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[MockHardware] Fix the issues where hardware with multiple interfaces can not be started because of a logical bug added when adding dynamics calculation functionality. #1151

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merged 2 commits into from
Nov 6, 2023

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@destogl destogl commented Nov 2, 2023

Fixes #1144.

I have introduces this bug. The issues is that if one is not using dynamic calculations there is no limitation on interfaces used.

I have also added a test to avoid this hapening again.

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codecov bot commented Nov 2, 2023

Codecov Report

Merging #1151 (1909d69) into master (863f161) will decrease coverage by 16.12%.
The diff coverage is 14.58%.

❗ Current head 1909d69 differs from pull request most recent head 25e3de4. Consider uploading reports for the commit 25e3de4 to get more accurate results

Additional details and impacted files
@@             Coverage Diff             @@
##           master    #1151       +/-   ##
===========================================
- Coverage   47.57%   31.46%   -16.12%     
===========================================
  Files          41       94       +53     
  Lines        3449    10937     +7488     
  Branches     1873     7507     +5634     
===========================================
+ Hits         1641     3441     +1800     
- Misses        482      805      +323     
- Partials     1326     6691     +5365     
Flag Coverage Δ
unittests 31.46% <14.58%> (-16.12%) ⬇️

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

Files Coverage Δ
...e_interface/src/mock_components/generic_system.cpp 54.51% <100.00%> (+0.29%) ⬆️
...rface/test/mock_components/test_generic_system.cpp 8.26% <10.86%> (ø)

... and 54 files with indirect coverage changes

destogl and others added 2 commits November 6, 2023 11:11
…rted because of a logical bug added when adding dynamics calculation functionality.
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I like this code to test ratio

@destogl destogl merged commit 8bf1a8a into master Nov 6, 2023
16 of 17 checks passed
@destogl destogl deleted the fixup-1144 branch November 6, 2023 18:18
christophfroehlich added a commit to christophfroehlich/ros2_control that referenced this pull request Nov 16, 2023
…terfaces can not be started because of a logical bug added when adding dynamics calculation functionality. (ros-controls#1151)"

This reverts commit 8bf1a8a.
@JafarAbdi
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@destogl Could you please backport this to humble branch? The mentioned issue affect the latest Humble ros2_control binary release

JafarAbdi pushed a commit to JafarAbdi/ros2_control that referenced this pull request Nov 23, 2023
… can not be started because of a logical bug added when adding dynamics calculation functionality. (ros-controls#1151)

Co-authored-by: Bence Magyar <bence.magyar.robotics@gmail.com>
@bmagyar bmagyar added the backport-humble This label should be used by maintaines only! Label triggers PR backport to ROS2 humble. label Nov 23, 2023
mergify bot pushed a commit that referenced this pull request Nov 23, 2023
… can not be started because of a logical bug added when adding dynamics calculation functionality. (#1151)

Co-authored-by: Bence Magyar <bence.magyar.robotics@gmail.com>
(cherry picked from commit 8bf1a8a)
bmagyar pushed a commit that referenced this pull request Nov 23, 2023
… can not be started because of a logical bug added when adding dynamics calculation functionality. (#1151) (#1178)

Co-authored-by: Bence Magyar <bence.magyar.robotics@gmail.com>
(cherry picked from commit 8bf1a8a)

Co-authored-by: Dr. Denis <denis@stoglrobotics.de>
christophfroehlich added a commit to christophfroehlich/ros2_control that referenced this pull request Nov 28, 2023
…terfaces can not be started because of a logical bug added when adding dynamics calculation functionality. (ros-controls#1151)"

This reverts commit 8bf1a8a.
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Mock components cannot execute MoveIt trajectories for robots with multiple command interfaces
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