search

ros-controls / ros2_controllers

Generic robotic controllers to accompany ros2_control
https://control.ros.org
Apache License 2.0
356 stars 319 forks source link

[ForceTorqueSensorBroadcaster] added force and torque offsets to the parameters + export state interfaces #1215

Open saikishor opened 2 months ago

saikishor commented 2 months ago

This PR allows to define of the offsets of the force and torque through the parameter server. It would also be interesting to make it a chainable controller and expose the interfaces to the other controllers.

Now the offsets are removed and published and the same interfaces are exposed as state interfaces to be able to chain by other controllers

codecov[bot] commented 2 months ago

Codecov Report

Attention: Patch coverage is 94.66667% with 4 lines in your changes missing coverage. Please review.

Project coverage is 80.45%. Comparing base (57c50e5) to head (4bab5f6).

Files with missing lines Patch % Lines
...roadcaster/src/force_torque_sensor_broadcaster.cpp 91.30% 1 Missing and 3 partials :warning:
Additional details and impacted files ```diff @@ Coverage Diff @@ ## master #1215 +/- ## ========================================== + Coverage 80.34% 80.45% +0.10% ========================================== Files 105 105 Lines 9393 9466 +73 Branches 831 841 +10 ========================================== + Hits 7547 7616 +69 - Misses 1570 1571 +1 - Partials 276 279 +3 ``` | [Flag](https://app.codecov.io/gh/ros-controls/ros2_controllers/pull/1215/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/1215/flags?src=pr&el=flag&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=ros-controls) | `80.45% <94.66%> (+0.10%)` | :arrow_up: | 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 with missing lines](https://app.codecov.io/gh/ros-controls/ros2_controllers/pull/1215?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 | | |---|---|---| | [...ster/test/test\_force\_torque\_sensor\_broadcaster.cpp](https://app.codecov.io/gh/ros-controls/ros2_controllers/pull/1215?src=pr&el=tree&filepath=force_torque_sensor_broadcaster%2Ftest%2Ftest_force_torque_sensor_broadcaster.cpp&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=ros-controls#diff-Zm9yY2VfdG9ycXVlX3NlbnNvcl9icm9hZGNhc3Rlci90ZXN0L3Rlc3RfZm9yY2VfdG9ycXVlX3NlbnNvcl9icm9hZGNhc3Rlci5jcHA=) | `97.82% <100.00%> (+0.57%)` | :arrow_up: | | [...roadcaster/src/force\_torque\_sensor\_broadcaster.cpp](https://app.codecov.io/gh/ros-controls/ros2_controllers/pull/1215?src=pr&el=tree&filepath=force_torque_sensor_broadcaster%2Fsrc%2Fforce_torque_sensor_broadcaster.cpp&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=ros-controls#diff-Zm9yY2VfdG9ycXVlX3NlbnNvcl9icm9hZGNhc3Rlci9zcmMvZm9yY2VfdG9ycXVlX3NlbnNvcl9icm9hZGNhc3Rlci5jcHA=) | `88.34% <91.30%> (+1.90%)` | :arrow_up: | ... and [2 files with indirect coverage changes](https://app.codecov.io/gh/ros-controls/ros2_controllers/pull/1215/indirect-changes?src=pr&el=tree-more&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=ros-controls)
saikishor commented 3 weeks ago

Rebased the PR! :)