Improve DashboardController and its SemanticComponentInterface

CommonplaceRobotics / iRC_ROS

ROS2 packages for the igus Robot Control

Apache License 2.0

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Improve DashboardController and its SemanticComponentInterface #35

Closed cpr-fer closed 1 year ago

cpr-fer commented 1 year ago

The current implementation does what it is supposed to do, but is still far from being good

TODOs:

[x] Pass that vector to the SCI (#36)
[x] Make sure all state interfaces are handled (#36)
[ ] Once controller_type is a state interface implement it as well (#48)
[x] Reorder methods in dashboard controller file (#36)
[ ] Test with TUI Dashboard

cpr-fer commented 1 year ago

I removed "Read in the list of states to listen to from the .ros2_control.urdf into a vector" from the TODOs, as I am not sure that dynamically reading only a subset of the states could have any advantages, especially considering the extra LoC in the controller configuration