[JTC] Cleanup TODO-List from #320 - Githubissues

ros-controls / ros2_controllers

Generic robotic controllers to accompany ros2_control

https://control.ros.org

Apache License 2.0

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[JTC] Cleanup TODO-List from #320 #944

Open christophfroehlich opened 10 months ago

christophfroehlich commented 10 months ago

To keep track of TODOs mentioned with #320:

[x] try minimizing the amount of includes #943
[x] check if this is needed at all #943 https://github.com/ros-controls/ros2_controllers/blob/4c6d7236245c527f275b1e03a7e5242b658dc782/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller.hpp#L53-L61
[x] clean the mess of trajectory msg pointers
[x] rename read_state_from_hardware
[ ] try refactoring these into trajectory_operations.cpp or into trajectory.hpp directly https://github.com/ros-controls/ros2_controllers/blob/4c6d7236245c527f275b1e03a7e5242b658dc782/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller.hpp#L224-L241
[x] turn compute_error_for_joint into a proper function & unit test #945
[ ] if "RealtimeSubscriber" existed with an API to check for new message & get message that'd make this very readable https://github.com/ros-controls/ros2_controllers/blob/4c6d7236245c527f275b1e03a7e5242b658dc782/joint_trajectory_controller/src/joint_trajectory_controller.cpp#L164-L165
[x] Convert assign_interface_from_point into member function #945

christophfroehlich commented 9 months ago

@bmagyar regarding

try refactoring these into trajectory_operations.cpp or into trajectory.hpp directly

The methods

fill_partial_goal
sort_to_local_joint_order
validate_trajectory_msg
add_new_trajectory_msg

all use class variables, like dof_, params_.joints and so on. You suppose to refactor that without relying on class variables but add them as function parameters?