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Add controller node options args to be able to set controller specific node arguments #1713

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Add controller node options args to be able to set controller specific node arguments #1713

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@saikishor saikishor commented Aug 23, 2024 •
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A different approach of #1712

    robot_controller_spawner = Node(
        package="controller_manager",
        executable="spawner",
        arguments=["diffbot_base_controller", "--param-file", controller_config, "--controller-ros-args", '--ros-args -r /diffbot_base_controller/cmd_vel:=/cmd_vel'],
    )

Fixes: #1711
Fixes: #1714

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codecov bot commented Aug 23, 2024 •
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Codecov Report

Attention: Patch coverage is 78.78788% with 7 lines in your changes missing coverage. Please review.

Project coverage is 87.58%. Comparing base (832602d) to head (1b4905f).

Files with missing lines Patch % Lines
controller_manager/src/controller_manager.cpp 80.00% 1 Missing and 2 partials ⚠️
controller_manager/controller_manager/spawner.py 50.00% 1 Missing and 1 partial ⚠️
...r_manager/test/test_controller/test_controller.cpp 50.00% 2 Missing ⚠️
Additional details and impacted files 
@@            Coverage Diff             @@
##           master    #1713      +/-   ##
==========================================
- Coverage   87.60%   87.58%   -0.03%     
==========================================
  Files         120      120              
  Lines       12224    12257      +33     
  Branches     1093     1098       +5     
==========================================
+ Hits        10709    10735      +26     
- Misses       1125     1129       +4     
- Partials      390      393       +3
Flag Coverage Δ
unittests 87.58% <78.78%> (-0.03%) ⬇️

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

Files with missing lines Coverage Δ
...r_manager/test/test_controller/test_controller.hpp 100.00% <ø> (ø)
controller_manager/test/test_spawner_unspawner.cpp 99.27% <100.00%> (+0.02%) ⬆️
controller_manager/controller_manager/spawner.py 71.09% <50.00%> (-0.69%) ⬇️
...r_manager/test/test_controller/test_controller.cpp 92.15% <50.00%> (-3.59%) ⬇️
controller_manager/src/controller_manager.cpp 77.97% <80.00%> (+0.02%) ⬆️

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mergify bot commented Aug 23, 2024

This pull request is in conflict. Could you fix it @saikishor?

@saikishor saikishor force-pushed the add/controller/node_options_args branch from 51a294a to 2ce01eb Compare August 23, 2024 18:48
@christophfroehlich christophfroehlich mentioned this pull request Aug 23, 2024
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I like, but needs some tests for it and advertisement in the release notes. We could also think of deprecating the "old way" #1712

Tested successfully with ros-controls/ros2_control_demos#577

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saikishor commented Aug 24, 2024
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Fix for compilation

controller_manager/src/controller_manager.cpp Outdated Show resolved Hide resolved
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I like, but needs some tests for it and advertisement in the release notes. We could also think of deprecating the "old way" #1712

Tested successfully with ros-controls/ros2_control_demos#577

@christophfroehlich I've added the tests for this case and the release_notes.

Thank you!

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christophfroehlich previously approved these changes Sep 12, 2024
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thx

@saikishor saikishor force-pushed the add/controller/node_options_args branch from eab9879 to d92deda Compare September 17, 2024 20:44
@saikishor saikishor mentioned this pull request Sep 22, 2024
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mergify bot commented Oct 16, 2024

This pull request is in conflict. Could you fix it @saikishor?

@saikishor saikishor force-pushed the add/controller/node_options_args branch from d92deda to 5bb8a11 Compare October 16, 2024 22:04
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mergify bot commented Oct 17, 2024

This pull request is in conflict. Could you fix it @saikishor?

@saikishor saikishor force-pushed the add/controller/node_options_args branch from 5bb8a11 to 938bcba Compare October 17, 2024 09:48
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@bmagyar the CI seems to be happy

@saikishor saikishor force-pushed the add/controller/node_options_args branch from 938bcba to c0b9e54 Compare October 19, 2024 07:01
@saikishor saikishor force-pushed the add/controller/node_options_args branch from c0b9e54 to efda2f6 Compare October 29, 2024 15:16
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I'll add example_interfaces to the debian image used for the CI.

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I'll add example_interfaces to the debian image used for the CI.

Thank you @christophfroehlich

@christophfroehlich christophfroehlich mentioned this pull request Oct 29, 2024
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LGTM (debian CI is happy now, too).

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mergify bot commented Oct 30, 2024

This pull request is in conflict. Could you fix it @saikishor?

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@christophfroehlich christophfroehlich christophfroehlich approved these changes

@aprotyas aprotyas Awaiting requested review from aprotyas

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