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Enable setting of initial state in HW compoments #1046

Merged
merged 9 commits into from
Jun 23, 2023
Merged

Enable setting of initial state in HW compoments #1046

merged 9 commits into from
Jun 23, 2023

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destogl
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@destogl destogl commented Jun 5, 2023

This is the cleaned verison proposed in:

ros-controls/ros2_control_demos#277

Solves first part of #1045

@destogl destogl self-assigned this Jun 5, 2023
@destogl destogl mentioned this pull request Jun 5, 2023
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codecov-commenter commented Jun 5, 2023 •
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Codecov Report

Merging #1046 (7ea83fa) into master (925f5f3) will decrease coverage by 2.28%.
The diff coverage is 35.06%.

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@@            Coverage Diff             @@
##           master    #1046      +/-   ##
==========================================
- Coverage   34.61%   32.34%   -2.28%     
==========================================
  Files          52       93      +41     
  Lines        2981     9833    +6852     
  Branches     1855     6628    +4773     
==========================================
+ Hits         1032     3180    +2148     
- Misses        310      778     +468     
- Partials     1639     5875    +4236
Flag Coverage Δ
unittests 32.34% <35.06%> (-2.28%) ⬇️

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

Impacted Files Coverage Δ
controller_manager/src/controller_manager.cpp 37.83% <ø> (-1.88%) ⬇️
controller_manager/src/ros2_control_node.cpp 0.00% <0.00%> (ø)
..._interface/include/hardware_interface/actuator.hpp 100.00% <ø> (ø)
...ce/include/hardware_interface/async_components.hpp 0.00% <0.00%> (ø)
...re_interface/include/hardware_interface/sensor.hpp 100.00% <ø> (ø)
...re_interface/include/hardware_interface/system.hpp 100.00% <ø> (ø)
hardware_interface/src/resource_manager.cpp 47.68% <ø> (-5.94%) ⬇️
hardware_interface/src/sensor.cpp 50.52% <ø> (ø)
hardware_interface/src/system.cpp 55.45% <ø> (ø)
...rface/test/mock_components/test_generic_system.cpp 9.42% <ø> (ø)
... and 70 more

... and 19 files with indirect coverage changes

@destogl destogl added the backport-humble This label should be used by maintaines only! Label triggers PR backport to ROS2 humble. label Jun 5, 2023
@destogl destogl removed the bug label Jun 12, 2023
bmagyar
bmagyar reviewed Jun 21, 2023
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THe only comment is regarding duplicating vs reworking the tests. Let's duplicate while the functionality is still there (we had issues with this before)

christophfroehlich
christophfroehlich approved these changes Jun 22, 2023
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Sounds fine for me now

@bmagyar bmagyar merged commit cf4448d into master Jun 23, 2023
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mergify bot pushed a commit that referenced this pull request Jun 23, 2023
@destogl @mergify
Enable setting of initial state in HW compoments (#1046)
f2ac6d7 
(cherry picked from commit cf4448d)

# Conflicts:
#	controller_manager/src/controller_manager.cpp
#	hardware_interface/include/hardware_interface/resource_manager.hpp
#	hardware_interface/src/resource_manager.cpp
@mergify mergify bot mentioned this pull request Jun 23, 2023
Merged
@bmagyar bmagyar deleted the hw-components-initial-state branch December 4, 2023 10:43
destogl pushed a commit that referenced this pull request Jan 22, 2024
@mergify
Enable setting of initial state in HW components (backport #1046) (#1064
2d31b1b 
)

(cherry picked from commit cf4448d)


---------
Co-authored-by: Dr. Denis <denis@stoglrobotics.de>
Co-authored-by: Bence Magyar <bence.magyar.robotics@gmail.com>
Co-authored-by: Christoph Froehlich <christoph.froehlich@ait.ac.at>
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@bmagyar bmagyar bmagyar approved these changes

@christophfroehlich christophfroehlich christophfroehlich approved these changes

@aprotyas aprotyas Awaiting requested review from aprotyas

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@livanov93 livanov93 Awaiting requested review from livanov93

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