[Ready] Port over interpolation formulae, abort if goals tolerance violated

[ddengster]

Siphoned from #36

Addresses issue #30

Things done:

• interpolation formulae ported over from ros1
• sample() and interpolation() functions emit velocities and accelerations properly
• tests fixed accordingly due to parameter "stopped_velocity_tolerance" breaking them
• abort due to goal tolerance violation fixed

[codecov-commenter]

Codecov Report

Merging #62 into master will increase coverage by 3.03%.
The diff coverage is n/a.

@@            Coverage Diff             @@
##           master      #62      +/-   ##
==========================================
+ Coverage   33.12%   36.15%   +3.03%     
==========================================
  Files          12       23      +11     
  Lines        1123     2135    +1012     
  Branches      740     1297     +557     
==========================================
+ Hits          372      772     +400     
- Misses        103      202      +99     
- Partials      648     1161     +513     

Flag	Coverage Δ
#unittests	36.15% <ø> (+3.03%)	⬆️

Flags with carried forward coverage won't be shown. Click here to find out more.

Impacted Files	Coverage Δ
...include/joint_trajectory_controller/trajectory.hpp	46.66% <0.00%> (-20.00%)	⬇️
...int_trajectory_controller/test/test_trajectory.cpp	17.72% <0.00%> (-8.66%)	⬇️
.../joint_state_controller/joint_state_controller.hpp	100.00% <0.00%> (ø)
...jectory_controller/joint_trajectory_controller.hpp	100.00% <0.00%> (ø)
...rs/diff_drive_controller/test/test_accumulator.cpp	57.14% <0.00%> (ø)
...diff_drive_controller/rolling_mean_accumulator.hpp	85.71% <0.00%> (ø)
...ollers/diff_drive_controller/src/speed_limiter.cpp	54.54% <0.00%> (ø)
...te_controller/test/test_joint_state_controller.hpp	100.00% <0.00%> (ø)
...de/diff_drive_controller/diff_drive_controller.hpp	75.00% <0.00%> (ø)
...iff_drive_controller/src/diff_drive_controller.cpp	31.90% <0.00%> (ø)
... and 10 more

---

Continue to review full report at Codecov.

Legend - Click here to learn more
Δ = absolute <relative> (impact), ø = not affected, ? = missing data
Powered by Codecov. Last update ce6a4ab...7534de4. Read the comment docs.

[Karsten1987]

this has to be rebased

[bmagyar]

I'll take care of it

[ddengster]

@bmagyar
Thanks for taking care of the rebase. In general I think it'll be better for #68 to be fixed and go in first before this PR. I believe there are also a number of tests that have to be updated.

[v-lopez]

LGTM

[bmagyar]

With #68 merged I rebased this again and reviewed, looks good!

[ddengster]

@bmagyar @v-lopez So it seems there are a couple of updates in ros2_control that were intended for foxy that have propagated to the tests. I'm unable to compile them because I'm still on eloquent, and have to stay there for work reasons. Perhaps some of you would like to take over this PR for foxy?

The only work TBD is to make sure it's somewhat compatible with the partial joints PR and that the tests are updated to co-exist with the refactoring.

[v-lopez]

I'll try to give it a shot tomorrow.

[v-lopez]

I've tested with a docker from osrf/ros2:nightly and with the latest ros2_control and this branch I am able to compile and run all JTC tests succesfully.

The interaction with the partial joints should be straightforward, because your changes affect the Trajectory class, where the partial goals have been converted to full goals.

Is there anything I am missing?

[ddengster]

Is there anything I am missing?

There were a number of changes in test_trajectory_actions.cpp and when this refactor test cases PR came up. But I've looked at it and it seems fine. So LGTM