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[Steering controllers library] Reference interfaces are body twist #1168

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merged 2 commits into from
Jun 18, 2024
Merged

[Steering controllers library] Reference interfaces are body twist #1168

merged 2 commits into from
Jun 18, 2024

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christophfroehlich
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@christophfroehlich christophfroehlich commented Jun 9, 2024 •
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Fixes #1167

I'm not sure if the intention of the author was to have position input, but as it is implemented we have a body twist input on reference interfaces (velocity, not position). This PR fixes this, without any attempt to deprecate the old behavior because it was just wrong.

Tests succeed on iron distro

$ colcon test --packages-select steering_controllers_library ackermann_steering_controller bicycle_steering_controller tricycl
e_steering_controller
Starting >>> steering_controllers_library
Finished <<< steering_controllers_library [0.48s]          
Starting >>> ackermann_steering_controller
Starting >>> bicycle_steering_controller
Starting >>> tricycle_steering_controller
Finished <<< tricycle_steering_controller [7.25s]                                                                                                  
Finished <<< ackermann_steering_controller [7.28s]
Finished <<< bicycle_steering_controller [7.33s]

Summary: 4 packages finished [8.33s]

@christophfroehlich christophfroehlich added backport-humble This label should be used by maintaines only! Label triggers PR backport to ROS2 humble. backport-iron This label should be used by maintaines only! Label triggers PR backport to ROS2 Iron. labels Jun 9, 2024
@christophfroehlich christophfroehlich mentioned this pull request Jun 9, 2024
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bmagyar
bmagyar approved these changes Jun 17, 2024
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🤔

saikishor
saikishor approved these changes Jun 18, 2024
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LGTM
This basically affects only the controllers that chains with steering controller library
Thanks for the fixes @christophfroehlich

@bmagyar bmagyar merged commit 6155248 into master Jun 18, 2024
7 of 20 checks passed
@bmagyar bmagyar deleted the fix/steering_controllers_library_reference_itfs branch June 18, 2024 08:21
mergify bot pushed a commit that referenced this pull request Jun 18, 2024
@christophfroehlich @mergify
[Steering controllers library] Reference interfaces are body twist (#…
aff1c1c 
…1168)

(cherry picked from commit 6155248)
mergify bot pushed a commit that referenced this pull request Jun 18, 2024
@christophfroehlich @mergify
[Steering controllers library] Reference interfaces are body twist (#…
286aa23 
…1168)

(cherry picked from commit 6155248)
christophfroehlich added a commit that referenced this pull request Jun 18, 2024
@christophfroehlich
[Steering controllers library] Reference interfaces are body twist (#…
03ba099 
…1168)

(cherry picked from commit 6155248)
christophfroehlich added a commit that referenced this pull request Jun 19, 2024
@mergify @christophfroehlich
[Steering controllers library] Reference interfaces are body twist (#…
17ca070 
…1168) (#1173)

(cherry picked from commit 6155248)

Co-authored-by: Christoph Fröhlich <christophfroehlich@users.noreply.github.com>
christophfroehlich added a commit that referenced this pull request Jun 19, 2024
@mergify @christophfroehlich
[Steering controllers library] Reference interfaces are body twist (#…
bb02f1c 
…1168) (#1174)

(cherry picked from commit 6155248)

Co-authored-by: Christoph Fröhlich <christophfroehlich@users.noreply.github.com>
wittenator pushed a commit to wittenator/ros2_controllers that referenced this pull request Jul 2, 2024
@christophfroehlich @wittenator
[Steering controllers library] Reference interfaces are body twist (r…
ac004d0 
…os-controls#1168)
@destogl destogl mentioned this pull request Aug 14, 2024
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@saikishor saikishor saikishor approved these changes

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Ackermann preceding reference command interfaces are not correct
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