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[CM] Remove support for the description parameter and use only robot_description
topic
#1358
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May I raise the question (has probably been discussed elsewhere, but I couldn't find a note in #940): Why do we subscribe to If we instead subscribed to |
This is intended, but soley by myself :) The idea was to work with the local namespace. Reading your comment, you are right. for the cases where one has multiple controller managers, one should remap those instead making people to do remapping by default. |
so... should we change that? |
I'll adjust! |
So when using multiple controller managers, we remap the topic within the launch file like this?
Am I right? |
That's the idea. |
This pull request is in conflict. Could you fix it @destogl? |
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Please add migration notes to https://github.com/ros-controls/ros2_control/blob/master/doc/migration/Iron.rst
This pull request is in conflict. Could you fix it @destogl? |
Now conflicting |
…cription-from-param
I've resolved the conflicts on my fork: fmauch@7418dbb I could either make a PR to this PR's branch, or I could make a new PR replacing this or a maintainer could push my merge commit to this PR's branch. I think the latter is the best option, as then the history of this PR will be retained and git history will stay somehow understandable. The tests run fine and I tested the UR driver against this locally. |
…-param Merge current master into cm-remove-robot-description
robot_description
topic
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LGTM
fyi @fmauch I've added a commit and added this change to the migration guide.
* [ResourceManager] Make destructor virtual for use in derived classes (#1607) * Fix typos in test_resource_manager.cpp (#1609) * [CM] Remove support for the description parameter and use only `robot_description` topic (#1358) --------- Co-authored-by: Felix Exner <exner@fzi.de> Co-authored-by: Christoph Froehlich <christoph.froehlich@ait.ac.at> * move critical variables to the private context (#1623) * Fix controller starting with later load of robot description test (#1624) * Fix the duplicated restart of the controller_manager services initialization * Scope the ControllerManagerRunner to avoid malloc and other test issues * reorder the tests for consistent log at the end * Remove noqa (#1626) * Unused header cleanup (#1627) * Create debugging.rst (#1625) --------- Co-authored-by: Sai Kishor Kothakota <saisastra3@gmail.com> Co-authored-by: Christoph Froehlich <christoph.froehlich@ait.ac.at> * Update changelogs * 4.14.0 * add missing rclcpp logging include for Humble compatibility build (#1635) * [CM] Remove deprecated spawner args (#1639) * Add a pytest launch file to test ros2_control_node (#1636) * Fix rst markup (#1642) * Fix rqt_cm paragraph * Fix indent * CM: Add missing includes (#1641) * [RM] Add `get_hardware_info` method to the Hardware Components (#1643) * Fix the namespaced controller_manager spawner + added tests (#1640) * Bump version of pre-commit hooks (#1649) Co-authored-by: christophfroehlich <3367244+christophfroehlich@users.noreply.github.com> * Add missing include for executors (#1653) * Update changelogs * 4.15.0 * refactor SwitchParams to fix the incosistencies in the spawner tests (#1638) * Modify test with missing CM to have a timeout * Catch exception when CM services are not found And print the error and exit in the application * Exit with code 1 on unreached CM --------- Co-authored-by: Sai Kishor Kothakota <sai.kishor@pal-robotics.com> Co-authored-by: Parker Drouillard <parker@pepcorp.ca> Co-authored-by: Dr. Denis <denis@stoglrobotics.de> Co-authored-by: Christoph Froehlich <christoph.froehlich@ait.ac.at> Co-authored-by: Christoph Fröhlich <christophfroehlich@users.noreply.github.com> Co-authored-by: Henry Moore <henry.moore@picknik.ai> Co-authored-by: Lennart Nachtigall <firesurfer127@gmail.com> Co-authored-by: Sai Kishor Kothakota <saisastra3@gmail.com> Co-authored-by: Bence Magyar <bence.magyar.robotics@gmail.com> Co-authored-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com> Co-authored-by: christophfroehlich <3367244+christophfroehlich@users.noreply.github.com>
Part of the #1237.
Has to be adjusted after #1354 is merged.