search

ros-controls / ros2_controllers

Generic robotic controllers to accompany ros2_control
https://control.ros.org
Apache License 2.0
321 stars 290 forks source link

[JTC] Report on deprecated feedback #1172

Closed bmagyar closed 2 weeks ago

bmagyar commented 2 weeks ago

Even though the desired and actual fields are deprecated, we should still fill them in.

codecov[bot] commented 2 weeks ago

Codecov Report

All modified and coverable lines are covered by tests :white_check_mark:

Project coverage is 86.63%. Comparing base (deeb9d0) to head (b184ce7).

Additional details and impacted files ```diff @@ Coverage Diff @@ ## humble #1172 +/- ## ========================================== - Coverage 86.66% 86.63% -0.04% ========================================== Files 86 86 Lines 7485 7490 +5 Branches 616 618 +2 ========================================== + Hits 6487 6489 +2 Misses 767 767 - Partials 231 234 +3 ``` | [Flag](https://app.codecov.io/gh/ros-controls/ros2_controllers/pull/1172/flags?src=pr&el=flags&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=ros-controls) | Coverage Δ | | |---|---|---| | [unittests](https://app.codecov.io/gh/ros-controls/ros2_controllers/pull/1172/flags?src=pr&el=flag&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=ros-controls) | `86.63% <100.00%> (-0.04%)` | :arrow_down: | Flags with carried forward coverage won't be shown. [Click here](https://docs.codecov.io/docs/carryforward-flags?utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=ros-controls#carryforward-flags-in-the-pull-request-comment) to find out more. | [Files](https://app.codecov.io/gh/ros-controls/ros2_controllers/pull/1172?dropdown=coverage&src=pr&el=tree&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=ros-controls) | Coverage Δ | | |---|---|---| | [...ory\_controller/src/joint\_trajectory\_controller.cpp](https://app.codecov.io/gh/ros-controls/ros2_controllers/pull/1172?src=pr&el=tree&filepath=joint_trajectory_controller%2Fsrc%2Fjoint_trajectory_controller.cpp&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=ros-controls#diff-am9pbnRfdHJhamVjdG9yeV9jb250cm9sbGVyL3NyYy9qb2ludF90cmFqZWN0b3J5X2NvbnRyb2xsZXIuY3Bw) | `83.83% <100.00%> (+0.06%)` | :arrow_up: | ... and [2 files with indirect coverage changes](https://app.codecov.io/gh/ros-controls/ros2_controllers/pull/1172/indirect-changes?src=pr&el=tree-more&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=ros-controls)
bmagyar commented 2 weeks ago

FYI @MarqRazz

christophfroehlich commented 2 weeks ago

The old functionality allowed me to see/plot position, velocity, acceleration of the input & output so that I can visualize what the interpolation is doing to my trajectory.

maybe I don't get what you try to achieve, but the reference field is the interpolated output?

MarqRazz commented 2 weeks ago

maybe I don't get what you try to achieve, but the reference field is the interpolated output?

I am looking for the interpolated output to the commanded hardware. According to the message reference is the input and output is for the hardware. If I wanted to see the interpolated values for velocity or acceleration I can't when my arm is only commanded with position.

What are actual and desired for? All they contain is time_from_start and they are always zero.

I'm all for removing them too!