Add utility node for transform wrench messages for a list of frames

[Juliaj]

Address #1842

This PR adds a new utility node wrench_transformer_node to force_torque_sensor_broadcaster to transform input Wrench messages to output Wrench messages for a given list of frames.

Feedback on naming is welcome and appreciated.

Testing

• Unit test added.
• ros_control_demos Example_5 is modified to verify the code change, [example_5] Update demo to illustrate the usage of wrench transformer ros2_control_demos#972

[codecov]

Codecov Report

❌ Patch coverage is 88.10198% with 42 lines in your changes missing coverage. Please review.
✅ Project coverage is 85.20%. Comparing base (ec198b1) to head (97a9495).
⚠️ Report is 1 commits behind head on master.

Files with missing lines	Patch %	Lines
...ensor_broadcaster/test/test_wrench_transformer.cpp	91.27%	14 Missing and 10 partials ⚠️
...rque_sensor_broadcaster/src/wrench_transformer.cpp	78.66%	8 Missing and 8 partials ⚠️
...sensor_broadcaster/src/wrench_transformer_main.cpp	0.00%	2 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##           master    #2021      +/-   ##
==========================================
+ Coverage   85.13%   85.20%   +0.07%     
==========================================
  Files         144      148       +4     
  Lines       13968    14321     +353     
  Branches     1201     1225      +24     
==========================================
+ Hits        11891    12202     +311     
- Misses       1670     1694      +24     
- Partials      407      425      +18     

Flag	Coverage Δ
unittests	85.20% <88.10%> (+0.07%)	⬆️

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

Files with missing lines	Coverage Δ
...e_torque_sensor_broadcaster/wrench_transformer.hpp	100.00% <100.00%> (ø)
...sensor_broadcaster/src/wrench_transformer_main.cpp	0.00% <0.00%> (ø)
...rque_sensor_broadcaster/src/wrench_transformer.cpp	78.66% <78.66%> (ø)
...ensor_broadcaster/test/test_wrench_transformer.cpp	91.27% <91.27%> (ø)

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[christophfroehlich]

Thanks a lot for picking this.

Overall LGTM. I added some suggestions to fix deprecation warnings or sphinx issues.

The tests do not cover if the message is actually transformed, right? Maybe you could add one for that.

[christophfroehlich]

Thanks for adding more tests, but I think the one I asked for is still missing?

And please use the github UI directly for committing proposed changes (from the files tab you can commit batches at once), this saves some minutes for the next review round :)

[Juliaj]

Thanks for adding more tests, but I think the one I asked for is still missing?

And please use the github UI directly for committing proposed changes (from the files tab you can commit batches at once), this saves some minutes for the next review round :)

Thanks, will do. Was looking for a way for batch commit.

[christophfroehlich]

Thanks, that test covers what I was asking for. A small detail in the comment

[Juliaj]

Thanks, that test covers what I was asking for. A small detail in the comment

Thanks, @christophfroehlich. Please let me know if any additional changes are needed. I've reviewed the comments but wasn't able to determine what specific changes are required.

[christophfroehlich]

LGTM, thanks again!

[saikishor]

Thanks for taking up this P
Pretty good testing 👌🏾

I've some nitpicks on the parameters etc, but these can be addressed in a different PR

[christophfroehlich]

Oh, I forgot one thing: Please update the doc/release_notes with this new feature.

[saikishor]

@Juliaj The nitpicks I mentioned earlier are the following:

• I don't think we will need broadcaster_namespace and use_filtered parameters at all, if you make the input topic as the wrench alone, when you namespace the node, it will listen to the broadcaster's topic right?. Likewise for the filtered topic part, you can remap the input topic to have it working
• It could be interesting to have a node like tf2_echo, so it would look like something like following

ros2 run force_torque_sensor_broadcaster wrench_transformer_node frame1 frame2 --ros-args -r __ns:=fts -r input:=wrench

• The output topic could also be something like /ns/<frame_name>/wrench?

What's your opinion on this?

[Juliaj]

@saikishor, thanks a lot for your feedback on simplifying the parameter handling, ❤️ them .

• I don't think we will need broadcaster_namespace and use_filtered parameters at all, if you make the input topic as the wrench alone, when you namespace the node, it will listen to the broadcaster's topic right?. Likewise for the filtered topic part, you can remap the input topic to have it working

Agreed, broadcaster_namespace and use_filtered removed.

• The output topic could also be something like /ns/<frame_name>/wrench?

Implemented as your suggested with a small add-on. If the user remaps the topic to wrench_filtered, the output topic will be a corresponding /ns/<frame_name>/wrench_filtered.

For following,

have a node like tf2_echo,

I created a separate issue and will look into it in subsequent PR.

[Juliaj]

Oh, I forgot one thing: Please update the doc/release_notes with this new feature.

Added. The release_notes.rst was empty , so I wasn't sure if it was the right file to edit.

[christophfroehlich]

Oh, I forgot one thing: Please update the doc/release_notes with this new feature.

Added. The release_notes.rst was empty , so I wasn't sure if it was the right file to edit.

No this is fine, I just recently branched off for kilted. That's why the kilted-lyrical release notes are empty.