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Publish singularity condition to topic #695
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Debug data good.
Codecov Report
@@ Coverage Diff @@
## main #695 +/- ##
==========================================
+ Coverage 54.17% 54.19% +0.02%
==========================================
Files 192 192
Lines 20182 20184 +2
==========================================
+ Hits 10931 10936 +5
+ Misses 9251 9248 -3
Continue to review full report at Codecov.
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one small nit, otherwise I see no issue with this.
@@ -157,6 +157,7 @@ ServoCalcs::ServoCalcs(rclcpp::Node::SharedPtr node, | |||
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// Publish status | |||
status_pub_ = node_->create_publisher<std_msgs::msg::Int8>(parameters_->status_topic, ROS_QUEUE_SIZE); | |||
condition_pub_ = node_->create_publisher<std_msgs::msg::Float64>("~/condition", ROS_QUEUE_SIZE); |
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Would you mind moving the name of this topic into a constant in the anonymous namespace? We generally try to avoid string constants and other magic numbers in the code.
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will do, thanks
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Description
Publish singularity condition to ~/servo_server/condition to help understand servo behavior around singularities
This is broken out from #620
Checklist