forward_command_controller #87
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## master #87 +/- ##
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+ Coverage 33.12% 37.26% +4.13%
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Files 12 23 +11
Lines 1123 2383 +1260
Branches 740 1470 +730
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+ Hits 372 888 +516
- Misses 103 180 +77
- Partials 648 1315 +667
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@jordan-palacios can I help you with this? Testing/ debugging/ coding ... whatever you need. |
Thanks @AndyZe but this PR it's pretty much done. Right now is blocked until #90 is merged. |
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Great! I will make it my goal to get this running in simulation with fake_joint_driver, then |
* Check joints and interface_name params * Check requested joints exist in the robot hardware * Initialize joint handles * Create command topic subscriber
Also throttled loggin macro in update()
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| constexpr auto kFCCLoggerName = "forward command controller"; |
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as much as I like this being called "KFC_clogger_name" I think this could be a const member of the controller?
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The logger name is already a member variable, though non const so the controllers that will inherit from this one may change it. I could make it to be default initialized to "forward command controller" and remove the kFCCLoggerName altogether.
What do you think?
Port of forward_command_controller from ROS1.
Depends #90.
Closes #78.