da5d)

* Reject receiving trajectory of last velocity point is non-zero * Update docs * Add tests * Change to parameterized test * Rename parameter * not true -> false --------- Co-authored-by: Bence Magyar <bence.magyar.robotics@gmail.com>

mergify · 2023-07-17T17:42:26Z

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

bmagyar · 2023-07-17T17:56:54Z

Question: now that #705 is merged, are there any changes/functionality on this branch that needs to be merged prior to #558? I'm thinking we may not need the jtc-features branch anymore at all...

christophfroehlich · 2023-07-17T18:01:07Z

no, 558 is standalone now. there will be some general changes to the tests, which are the basis for tests of the other open PRs. I could extract them from 558 if it still needs more discussion, and target that to jtc-features but also onto master

christophfroehlich mentioned this pull request Jun 3, 2023

[JTC] Reject trajectories with nonzero terminal velocity #567

Merged

christophfroehlich requested review from bmagyar and destogl June 25, 2023 18:54

destogl reviewed Jun 26, 2023

View reviewed changes

christophfroehlich and others added 3 commits June 26, 2023 19:09

[JTC] Extend tests (#612)

164aab9

Increase action tests timeout (#680)

bc0f3fc

[JTC] Fix time sources and wrong checks in tests (#686)

5a05e17

* Fix time sources and wrong checks in tests * Use time from update-method instead of node clock * Readd test of last command in test_goal_tolerances_fail --------- Co-authored-by: Bence Magyar <bence.magyar.robotics@gmail.com>

bmagyar force-pushed the jtc-features branch from 391ad84 to 5a05e17 Compare June 26, 2023 18:09

This was referenced Jun 26, 2023

[JTC] Segmentation fault with action tests #688

Closed

Compute velocity errors when using an effort command interface #679

Closed

christophfroehlich and others added 6 commits June 28, 2023 19:08

Match feature branches (#689)

48c6593

Revert "[JTC] Command final waypoint identically when traj_point_acti…

0f84024

…ve_ptr_ is nullptr (#682)" This reverts commit 9ce288b.

Add test to check PID status and velocity error

ecb7d2a

Compute velocity errors when using an effort command interface

13c006f

(cherry picked from commit 2e0da5d)

Format code

8e88c4d

christophfroehlich mentioned this pull request Jul 4, 2023

[JTC] Explicitly set hold position #558

Merged

12 tasks

christophfroehlich changed the title ~~[JTC] Add new features~~ [JTC] Fix tests and set_hold_position Jul 4, 2023

gwalck and others added 2 commits July 7, 2023 12:00

Fixed update period computation in test (#693)

de7083e

Fix namespace for parameter traits(#703)

68ca860

christophfroehlich mentioned this pull request Jul 17, 2023

[JTC] Re-enabling test, bugfixing and hardening. Adding a parameter to define when trajectories with non-zero velocity at the end are used. #705

Merged

[JTC] Reject messages with effort fields (#699)

5850be5

christophfroehlich closed this Jul 18, 2023

bmagyar deleted the jtc-features branch July 25, 2023 16:14

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[JTC] Fix tests and set_hold_position#607

[JTC] Fix tests and set_hold_position#607
christophfroehlich wants to merge 12 commits intomasterfrom
jtc-features

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