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[JTC] Parse URDF for continuous joints #949

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merged 4 commits into from
Mar 2, 2024

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christophfroehlich
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Use urdf package to parse the URDF string for joints. If they are of continuous type, activate angle_wraparound automatically.

Fixes #815

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codecov bot commented Dec 27, 2023

Codecov Report

Attention: 27 lines in your changes are missing coverage. Please review.

Comparison is base (9f7e9e9) 47.71% compared to head (725bedb) 71.56%.
Report is 24 commits behind head on master.

Additional details and impacted files
@@             Coverage Diff             @@
##           master     #949       +/-   ##
===========================================
+ Coverage   47.71%   71.56%   +23.85%     
===========================================
  Files          41       41               
  Lines        3871     3651      -220     
  Branches     1833     1794       -39     
===========================================
+ Hits         1847     2613      +766     
+ Misses        751      718       -33     
+ Partials     1273      320      -953     
Flag Coverage Δ
unittests 71.56% <66.25%> (+23.85%) ⬆️

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

Files Coverage Δ
...de/diff_drive_controller/diff_drive_controller.hpp 100.00% <ø> (ø)
...iff_drive_controller/src/diff_drive_controller.cpp 68.63% <100.00%> (+20.57%) ⬆️
...jectory_controller/joint_trajectory_controller.hpp 100.00% <ø> (+20.00%) ⬆️
...include/joint_trajectory_controller/trajectory.hpp 73.33% <ø> (+23.33%) ⬆️
...nclude/tricycle_controller/tricycle_controller.hpp 100.00% <ø> (ø)
...roadcaster/src/force_torque_sensor_broadcaster.cpp 82.53% <75.00%> (+21.93%) ⬆️
joint_trajectory_controller/src/trajectory.cpp 89.67% <77.77%> (+22.10%) ⬆️
...ory_controller/src/joint_trajectory_controller.cpp 79.52% <62.06%> (+32.41%) ⬆️
tricycle_controller/src/tricycle_controller.cpp 60.58% <60.60%> (+27.93%) ⬆️

... and 28 files with indirect coverage changes

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mergify bot commented Jan 2, 2024

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

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mergify bot commented Jan 22, 2024

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

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mergify bot commented Jan 31, 2024

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

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@bmagyar bmagyar left a comment

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Very clean! Great work

@bmagyar bmagyar merged commit 61617b3 into ros-controls:master Mar 2, 2024
13 of 16 checks passed
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[JTC] Angle wraparound from URDF
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