[PR-1689] Follow-up PR of the controller interface variants integration

[saikishor]

Hello!

This PR is a follow-up PR of #1689 the minor things that could be nice to be addressed

Thank you!

[codecov]

Codecov Report

Attention: Patch coverage is 40.90909% with 13 lines in your changes missing coverage. Please review.

Project coverage is 86.85%. Comparing base (a6e44ab) to head (19118bf).
Report is 4 commits behind head on master.

Files with missing lines	Patch %	Lines
...r_interface/src/chainable_controller_interface.cpp	38.88%	9 Missing and 2 partials ⚠️
...interface/include/controller_interface/helpers.hpp	66.66%	0 Missing and 1 partial ⚠️
controller_manager/src/controller_manager.cpp	0.00%	1 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##           master    #1779      +/-   ##
==========================================
- Coverage   86.90%   86.85%   -0.06%     
==========================================
  Files         118      118              
  Lines       11438    11447       +9     
  Branches     1051     1057       +6     
==========================================
+ Hits         9940     9942       +2     
- Misses       1131     1135       +4     
- Partials      367      370       +3     

Flag	Coverage Δ
unittests	86.85% <40.90%> (-0.06%)	⬇️

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

Files with missing lines	Coverage Δ
...oller_interface/chainable_controller_interface.hpp	100.00% <ø> (ø)
...interface/include/controller_interface/helpers.hpp	50.00% <66.66%> (-11.54%)	⬇️
controller_manager/src/controller_manager.cpp	77.07% <0.00%> (+0.24%)	⬆️
...r_interface/src/chainable_controller_interface.cpp	51.32% <38.88%> (-3.39%)	⬇️

[bmagyar]

Overall looks good

[bmagyar]

when are we adding things multiple times?

[saikishor]

ros2_control/controller_interface/src/chainable_controller_interface.cpp

Lines 208 to 232 in a6e44ab

	std::vector<hardware_interface::StateInterface>
	ChainableControllerInterface::on_export_state_interfaces()
	{
	state_interfaces_values_.resize(exported_state_interface_names_.size(), 0.0);
	std::vector<hardware_interface::StateInterface> state_interfaces;
	for (size_t i = 0; i < exported_state_interface_names_.size(); ++i)
	{
	state_interfaces.emplace_back(
	get_node()->get_name(), exported_state_interface_names_[i], &state_interfaces_values_[i]);
	}
	return state_interfaces;
	}
	std::vector<hardware_interface::CommandInterface>
	ChainableControllerInterface::on_export_reference_interfaces()
	{
	reference_interfaces_.resize(exported_reference_interface_names_.size(), 0.0);
	std::vector<hardware_interface::CommandInterface> reference_interfaces;
	for (size_t i = 0; i < exported_reference_interface_names_.size(); ++i)
	{
	reference_interfaces.emplace_back(hardware_interface::CommandInterface(
	get_node()->get_name(), exported_reference_interface_names_[i], &reference_interfaces_[i]));
	}
	return reference_interfaces;
	}

here we are creating the interfaces from the exported_state_interface_names_ and exported_reference_interface_names_ and later we are readding again to the same vector in the method. I think it is better to check and insert to not to have inconsistent sizes.

This will only happen if we use these variables to create and export the interfaces

[bmagyar]

sounds good, thank you

[bmagyar]

sounds good, thank you