Fix child_frame_id in controller_state_msg

[rehanshah17]

Closing #504

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[christophfroehlich]

please have a look at the failing CI jobs

[rehanshah17]

Pretty sure I just fixed the child_frame issue + the failing Cl jobs in the newest commit "fixing spaces".

[rehanshah17]

This may be something very small that I am overlooking, but all the tests are failing from the first version of my code, instead of the newest commit. Is there something else that I have to do than pushing changes to the feature branch?

[rehanshah17]

This may be something very small that I am overlooking, but all the tests are failing from the first version of my code, instead of the newest commit. Is there something else that I have to do than pushing changes to the feature branch?

[saikishor]

This PR doesn't even build. Have you tested it locally before?

[christophfroehlich]

have you run the tests locally?
$ colcon test --packages-select admittance_controller
gives

2: [ RUN      ] AdmittanceControllerTest.check_frame_ids_in_controller_state
2: [INFO] [1742761539.052313660] [test_admittance_controller]: No specific joint names are used for command interfaces. Using 'joints' parameter.
2: [INFO] [1742761539.052334767] [test_admittance_controller]: state int types are: position
2: 
2: [INFO] [1742761539.052340550] [test_admittance_controller]: command int types are: position
2: 
2: [INFO] [1742761539.052343866] [test_admittance_controller]: chainable int types are: position
2: 
2: [INFO] [1742761539.052363494] [test_admittance_controller]: chainable int types are: velocity
2: 
2: [INFO] [1742761539.052372673] [test_admittance_controller]: Command interfaces are [position] and and state interfaces are [position].
2: /workspaces/ros2_rolling_ws/src/ros2_controllers/admittance_controller/test/test_admittance_controller.cpp:369: Failure
2: Expected equality of these values:
2:   msg.ref_trans_base_ft.header.frame_id
2:     Which is: ""
2:   controller_->admittance_->parameters_.kinematics.base
2:     Which is: "base_link"
2: 
2: [  FAILED  ] AdmittanceControllerTest.check_frame_ids_in_controller_state (10 ms)

[rehanshah17]

for some reason I am not able to run these changes locally, colcon checks the install folder on my machine but the install folder is empty. Any help? This is the command and output

$ colcon test --packages-select admittance_controller
Starting >>> admittance_controller
[0.665s] colcon.colcon_cmake.task.cmake.test ERROR Failed to find the following files:
- /Users/rehanshah/Projects/ros_ws/admittance/AdmittanceController_ros2/install/admittance_controller/share/admittance_controller/package.sh
Check that the following packages have been built:
- admittance_controller
Failed   <<< admittance_controller [0.00s, exited with code 1]

Summary: 0 packages finished [0.22s]
  1 package failed: admittance_controller
(ros) ➜  AdmittanceController_ros2 git:(AdmittanceFix) ✗ 

[saikishor]

@rehanshah17 did you try building the package?

[rehanshah17]

upon building I get

Starting >>> imu_sensor_broadcaster
--- stderr: gpio_controllers          
CMake Deprecation Warning at CMakeLists.txt:1 (cmake_minimum_required):
  Compatibility with CMake < 3.10 will be removed from a future version of
  CMake.

  Update the VERSION argument <min> value.  Or, use the <min>...<max> syntax
  to tell CMake that the project requires at least <min> but has been updated
  to work with policies introduced by <max> or earlier.


CMake Error at CMakeLists.txt:16 (find_package):
  By not providing "Findcontroller_interface.cmake" in CMAKE_MODULE_PATH this
  project has asked CMake to find a package configuration file provided by
  "controller_interface", but CMake did not find one.

  Could not find a package configuration file provided by
  "controller_interface" with any of the following names:

    controller_interfaceConfig.cmake
    controller_interface-config.cmake

  Add the installation prefix of "controller_interface" to CMAKE_PREFIX_PATH
  or set "controller_interface_DIR" to a directory containing one of the
  above files.  If "controller_interface" provides a separate development
  package or SDK, be sure it has been installed.


---
Failed   <<< gpio_controllers [5.71s, exited with code 1]
--- stderr: steering_controllers_library
CMake Error at CMakeLists.txt:34 (find_package):
  By not providing "Findbackward_ros.cmake" in CMAKE_MODULE_PATH this project
  has asked CMake to find a package configuration file provided by
  "backward_ros", but CMake did not find one.

  Could not find a package configuration file provided by "backward_ros" with
  any of the following names:

    backward_rosConfig.cmake
    backward_ros-config.cmake

  Add the installation prefix of "backward_ros" to CMAKE_PREFIX_PATH or set
  "backward_ros_DIR" to a directory containing one of the above files.  If
  "backward_ros" provides a separate development package or SDK, be sure it
  has been installed.


---
Failed   <<< steering_controllers_library [5.72s, exited with code 1]

with a summary of

Summary: 0 packages finished [5.84s]
  2 packages failed: gpio_controllers steering_controllers_library
  6 packages aborted: admittance_controller diff_drive_controller force_torque_sensor_broadcaster forward_command_controller gripper_controllers imu_sensor_broadcaster
  8 packages had stderr output: admittance_controller diff_drive_controller force_torque_sensor_broadcaster forward_command_controller gpio_controllers gripper_controllers imu_sensor_broadcaster steering_controllers_library
  17 packages not processed

[christophfroehlich]

have you installed ros2_control as binaries, or do you want to build it from source? if it is in your workspace, run colcon build --packages-up-to admittance_controller

[rehanshah17]

I had to download it from robostack, so I am pretty sure I downloaded it from source.

(ros) ➜  admittance colcon build --packages-up-to admittance_controller
Starting >>> admittance_controller
--- stderr: admittance_controller                         
CMake Error at CMakeLists.txt:36 (find_package):
  By not providing "Findbackward_ros.cmake" in CMAKE_MODULE_PATH this project
  has asked CMake to find a package configuration file provided by
  "backward_ros", but CMake did not find one.

  Could not find a package configuration file provided by "backward_ros" with
  any of the following names:

    backward_rosConfig.cmake
    backward_ros-config.cmake

  Add the installation prefix of "backward_ros" to CMAKE_PREFIX_PATH or set
  "backward_ros_DIR" to a directory containing one of the above files.  If
  "backward_ros" provides a separate development package or SDK, be sure it
  has been installed.


---
Failed   <<< admittance_controller [0.28s, exited with code 1]

Summary: 0 packages finished [0.38s]
  1 package failed: admittance_controller
  1 package had stderr output: admittance_controller

[christophfroehlich]

I never used robostack, sorry. But you can clone the missing package from https://github.com/pal-robotics/backward_ros

[christophfroehlich]

The tests are still failing

 build/admittance_controller/test_results/admittance_controller/test_admittance_controller.gtest.xml: 37 tests, 0 errors, 1 failure, 0 skipped
  <<< failure message
    /home/runner/work/ros2_controllers/ros2_controllers/.work/target_ws/src/ros2_controllers/admittance_controller/test/test_admittance_controller.cpp:369
    Expected equality of these values:
      msg.ref_trans_base_ft.header.frame_id
        Which is: ""
      controller_->admittance_->parameters_.kinematics.base
        Which is: "base_link"

[christophfroehlich]

@rehanshah17 can you please fix the failing test?

[christophfroehlich]

@rehanshah17 can you please fix the failing test?

Fixed that. tf2::eigenToTransform overwrites the previous initialized message. I reordered the assignment and also added a test for admittance_position frames.

[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

Project coverage is 85.64%. Comparing base (64c00ea) to head (e791e90).
Report is 1 commits behind head on master.

Additional details and impacted files

@@           Coverage Diff           @@
##           master    #1601   +/-   ##
=======================================
  Coverage   85.63%   85.64%           
=======================================
  Files         123      123           
  Lines       12409    12417    +8     
  Branches     1057     1057           
=======================================
+ Hits        10627    10635    +8     
  Misses       1432     1432           
  Partials      350      350           

Flag	Coverage Δ
unittests	85.64% <100.00%> (+<0.01%)	⬆️

Flags with carried forward coverage won't be shown. Click here to find out more.

Files with missing lines	Coverage Δ
...ude/admittance_controller/admittance_rule_impl.hpp	93.51% <100.00%> (ø)
...nce_controller/test/test_admittance_controller.cpp	100.00% <100.00%> (ø)
...nce_controller/test/test_admittance_controller.hpp	94.88% <ø> (ø)

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