Refactor spawner to be able to reuse code for ros2controlcli #1661
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aprotyas,
bijoua29,
bmagyar,
christophfroehlich,
destogl,
fmauch and
moriarty
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## master #1661 +/- ##
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+ Coverage 86.64% 86.66% +0.01%
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Files 115 115
Lines 10542 10519 -23
Branches 970 970
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- Hits 9134 9116 -18
+ Misses 1059 1054 -5
Partials 349 349
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| class bcolors: | ||
| HEADER = "\033[95m" | ||
| OKBLUE = "\033[94m" | ||
| OKCYAN = "\033[96m" | ||
| OKGREEN = "\033[92m" | ||
| WARNING = "\033[93m" | ||
| FAIL = "\033[91m" | ||
| ENDC = "\033[0m" | ||
| BOLD = "\033[1m" | ||
| UNDERLINE = "\033[4m" |
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Please see this only as a comment, not as a request:
This might be considered to be moved to a different file? Importing this from the controller_manager_services module seems to work fine for the given use cases, but maybe it would be more intuitive to declare it in the init file directly or move it to a separate helpers module.
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At the very beginning i wanted to do it in the init file itself, but then if that's the case I couldn't use it inside the controller_manager_services file and then later add it as a module inside the init file. So, in theory you should be able to import in other python files as from controller_manager import bcolors, this is how it's done for the ros2controlcli
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And besides that, we should rethink on renaming colors, the names are quite fuzzy.
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Sure! Good idea. Maybe we can do it in a separate PR? What do you say?
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Sure! I agree it's much easier for maintenance |
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(cherry picked from commit 0631e3e) # Conflicts: # controller_manager/controller_manager/spawner.py # controller_manager/test/test_spawner_unspawner.cpp
(cherry picked from commit 0631e3e) # Conflicts: # controller_manager/controller_manager/spawner.py # controller_manager/test/test_spawner_unspawner.cpp
@christophfroehlich has mentioned that ros2 control CLI is missing the functionality to load controllers with the parameter files as we have now with the spawner. upon reviewing the code, the code would need some refactoring to reduce some duplication of code in both places and to be able also to load controllers with namespaced controller manager
This PR would be the first part of refactoring that can go along with #1562, once both the PRs are done, the ros2 control CLI can be modified to add the parameter parsing from the file and proper usage with namespacing.