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Propagate read/write rate to the HardwareInfo properly #1928

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Propagate read/write rate to the HardwareInfo properly #1928

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917ca1b
Propagate read/write rate to the HardwareInfo properly
saikishor Dec 10, 2024
5ae663e
Add tests checking the HardwareComponentState
saikishor Dec 10, 2024
52eae61
Add condition in all the hardware component test plugins
saikishor Dec 10, 2024
9ba0518
Add more tests for valid rw_rate
saikishor Dec 11, 2024
dad6929
Merge branch 'master' into propagate/hw_rate/alternative
saikishor Dec 11, 2024
48ad752
Merge branch 'master' into propagate/hw_rate/alternative
saikishor Dec 12, 2024
8bf3d7f
Update hardware_interface/src/resource_manager.cpp
saikishor Dec 13, 2024
cd2530f
Merge branch 'master' into propagate/hw_rate/alternative
saikishor Dec 13, 2024
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13 changes: 8 additions & 5 deletions hardware_interface/src/resource_manager.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -142,10 +142,7 @@ class ResourceStorage
component_info.name = hardware_info.name;
component_info.type = hardware_info.type;
component_info.group = hardware_info.group;
component_info.rw_rate =
(hardware_info.rw_rate == 0 || hardware_info.rw_rate > cm_update_rate_)
? cm_update_rate_
: hardware_info.rw_rate;
component_info.rw_rate = hardware_info.rw_rate;
component_info.plugin_name = hardware_info.hardware_plugin_name;
component_info.is_async = hardware_info.is_async;

Expand Down Expand Up @@ -1127,7 +1124,13 @@ bool ResourceManager::load_and_initialize_components(

resource_storage_->cm_update_rate_ = update_rate;

const auto hardware_info = hardware_interface::parse_control_resources_from_urdf(urdf);
auto hardware_info = hardware_interface::parse_control_resources_from_urdf(urdf);
// Set the update rate for all hardware components
for (auto & hw_rate : hardware_info)
{
hw_rate.rw_rate =
(hw_rate.rw_rate == 0 || hw_rate.rw_rate > update_rate) ? update_rate : hw_rate.rw_rate;
}
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const std::string system_type = "system";
const std::string sensor_type = "sensor";
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