Delete failing parameter undeclare in JointGroupPositionController #222
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I think that solution goes into the right direction. Maybe would be even better to set the parameter to hardware_interface::HW_IF_POSITION there. This would make it more explicit for someone reading it. And since we don't have dynamic reconfigure, its change during runtime would not change anything.
@schornakj What do you think?
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also, in general, this should then apply to all forward command controller derivatives, right? |
Good point, there are other plugins with the same issue. I can fix those here as well. |
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One small comment since we are already editing this part of the code.
@schornakj thanks for your PR and for addressing our comments very fast.
| // Explicitly set the interface parameter declared by the forward_command_controller | ||
| // to match the value set in the JointGroupEffortController constructor. | ||
| get_node()->set_parameter(rclcpp::Parameter("interface_name", hardware_interface::HW_IF_EFFORT)); | ||
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| } catch (const std::exception & e) { |
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I would use this opportunity also to make this catch more specific. According to docstring set_parameter method throws rclcpp::exceptions::ParameterNotDeclaredException. Should be make this more explicit? @schornakj, @bmagyar what do you think?
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I think I'd actually continue catching std::exception. If a different exception is thrown other than ParameterNotDeclaredException (which is not likely) we still want to catch it and cleanly exit the initialization function by returning an error code.
This is one way to fix #221 and allow loading the JointGroupPositionController plugin on Rolling.
If I understand correctly, the JointGroupPositionController just sets the value of
interface_name_tohardware_interface::HW_IF_POSITIONinstead of reading it from a parameter, so it shouldn't make a functional difference whether the parameter is explicitly undeclared or simply not read.