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Enable setting of initial state in HW compoments #1046

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merged 9 commits into from
Jun 23, 2023

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@destogl destogl commented Jun 5, 2023

This is the cleaned verison proposed in:

ros-controls/ros2_control_demos#277

Solves first part of #1045

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codecov-commenter commented Jun 5, 2023

Codecov Report

Merging #1046 (7ea83fa) into master (925f5f3) will decrease coverage by 2.28%.
The diff coverage is 35.06%.

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@@            Coverage Diff             @@
##           master    #1046      +/-   ##
==========================================
- Coverage   34.61%   32.34%   -2.28%     
==========================================
  Files          52       93      +41     
  Lines        2981     9833    +6852     
  Branches     1855     6628    +4773     
==========================================
+ Hits         1032     3180    +2148     
- Misses        310      778     +468     
- Partials     1639     5875    +4236     
Flag Coverage Δ
unittests 32.34% <35.06%> (-2.28%) ⬇️

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

Impacted Files Coverage Δ
controller_manager/src/controller_manager.cpp 37.83% <ø> (-1.88%) ⬇️
controller_manager/src/ros2_control_node.cpp 0.00% <0.00%> (ø)
..._interface/include/hardware_interface/actuator.hpp 100.00% <ø> (ø)
...ce/include/hardware_interface/async_components.hpp 0.00% <0.00%> (ø)
...re_interface/include/hardware_interface/sensor.hpp 100.00% <ø> (ø)
...re_interface/include/hardware_interface/system.hpp 100.00% <ø> (ø)
hardware_interface/src/resource_manager.cpp 47.68% <ø> (-5.94%) ⬇️
hardware_interface/src/sensor.cpp 50.52% <ø> (ø)
hardware_interface/src/system.cpp 55.45% <ø> (ø)
...rface/test/mock_components/test_generic_system.cpp 9.42% <ø> (ø)
... and 70 more

... and 19 files with indirect coverage changes

@destogl destogl added the backport-humble This label should be used by maintainers only! Label triggers PR backport to ROS2 humble. label Jun 5, 2023
@destogl destogl removed the bug label Jun 12, 2023
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@bmagyar bmagyar left a comment

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THe only comment is regarding duplicating vs reworking the tests. Let's duplicate while the functionality is still there (we had issues with this before)

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@christophfroehlich christophfroehlich left a comment

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Sounds fine for me now

@bmagyar bmagyar merged commit cf4448d into master Jun 23, 2023
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mergify bot pushed a commit that referenced this pull request Jun 23, 2023
(cherry picked from commit cf4448d)

# Conflicts:
#	controller_manager/src/controller_manager.cpp
#	hardware_interface/include/hardware_interface/resource_manager.hpp
#	hardware_interface/src/resource_manager.cpp
@bmagyar bmagyar deleted the hw-components-initial-state branch December 4, 2023 10:43
destogl pushed a commit that referenced this pull request Jan 22, 2024
)

(cherry picked from commit cf4448d)


---------
Co-authored-by: Dr. Denis <[email protected]>
Co-authored-by: Bence Magyar <[email protected]>
Co-authored-by: Christoph Froehlich <[email protected]>
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4 participants