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Enable definition of all fields in JointTrajectory message when using test node. #389
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destogl
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Sep 5, 2022
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Enable definition of all fields in JointTrajectory message when using test node. #389
destogl
merged 3 commits into
ros-controls:master
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destogl:feature/set-all-JT-fields-from-test-node
Sep 5, 2022
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..._controllers_test_nodes/ros2_controllers_test_nodes/publisher_joint_trajectory_controller.py
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little bit of Python learning
..._controllers_test_nodes/ros2_controllers_test_nodes/publisher_joint_trajectory_controller.py
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@@ Coverage Diff @@
## master #389 +/- ##
==========================================
- Coverage 35.78% 29.98% -5.80%
==========================================
Files 189 7 -182
Lines 17570 737 -16833
Branches 11592 422 -11170
==========================================
- Hits 6287 221 -6066
+ Misses 994 161 -833
+ Partials 10289 355 -9934
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This PR extends test node for JTC to enable definition of all fields in
JointTrajectory
message when testing a hardware.This enables velocity, acceleration, and effort only inputs that JTC can handle but test node was unable to until now.
The goal of this work is to simplify testing of a controller for a specific hardware in a specific scenario.