[Transmissions] Add force and current interfaces
#2588
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jordan-palacios
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jordan-palacios
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force and current interfaces
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Codecov Report❌ Patch coverage is Additional details and impacted files@@ Coverage Diff @@
## master #2588 +/- ##
==========================================
- Coverage 89.45% 89.42% -0.03%
==========================================
Files 147 147
Lines 16636 16752 +116
Branches 1400 1408 +8
==========================================
+ Hits 14881 14980 +99
- Misses 1218 1227 +9
- Partials 537 545 +8
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requested changes
Oct 6, 2025
| std::vector<JointHandle> joint_effort_; | ||
| std::vector<JointHandle> joint_torque_; | ||
| std::vector<JointHandle> joint_force_; | ||
| std::vector<JointHandle> joint_curret_; |
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Suggested change
| std::vector<JointHandle> joint_curret_; | |
| std::vector<JointHandle> joint_current_; |
| joint_effort_ = get_ordered_handles(joint_handles, joint_names, hardware_interface::HW_IF_EFFORT); | ||
| joint_torque_ = get_ordered_handles(joint_handles, joint_names, hardware_interface::HW_IF_TORQUE); | ||
| joint_force_ = get_ordered_handles(joint_handles, joint_names, hardware_interface::HW_IF_FORCE); | ||
| joint_curret_ = |
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| joint_curret_ = | |
| joint_current_ = |
| if ( | ||
| joint_position_.size() != 2 && joint_velocity_.size() != 2 && joint_effort_.size() != 2 && | ||
| joint_torque_.size() != 2 && joint_absolute_position_.size() != 2) | ||
| joint_torque_.size() != 2 && joint_force_.size() != 2 && joint_curret_.size() != 2 && |
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| joint_torque_.size() != 2 && joint_force_.size() != 2 && joint_curret_.size() != 2 && | |
| joint_torque_.size() != 2 && joint_force_.size() != 2 && joint_current_.size() != 2 && |
| joint_effort_.size() != actuator_effort_.size() && | ||
| joint_torque_.size() != actuator_torque_.size() && | ||
| joint_force_.size() != actuator_force_.size() && | ||
| joint_curret_.size() != actuator_current_.size() && |
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| joint_curret_.size() != actuator_current_.size() && | |
| joint_current_.size() != actuator_current_.size() && |
| } | ||
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| auto & act_cur = actuator_current_; | ||
| auto & joint_cur = joint_curret_; |
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| auto & joint_cur = joint_curret_; | |
| auto & joint_cur = joint_current_; |
| } | ||
|
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| auto & act_cur = actuator_current_; | ||
| auto & joint_cur = joint_curret_; |
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| auto & joint_cur = joint_curret_; | |
| auto & joint_cur = joint_current_; |
| to_string(get_names(joint_effort_)), to_string(get_names(actuator_effort_)), | ||
| to_string(get_names(joint_torque_)), to_string(get_names(actuator_torque_)), | ||
| to_string(get_names(joint_force_)), to_string(get_names(actuator_force_)), | ||
| to_string(get_names(joint_curret_)), to_string(get_names(actuator_current_)), |
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| to_string(get_names(joint_curret_)), to_string(get_names(actuator_current_)), | |
| to_string(get_names(joint_current_)), to_string(get_names(actuator_current_)), |
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| if ( | ||
| joint_position_.size() != 2 && joint_velocity_.size() != 2 && joint_effort_.size() != 2 && | ||
| joint_torque_.size() != 2 && joint_absolute_position_.size() != 2) | ||
| joint_torque_.size() != 2 && joint_force_.size() != 2 && joint_curret_.size() != 2 && |
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this means that the handles are mandatory, and not optional. Does this make sense here? Shouldn't this plugin be more general?
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Follow up on #2310.
Same concept and approach, only this time we add force and current interfaces.
As before, adding these two new interfaces is backwards compatible. If force and current interfaces are not available then the contents from this PR do nothing.