Skip to content

Use new joint handles in all controllers#90

Merged
bmagyar merged 3 commits intoros-controls:masterfrom
pal-robotics-forks:use_dynamic_handles
Sep 15, 2020
Merged

Use new joint handles in all controllers#90
bmagyar merged 3 commits intoros-controls:masterfrom
pal-robotics-forks:use_dynamic_handles

Conversation

@jordan-palacios
Copy link
Copy Markdown
Member

@jordan-palacios jordan-palacios commented Aug 21, 2020 •
edited
Loading

Refactor joint_state_controller, joint_trajectory_controller and diff_drive_controller to use the new joint handles.

Depends on ros-controls/ros2_control#125 and ros-controls/ros2_control#136.

Closes #89.

@jordan-palacios jordan-palacios force-pushed the use_dynamic_handles branch 4 times, most recently from 085b041 to 398b83b Compare August 24, 2020 14:56
@jordan-palacios jordan-palacios mentioned this pull request Aug 24, 2020
Merged
@jordan-palacios jordan-palacios marked this pull request as ready for review August 28, 2020 07:19
@codecov-commenter
Copy link
Copy Markdown

codecov-commenter commented Sep 2, 2020 •
edited
Loading

Codecov Report

Merging #90 into master will increase coverage by 3.38%.
The diff coverage is n/a.

Impacted file tree graph

@@            Coverage Diff             @@
##           master      #90      +/-   ##
==========================================
+ Coverage   33.12%   36.50%   +3.38%     
==========================================
  Files          12       23      +11     
  Lines        1123     2383    +1260     
  Branches      740     1470     +730     
==========================================
+ Hits          372      870     +498     
- Misses        103      199      +96     
- Partials      648     1314     +666
Flag Coverage Δ
#unittests 36.50% <ø> (+3.38%) ⬆️

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

Impacted Files Coverage Δ
...include/joint_trajectory_controller/trajectory.hpp 46.66% <0.00%> (-20.00%) ⬇️
...int_trajectory_controller/test/test_trajectory.cpp 16.66% <0.00%> (-9.71%) ⬇️
.../joint_state_controller/joint_state_controller.hpp 100.00% <0.00%> (ø)
...jectory_controller/joint_trajectory_controller.hpp 100.00% <0.00%> (ø)
...ollers/diff_drive_controller/src/speed_limiter.cpp 54.54% <0.00%> (ø)
...diff_drive_controller/rolling_mean_accumulator.hpp 85.71% <0.00%> (ø)
...ontroller/test/test_load_diff_drive_controller.cpp 14.28% <0.00%> (ø)
...iff_drive_controller/src/diff_drive_controller.cpp 32.12% <0.00%> (ø)
...te_controller/test/test_joint_state_controller.cpp 19.65% <0.00%> (ø)
...de/diff_drive_controller/diff_drive_controller.hpp 75.00% <0.00%> (ø)
... and 10 more

Continue to review full report at Codecov.

Legend - Click here to learn more
Δ = absolute <relative> (impact), ø = not affected, ? = missing data
Powered by Codecov. Last update d529025...d834ca7. Read the comment docs.

@jordan-palacios jordan-palacios mentioned this pull request Sep 4, 2020
Merged
bmagyar
bmagyar requested changes Sep 9, 2020
View reviewed changes
@jordan-palacios jordan-palacios force-pushed the use_dynamic_handles branch 3 times, most recently from b8fc7c9 to f016614 Compare September 10, 2020 08:37
@destogl destogl self-requested a review September 10, 2020 09:16
@destogl
Copy link
Copy Markdown
Member

destogl commented Sep 10, 2020

I added myself to review. I hope this is OK. I will do it at latest tomorrow.

@jordan-palacios
Copy link
Copy Markdown
Member Author

jordan-palacios commented Sep 10, 2020

I added myself to review. I hope this is OK. I will do it at latest tomorrow.

Sure. I only ask this is not delayed further. It's currently blocking a bunch of PRs related to the porting of controllers from ROS1 that are pretty much ready. See #78, #50, #51 and #52.

bmagyar
bmagyar approved these changes Sep 10, 2020
View reviewed changes
Copy link
Copy Markdown
Member

@bmagyar bmagyar left a comment

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

Looking good from my end

destogl
destogl approved these changes Sep 10, 2020
View reviewed changes
Copy link
Copy Markdown
Member

@destogl destogl left a comment

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

It looks excellent!

Thanks for your effort and waiting for my review.

Just two small comments, nothing critical. Maybe there are more places where headers are missing, but if linters are happy I am to :)

@bmagyar bmagyar mentioned this pull request Sep 15, 2020
Closed
@bmagyar bmagyar merged commit 26ae946 into ros-controls:master Sep 15, 2020
@jordan-palacios jordan-palacios deleted the use_dynamic_handles branch September 15, 2020 07:38
Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment

Reviewers

@bmagyar bmagyar bmagyar approved these changes

@destogl destogl destogl approved these changes

Assignees

No one assigned

Labels

None yet

Projects

None yet

Milestone

No milestone

Development

Successfully merging this pull request may close these issues.

Refactor controllers to use the new joint handles

4 participants

@jordan-palacios @codecov-commenter @destogl @bmagyar