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ros-controls / ros2_controllers

Generic robotic controllers to accompany ros2_control
https://control.ros.org
Apache License 2.0
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[Steering controllers library] Reference interfaces are body twist (backport #1168) #1174

Closed mergify[bot] closed 2 weeks ago

mergify[bot] commented 2 weeks ago

Fixes #1167

I'm not sure if the intention of the author was to have position input, but as it is implemented we have a body twist input on reference interfaces (velocity, not position). This PR fixes this, without any attempt to deprecate the old behavior because it was just wrong.

Tests succeed on iron distro


$ colcon test --packages-select steering_controllers_library ackermann_steering_controller bicycle_steering_controller tricycl
e_steering_controller
Starting >>> steering_controllers_library
Finished <<< steering_controllers_library [0.48s]          
Starting >>> ackermann_steering_controller
Starting >>> bicycle_steering_controller
Starting >>> tricycle_steering_controller
Finished <<< tricycle_steering_controller [7.25s]                                                                                                  
Finished <<< ackermann_steering_controller [7.28s]
Finished <<< bicycle_steering_controller [7.33s]

Summary: 4 packages finished [8.33s]
```<hr>This is an automatic backport of pull request #1168 done by [Mergify](https://mergify.com).
codecov[bot] commented 2 weeks ago

Codecov Report

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

Project coverage is 86.43%. Comparing base (014848c) to head (03ba099).

Additional details and impacted files ```diff @@ Coverage Diff @@ ## iron #1174 +/- ## ========================================== - Coverage 86.76% 86.43% -0.33% ========================================== Files 91 91 Lines 7873 7874 +1 Branches 688 689 +1 ========================================== - Hits 6831 6806 -25 - Misses 795 819 +24 - Partials 247 249 +2 ``` | [Flag](https://app.codecov.io/gh/ros-controls/ros2_controllers/pull/1174/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/1174/flags?src=pr&el=flag&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=ros-controls) | `86.43% <100.00%> (-0.33%)` | :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/1174?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 | | |---|---|---| | [...roller/test/test\_ackermann\_steering\_controller.cpp](https://app.codecov.io/gh/ros-controls/ros2_controllers/pull/1174?src=pr&el=tree&filepath=ackermann_steering_controller%2Ftest%2Ftest_ackermann_steering_controller.cpp&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=ros-controls#diff-YWNrZXJtYW5uX3N0ZWVyaW5nX2NvbnRyb2xsZXIvdGVzdC90ZXN0X2Fja2VybWFubl9zdGVlcmluZ19jb250cm9sbGVyLmNwcA==) | `100.00% <ø> (ø)` | | | [...roller/test/test\_ackermann\_steering\_controller.hpp](https://app.codecov.io/gh/ros-controls/ros2_controllers/pull/1174?src=pr&el=tree&filepath=ackermann_steering_controller%2Ftest%2Ftest_ackermann_steering_controller.hpp&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=ros-controls#diff-YWNrZXJtYW5uX3N0ZWVyaW5nX2NvbnRyb2xsZXIvdGVzdC90ZXN0X2Fja2VybWFubl9zdGVlcmluZ19jb250cm9sbGVyLmhwcA==) | `84.21% <ø> (ø)` | | | [...ntroller/test/test\_bicycle\_steering\_controller.cpp](https://app.codecov.io/gh/ros-controls/ros2_controllers/pull/1174?src=pr&el=tree&filepath=bicycle_steering_controller%2Ftest%2Ftest_bicycle_steering_controller.cpp&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=ros-controls#diff-YmljeWNsZV9zdGVlcmluZ19jb250cm9sbGVyL3Rlc3QvdGVzdF9iaWN5Y2xlX3N0ZWVyaW5nX2NvbnRyb2xsZXIuY3Bw) | `100.00% <ø> (ø)` | | | [...ntroller/test/test\_bicycle\_steering\_controller.hpp](https://app.codecov.io/gh/ros-controls/ros2_controllers/pull/1174?src=pr&el=tree&filepath=bicycle_steering_controller%2Ftest%2Ftest_bicycle_steering_controller.hpp&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=ros-controls#diff-YmljeWNsZV9zdGVlcmluZ19jb250cm9sbGVyL3Rlc3QvdGVzdF9iaWN5Y2xlX3N0ZWVyaW5nX2NvbnRyb2xsZXIuaHBw) | `80.00% <ø> (ø)` | | | [...llers\_library/src/steering\_controllers\_library.cpp](https://app.codecov.io/gh/ros-controls/ros2_controllers/pull/1174?src=pr&el=tree&filepath=steering_controllers_library%2Fsrc%2Fsteering_controllers_library.cpp&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=ros-controls#diff-c3RlZXJpbmdfY29udHJvbGxlcnNfbGlicmFyeS9zcmMvc3RlZXJpbmdfY29udHJvbGxlcnNfbGlicmFyeS5jcHA=) | `74.16% <100.00%> (ø)` | | | [...library/test/test\_steering\_controllers\_library.cpp](https://app.codecov.io/gh/ros-controls/ros2_controllers/pull/1174?src=pr&el=tree&filepath=steering_controllers_library%2Ftest%2Ftest_steering_controllers_library.cpp&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=ros-controls#diff-c3RlZXJpbmdfY29udHJvbGxlcnNfbGlicmFyeS90ZXN0L3Rlc3Rfc3RlZXJpbmdfY29udHJvbGxlcnNfbGlicmFyeS5jcHA=) | `100.00% <ø> (ø)` | | | [...library/test/test\_steering\_controllers\_library.hpp](https://app.codecov.io/gh/ros-controls/ros2_controllers/pull/1174?src=pr&el=tree&filepath=steering_controllers_library%2Ftest%2Ftest_steering_controllers_library.hpp&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=ros-controls#diff-c3RlZXJpbmdfY29udHJvbGxlcnNfbGlicmFyeS90ZXN0L3Rlc3Rfc3RlZXJpbmdfY29udHJvbGxlcnNfbGlicmFyeS5ocHA=) | `95.52% <ø> (ø)` | | | [...troller/test/test\_tricycle\_steering\_controller.hpp](https://app.codecov.io/gh/ros-controls/ros2_controllers/pull/1174?src=pr&el=tree&filepath=tricycle_steering_controller%2Ftest%2Ftest_tricycle_steering_controller.hpp&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=ros-controls#diff-dHJpY3ljbGVfc3RlZXJpbmdfY29udHJvbGxlci90ZXN0L3Rlc3RfdHJpY3ljbGVfc3RlZXJpbmdfY29udHJvbGxlci5ocHA=) | `82.35% <ø> (ø)` | | ... and [6 files with indirect coverage changes](https://app.codecov.io/gh/ros-controls/ros2_controllers/pull/1174/indirect-changes?src=pr&el=tree-more&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=ros-controls)