Ahcorde/add/joint limit interface#181
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bmagyar merged 15 commits intoros-controls:masterfrom Oct 10, 2020
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Co-authored-by: ddengster <ed.fan@osrfoundation.org> Signed-off-by: ahcorde <ahcorde@gmail.com>
Signed-off-by: ahcorde <ahcorde@gmail.com>
Signed-off-by: ahcorde <ahcorde@gmail.com>
Signed-off-by: ahcorde <ahcorde@gmail.com>
Signed-off-by: ahcorde <ahcorde@gmail.com>
…ntStateHandle or JointCommandHandle). Refactred common functionality into base JointSaturationLimitHandle and JointSoftLimitsHandle classes.
This was referenced Oct 4, 2020
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LICENSING FYI @v-lopez @destogl @bmagyar I changed the file header licenses to Apache 2 as discussed here. |
AndyZe
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@ahcorde we'd appreciate your feedback on this one |
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@bmagyar @Karsten1987 @destogl In this refactor for #134 I went with JointHandle arguments wrapped in std::shared_ptr<>, should these have been without shared_ptr? This was due to a commit I was using as a reference that had shared_ptr, but after reviewing more code such as robot_hardware.cpp I dont see any reason to use shared_ptr here, the JontHandle by value would work fine and probably more compatible. Thoughts? |
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joint_limits_interface/include/joint_limits_interface/joint_limits_interface.hpp
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* Added joint_limits_interface - Direct port from ROS 1 * Follow ros2 styles and added tests * Added missing dependencies in package.xml * updated joint limits interface exception to nothrow and match base override * converted joint limit interfaces to use new JointHandles (no more JointStateHandle or JointCommandHandle). Refactored common functionality into base JointSaturationLimitHandle and JointSoftLimitsHandle classes. * updated joint limits tests to use new JointHandles * updated package version from 2 to 3 * added memory include as suggested by ros_industrial test * uncrustify fixes * removing changelog from ROS1 * Reset version and fix links * Update maintainers Co-authored-by: ddengster <ed.fan@osrfoundation.org> Co-authored-by: ahcorde <ahcorde@gmail.com> Co-authored-by: Bence Magyar <bence.magyar.robotics@gmail.com> Co-authored-by: Colin MacKenzie guru-florida
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As suggested by @destogl, this is a follow-on to a PR by ahcorde, PR135.
This PR has joint_limit_interface updated with #134 changes which remote state and command handles and replace with just JointHandle. It has been synced with the latest ros2_control/master branch.
Also all tests (previously commented out) have been fixed up and pass on my local system.
Suggesting review by @Karsten1987 @bmagyar as well.
This PR:
Originally coded by: @ddengster ed.fan@osrfoundation.org
Signed-off-by: @ahcorde ahcorde@gmail.com
#134, refactor + unit tests by myself: guru-florida
I believe ahcorde and I are both working to the same goal of getting gazeobo+ros+ros-control working together! :) Kudos to all, we are so close!
FYI I also have transmission_interface similarly updated with master in PR182. This PR is also included in PR182 so you can just approve and do that one, or both, PR182 is based from 181 and both synced to master so no worries. It's just a matter of scope.