Propagate read/write rate to the HardwareInfo properly

[saikishor]

Fixes #1926

[christophfroehlich]

It feels a bit strange to pass the update rate to the parsing functions (but I have no better idea as of now).
But don't we have to pass it here?

ros2_control/hardware_interface/src/resource_manager.cpp

Line 1130 in d40377d

const auto hardware_info = hardware_interface::parse_control_resources_from_urdf(urdf);

And we will have to change gazebo+gz_ros2_control if we change API here.

[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

Project coverage is 87.73%. Comparing base (d40377d) to head (a386668).

Additional details and impacted files

@@            Coverage Diff             @@
##           master    #1927      +/-   ##
==========================================
- Coverage   87.73%   87.73%   -0.01%     
==========================================
  Files         122      122              
  Lines       12978    12976       -2     
  Branches     1156     1156              
==========================================
- Hits        11386    11384       -2     
  Misses       1164     1164              
  Partials      428      428              

Flag	Coverage Δ
unittests	87.73% <100.00%> (-0.01%)	⬇️

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

Files with missing lines	Coverage Δ
hardware_interface/src/component_parser.cpp	94.82% <100.00%> (ø)
hardware_interface/src/resource_manager.cpp	73.23% <100.00%> (-0.07%)	⬇️
hardware_interface/test/test_component_parser.cpp	98.90% <ø> (ø)

[saikishor]

It feels a bit strange to pass the update rate to the parsing functions (but I have no better idea as of now). But don't we have to pass it here?

ros2_control/hardware_interface/src/resource_manager.cpp

Line 1130 in d40377d

const auto hardware_info = hardware_interface::parse_control_resources_from_urdf(urdf);

And we will have to change gazebo+gz_ros2_control if we change API here.

hahah you are right

[saikishor]

@christophfroehlich I understand. I share the same concerns at the beginning. Either we do it there or we remove the const here, and modify it here in the code

ros2_control/hardware_interface/src/resource_manager.cpp

Line 1130 in d40377d

const auto hardware_info = hardware_interface::parse_control_resources_from_urdf(urdf);