Refactor spawner to be able to reuse code for ros2controlcli (backport #1661) #1696
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(cherry picked from commit 0631e3e) # Conflicts: # controller_manager/controller_manager/spawner.py # controller_manager/test/test_spawner_unspawner.cpp
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* Fix conflicts * added controller_type parameter setting to the spawner
Codecov ReportAttention: Patch coverage is
Additional details and impacted files@@ Coverage Diff @@
## iron #1696 +/- ##
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- Coverage 62.17% 62.12% -0.06%
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Files 109 109
Lines 12206 12205 -1
Branches 8552 8556 +4
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- Hits 7589 7582 -7
- Misses 866 870 +4
- Partials 3751 3753 +2
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christophfroehlich
approved these changes
Sep 1, 2024
saikishor
approved these changes
Sep 1, 2024
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@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.
This is an automatic backport of pull request #1661 done by Mergify.