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ros-controls / ros2_control_demos

This repository aims at providing examples to illustrate ros2_control and ros2_controllers
https://control.ros.org
Apache License 2.0
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change hw_state_ to hw_position for only position command rrbot. #209

Closed benthebear93 closed 1 year ago

benthebear93 commented 2 years ago

As a beginner, i been reading code for rrbot and diffbot together.

One thing that made me little confusing was variable's name.

variable for state of position only rrbot is

std::vector<double> hw_states_;

variable for diffbot is

  std::vector<double> hw_positions_;
  std::vector<double> hw_velocities_;

and rrbot_system_multi_interface has

  std::vector<double> hw_states_positions_;
  std::vector<double> hw_states_velocities_;
  std::vector<double> hw_states_accelerations_;

it's trivial but wouldn't it be better to unify the names of variables?

bmagyar commented 2 years ago

Such suggestions are best communicated through PRs ;)

benthebear93 commented 2 years ago

@bmagyar I will think about more general names to unify the variables names for command and state interface and do the PR.

destogl commented 1 year ago

@benthebear93 are you working on this, or should we close the issue?

destogl commented 1 year ago

Closing since it is stale...