Add state_interfaces_broadcaster#2006
Add state_interfaces_broadcaster#2006christophfroehlich merged 24 commits intoros-controls:masterfrom
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This pull request is in conflict. Could you fix it @saikishor? |
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...aces_state_broadcaster/include/interfaces_state_broadcaster/interfaces_state_broadcaster.hpp
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@saikishor, I needed to debug my example code that depends on this controller. I've added the changes made on my machine to make it compile with the updated control_msgs.
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Thanks a lot for taking care @Juliaj . I was about to fix it |
Co-authored-by: Julia Jia <juliajster@gmail.com>
Co-authored-by: Julia Jia <juliajster@gmail.com>
Co-authored-by: Julia Jia <juliajster@gmail.com> Co-authored-by: Surya! <thedevmystic@gmail.com>
Co-authored-by: Julia Jia <juliajster@gmail.com>
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Overall, this LGTM. But some parts of docs/meta package updates are missing:
Thank you @Juliaj for taking time and testing it |
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btw: Why did you call it interfaces_state_broadcaster instead of state_interfaces_broadcaster?
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| Interfaces State Broadcaster | ||
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| The Interfaces State Broadcaster publishes the state of specified hardware interfaces that support double data type. |
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This is not 100% true. "is_castable_to_double" is true for all datatypes we currently support, but the get_optional only works for double and bool with additional warning.
We should either limit it to double-only, or support all castable datatypes for real ;)
This is what I started here.
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I would change the logic internally to the code to reflect that
Good question, first I named the project |
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Co-authored-by: Christoph Fröhlich <christophfroehlich@users.noreply.github.com>
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some minor cleanups, rest LGTM
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(cherry picked from commit ef3167d) # Conflicts: # doc/release_notes.rst
(cherry picked from commit ef3167d)
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This PR adds a new broadcaster that publishes the values of the interfaces in the same order defined in the broadcaster configuration. This is very useful, especially for the physical AI application, where the observation vector can be properly created beforehand
needs: ros-controls/control_msgs#273