[Humble] Controller sorting #1157
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…s#853) (ros-controls#1063) * Added test for the reordering controllers case * Perform controller sorting at the end of switch_controller * fix the list_chained_controllers_srv test case for the new controller sorting * move the logic to a separate function * Apply suggestions from code review Co-authored-by: Christoph Fröhlich <[email protected]> * remove obsolete TODO comments in the controller chaining tests * Add a test case to sort 6 controllers in chained mode * Added a method to retrieve the following controller names given a controller name * Update the controller_sorting method to support progressive chaining ability * Added test case to sort chained controllers with branching * Added a method to retrieve the preceding controller names given a controller name * Added logic to controller_sorting to support sorting branched controller chains * Added some documentation to the newly added functions * Add debug print of reordered controllers list once they are sorted * Add the condition to skip the non-configured controllers * remove logging for every command interface * Improve the complex chain test case checking * added a test case to sort independent chains * Added fixes for the independent chains sorting * better randomization in independent chains testing * Fix minor logic issues * Add 3rd chain for better complex testing * Apply suggestions from code review - Denis Co-authored-by: Dr. Denis <[email protected]> * address pull request review comments --------- Co-authored-by: Christoph Fröhlich <[email protected]> Co-authored-by: Dr. Denis <[email protected]> Co-authored-by: Bence Magyar <[email protected]>
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This is a backport PR to have controller sorting feature in Humble