Move hardware interface README content to sphinx documentation

[mateusmenezes95]

Overview

• Solve Hardware_interface: Merge good practices documentation #1324

Note

During the migration, I have a doubt about the example code for the elapsed time option. Shouldn't the value of period variable in the if statement also be retrieved from the URDF parameters sections?

[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

Comparison is base (0bdcd41) 47.53% compared to head (6a0995e) 47.53%.
Report is 11 commits behind head on master.

❗ Current head 6a0995e differs from pull request most recent head 00c63b4. Consider uploading reports for the commit 00c63b4 to get more accurate results

Additional details and impacted files

@@           Coverage Diff           @@
##           master    #1342   +/-   ##
=======================================
  Coverage   47.53%   47.53%           
=======================================
  Files          41       41           
  Lines        3547     3547           
  Branches     1930     1930           
=======================================
  Hits         1686     1686           
  Misses        459      459           
  Partials     1402     1402           

Flag	Coverage Δ
unittests	47.53% <ø> (ø)

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

[christophfroehlich]

LGTM, thanks. I think that these code snippets should give an idea how to solve this. I wouldn't make it more complex with adding parameter handling.

[mateusmenezes95]

LGTM, thanks. I think that these code snippets should give an idea how to solve this. I wouldn't make it more complex with adding parameter handling.

But the write and read methods have period as an argument too. Can't this get confusing? Or in fact period in the snippets is the methods argument?

[christophfroehlich]

But the write and read methods have period as an argument too. Can't this get confusing? Or in fact period in the snippets is the methods argument?

ah, you may be right. period is the parameter name of the method, it makes no sense to use this here. Do you want to change it to somewhat similar to 1./desired_hw_update_rate_ with a note that one has to implement parameter handling "like above"?

[saikishor]

LGTM

Future note:
After looking at this, I wonder if it's better to have different frequency management of how CM handles controllers, also at the hardware interface level.

[bmagyar]

@mateusmenezes95 i wonder if a slightly modified version could work for iron/humble too?