add a broadcaster for range sensor

[flochre]

Hello!

I have been working on a broadcaster for Range sensors.
Here is a Pull Request to integrate it!

In the file ros2_controllers/range_sensor_broadcaster/include/range_sensor_broadcaster/range_sensor_broadcaster.hpp I have not put my name since I basically just change IMU with Range.. Is this ok or should I put my name on it?

I have prepared the following file ros2_control/controller_interface/include/semantic_components/range_sensor.hpp
on my fork https://github.com/flochre/ros2_control/blob/feature/add-range-sensor-broadcast/controller_interface/include/semantic_components/range_sensor.hpp - Should I already make a pull request by ros2_control?

Thanks in advance,

Cheers!

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[bmagyar]

Please check the results from the CI. The format stage is failing, you need to run pre-commit run --all to let it fix things for you. Also check the other stages. The code currently doesn't compile and you also have a lot of conversion warnings (purple text)

[flochre]

The compilation is also not working because of the requirement to ros2_control

repositories:
    ros2_control:
        type: git
        url: https://github.com/flochre/ros2_control.git
        version: feature/add-range-sensor-broadcast

[flochre]

About the conversion warning, I don't get them for the range_sensor_broadcaster
Those I have are coming from other packages.. Should I still correct them?

[bmagyar]

Well let's start at the compilation first.
Could you please open a PR against ros2_control then? We can discuss here all we want if we are missing the other side ;)

[codecov-commenter]

Codecov Report

Merging #725 (19e53a8) into master (e7f9962) will decrease coverage by 4.90%.
Report is 361 commits behind head on master.
The diff coverage is 25.91%.

❗ Your organization is not using the GitHub App Integration. As a result you may experience degraded service beginning May 15th. Please install the Github App Integration for your organization. Read more.

@@            Coverage Diff             @@
##           master     #725      +/-   ##
==========================================
- Coverage   35.78%   30.88%   -4.90%     
==========================================
  Files         189        7     -182     
  Lines       17570      832   -16738     
  Branches    11592      505   -11087     
==========================================
- Hits         6287      257    -6030     
+ Misses        994      133     -861     
+ Partials    10289      442    -9847     

Flag	Coverage Δ
unittests	30.88% <25.91%> (-4.90%)	⬇️

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

Files Changed	Coverage Δ
...ontroller/test/test_load_diff_drive_controller.cpp	11.11% <0.00%> (ø)
...ive_controller/test/test_diff_drive_controller.cpp	12.66% <7.81%> (ø)
diff_drive_controller/src/odometry.cpp	42.16% <11.11%> (ø)
diff_drive_controller/src/speed_limiter.cpp	46.55% <11.11%> (ø)
...iff_drive_controller/src/diff_drive_controller.cpp	47.13% <46.94%> (ø)
...de/diff_drive_controller/diff_drive_controller.hpp	100.00% <100.00%> (ø)
...troller/include/diff_drive_controller/odometry.hpp	100.00% <100.00%> (ø)

... and 189 files with indirect coverage changes

[flochre]

I think everything should be set now ;)

[flochre]

Nice, compiling and testing worked!
Should I update the branch or you do it? Because if I do it the git actions will need to run again?
What do you prefere?
Thanks!

[bmagyar]

I didn't notice the load controller test here. Would you mind adding that too? Just copy it from any controller

[flochre]

Load test as been added and all test are passing in my workspace

[flochre]

Is there anything more I should do?

[bmagyar]

Thank you for sticking through the review, will wait for the CI to turn green and merge it!
I'll also backport this PR to humble

[christophfroehlich]

And I already got a notification of a warning in the docs ;)