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[WIP] Distributed control poc #1

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[WIP] Distributed control poc #1

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Commits on Jan 11, 2023

  1. create topic for publishing StateInterface's value via loan

    @mamueluth
    mamueluth committed Jan 11, 2023
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  2. working now 

    * fix typo in StatePublisher (used the pointer which has been moved...)
* not a component anymore
* collect StatePublishers in map
    @mamueluth
    mamueluth committed Jan 11, 2023
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  3. add visibility control, rename to distributed since no component anymore

    @mamueluth
    mamueluth committed Jan 11, 2023
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  4. rename include guard

    @mamueluth
    mamueluth committed Jan 11, 2023
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  5. crude registration of StatePublishers at central controller manager

    @mamueluth
    mamueluth committed Jan 11, 2023
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  6. move StatePublisher to Hardware side

    @mamueluth
    mamueluth committed Jan 11, 2023
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  7. remove not needed rclcpp warn and info outputs

    @mamueluth
    mamueluth committed Jan 11, 2023
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  8. add DistributedStateInterface and adjusted LoanedStateInterface

    @mamueluth
    mamueluth committed Jan 11, 2023
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  9. restructure handles

    @mamueluth
    mamueluth committed Jan 11, 2023
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  10. move creation of publishers into resource manager

    @mamueluth
    mamueluth committed Jan 11, 2023
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  11. subscription in central controller 

    * export and imprt statepublisher description
* initialize DistributedHandle through description
* automated generation of node and topic names
    @mamueluth
    mamueluth committed Jan 11, 2023
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  12. rename miss leading name of function

    @mamueluth
    mamueluth committed Jan 11, 2023
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  13. rename StatePublisherDescription to PublisherDescription

    @mamueluth
    mamueluth committed Jan 11, 2023
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  14. !Not working! Add registration of DistributedCommandInterfaces 

    * Its not working, since the storage type of command interfaces needs
to be changed to std::shared_ptr. This is done in follow_up since should
change a lot.
    @mamueluth
    mamueluth committed Jan 11, 2023
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  15. change commandinterface from obj to shared_ptr

    @mamueluth
    mamueluth committed Jan 11, 2023
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  16. Add own qualitiy of service and register command forwarders

    @mamueluth
    mamueluth committed Jan 11, 2023
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  17. public inheritance in handle

    @mamueluth
    mamueluth committed Jan 11, 2023
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  18. add distributed interfaces to available list

    @mamueluth
    mamueluth committed Jan 11, 2023
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  19. add some output for knowing whats going on

    @mamueluth
    mamueluth committed Jan 11, 2023
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