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

[JTC] Use the internal methods instead of using the variables directly #1221

Closed saikishor closed 2 months ago

saikishor commented 2 months ago

These changes make the JTC use the internal method to retrieve the URDF rather than using the variables directly. I think it is safer and clear this way.

Once the https://github.com/ros-controls/ros2_control/pull/1623 is merged, we would definitely need these changes. These changes can also be merged even without 1623.

Thank you!

codecov[bot] commented 2 months ago

Codecov Report

Attention: Patch coverage is 50.00000% with 2 lines in your changes missing coverage. Please review.

Project coverage is 86.55%. Comparing base (990bfb6) to head (01fc178).

Additional details and impacted files ```diff @@ Coverage Diff @@ ## master #1221 +/- ## ========================================== - Coverage 86.56% 86.55% -0.02% ========================================== Files 95 95 Lines 8585 8586 +1 Branches 719 719 ========================================== Hits 7432 7432 Misses 883 883 - Partials 270 271 +1 ``` | [Flag](https://app.codecov.io/gh/ros-controls/ros2_controllers/pull/1221/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/1221/flags?src=pr&el=flag&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=ros-controls) | `86.55% <50.00%> (-0.02%)` | :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/1221?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/1221?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) | `83.55% <50.00%> (-0.13%)` | :arrow_down: |