Check robot description validity on AdmittanceController and test for it #2009
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saikishor
christophfroehlich
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christophfroehlich
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Thank you for taking this. I have some doubts if this is tested properly, see the comments
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| #include "admittance_controller/admittance_controller.hpp" | ||
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| #include <tinyxml2.h> |
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we'll need to add this as dependency (do we need to link against in the Cmake file?)
https://github.com/ros/urdfdom/blob/973baf479512b0b34951b3d5ebb616c22990d781/package.xml#L20
| reference_admittance_ = last_reference_; | ||
| joint_state_ = last_reference_; | ||
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| std::string robot_description = get_node()->get_parameter("robot_description").as_string(); |
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I'm not sure about this. The admittance controller doesn't use the robot_description parameter, but uses this->get_robot_description() from controller_interface_base since #1247. We should use this here as well obviously.
For the tests, you have to set controller_->robot_description_ to override this.
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worst case we may have some work left to refactor on this controller to use the URDF we pass to the controller, we shouldn't fetch a param: https://github.com/ros-controls/ros2_control/pull/1088/files
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as i've seen we don't parse it as a parameter any more, that's only a remnant in the tests
| get_node()->declare_parameter("robot_description", rclcpp::ParameterType::PARAMETER_STRING); | ||
| get_node()->set_parameter({"robot_description", robot_description_}); | ||
| } | ||
| if (!get_node()->has_parameter("robot_description_semantic")) |
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I think this can be deleted, I don't find any usage of robot_description_semantic?
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L393-394 has commented code regarding robot_description, this should also be deleted.
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Thinking again, is there really a need to check this inside the controller? The controller manager will not start with a broken urdf, right @saikishor ? |
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I agree with @christophfroehlich that this is not needed as CM provides a valid one.
Can you explain to us, why did you have a need to do this?
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see the linked issue, but this was before we passed the robot description from the cm to the controllers. sorry for not checking that earlier. @caio-freitas would you mind in reverting this and cleanup the tests as by my comments instead? |
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Fix #713
test_admittance_controller.cpp.on_initontest_admittance_controller.hppto only override the robot description with the one defined in theros2_control_test_assetsif not already defined.ros2_control/hardware_interface/src/component_parser.cpp(here)