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[Feature] Interfaces remapping for controllers #1667
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[Feature] Interfaces remapping for controllers #1667
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Codecov ReportAttention: Patch coverage is
Additional details and impacted files@@ Coverage Diff @@
## master #1667 +/- ##
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+ Coverage 86.81% 86.97% +0.16%
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Files 116 117 +1
Lines 10692 10785 +93
Branches 978 997 +19
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+ Hits 9282 9380 +98
+ Misses 1059 1047 -12
- Partials 351 358 +7
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This pull request is in conflict. Could you fix it @saikishor? |
This pull request is in conflict. Could you fix it @saikishor? |
This PR aims to add a new features to the controllers so that they will be able to remap interfaces, this would be interesting to have as for interfaces such as
effort
the hardware could expose more meaningful interfaces such astorque
,force
orcurrent
and it would get the logic of the controller more complicated if they need to support multiple type of interfaces. Instead the users should be able to remap as simply by defining the remapping definition under the controller's parametersThe controller prints some more explicit log when configuring the controller, so that the user are clear on what interfaces are being remapped
Related to ros-controls/roadmap#61