Code

[Feature] Fallback controllers#1789

Code

Merged

destogl merged 26 commits intoros-controls:masterros-controls/ros2_control:masterfrom pal-robotics-forks:feature/fallback_controllerspal-robotics-forks/ros2_control:feature/fallback_controllersCopy head branch name to clipboardOct 16, 2024

+1,221-6

Commits

Commits on Oct 11, 2024

• Squash all commits of fallback controllers for upstream version

  Show description for e9f7989
  saikishor

  committed
  e9f7989

• remove the unnecessary if condition

  saikishor

  committed
  11b3b11

• check that all command and state interfaces are available for fallback controllers

  saikishor

  committed
  df9f696

• change the logic of the get_active_controllers_using_command_interfaces_of_controller method

  saikishor

  committed
  825e591

• deactivate all related controller together

  saikishor

  committed
  edcd56c

Commits on Oct 12, 2024

• cleanup some redundant conditioning

  saikishor

  committed
  e84fbdc

• add more clear checks on the command interfaces of fallback controllers

  saikishor

  committed
  73f03de

• added a separate method to check fallback controllers state

  saikishor

  committed
  6ecbec5

• extend the checks for the needed state interfaces

  saikishor

  committed
  c82303b

• remove the newly added unused helper functions

  saikishor

  committed
  f473278

• Use references while iterating in loop

  saikishor

  committed
  2f96856

• update the logic in update to activate controllers altogether

  saikishor

  committed
  d1daa53

Commits on Oct 13, 2024

• fix the logic for existing tests

  saikishor

  committed
  fbf9b68

• add set_external_commands_for_testing method to the TestController class

  saikishor

  committed
  bea7f4d

• Add a add_controller method to controller_manager that accepts ControllerSpec

  saikishor

  committed
  9291406

• Add first basic fallback controller test

  saikishor

  committed
  e2e622c

Commits on Oct 14, 2024

• Add a test case for the controller cannot be a fallback controller for itself

  saikishor

  committed
  e302358

• Added a fail test case when the fallback controllers need non existing interface to activate

  saikishor

  committed
  8178ecd

• Added a fail test case when the fallback controllers need non existing state interface to activate

  saikishor

  committed
  8a23238

• Added test to consider when one or more fallback controllers are already active

  saikishor

  committed
  01d21b1

• Improve logging for better introspection

  saikishor

  committed
  c071a98

• Add test on the fallback controllers need to be in configured state already

  saikishor

  committed
  0d4698e

• Added test cases when using with chainable controllers

  saikishor

  committed
  cf309a3

Commits on Oct 15, 2024

• added documentation and update release_note.rst

  saikishor

  committed
  dae549c

Commits on Oct 16, 2024

• Apply suggestions from code review

  Show description for 17ec65f
  

  saikishor

  and

  bmagyar

  authored
  17ec65f

• Merge branch 'master' into feature/fallback_controllers

  saikishor

  authored
  5c2d2d5