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[BREAKING CHANGE] Use robot_description topic instead of ~/robot_description and update docs regarding this #1410

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merged 8 commits into from
Feb 28, 2024

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fmauch
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@fmauch fmauch commented Feb 21, 2024

Since now the desired way of receiving the robot_description is the topic rather than the parameter, we need to update the documentation accordingly as mentioned in #1045 (comment).

As discussed in #1358 (comment) and #1138 I've used the robot_description topic as this is where we want it to be rather than ~/robot_description.

To make this correct, I've also added a commit changing the subscription from ~/robot_description to robot_description which is why this is a behavior breaking change. If we merge this here, we then can update #1358 accordingly (I can make a separate PR to that branch, if you like @destogl)

Nowadays the parameter is deprecated and will get removed.
Using robot_description by default instead will work for most people out of the box while also working correctly with different descriptions in different namespaces when using remaps.
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codecov bot commented Feb 21, 2024

Codecov Report

All modified and coverable lines are covered by tests ✅

Project coverage is 75.88%. Comparing base (1538c91) to head (e0c5275).

❗ Current head e0c5275 differs from pull request most recent head ab2f8ed. Consider uploading reports for the commit ab2f8ed to get more accurate results

Additional details and impacted files
@@             Coverage Diff             @@
##           master    #1410       +/-   ##
===========================================
+ Coverage        0   75.88%   +75.88%     
===========================================
  Files           0       41       +41     
  Lines           0     3359     +3359     
  Branches        0     1935     +1935     
===========================================
+ Hits            0     2549     +2549     
- Misses          0      418      +418     
- Partials        0      392      +392     
Flag Coverage Δ
unittests 75.88% <100.00%> (?)

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

Files Coverage Δ
controller_manager/src/controller_manager.cpp 69.43% <100.00%> (ø)

... and 40 files with indirect coverage changes

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@christophfroehlich christophfroehlich left a comment

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LGTM, and thanks for updating docs :)

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@saikishor saikishor left a comment

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Thanks for updating the documentation!
I've added some minor suggestions. What do you think about them?

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fmauch and others added 2 commits February 22, 2024 13:01
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@fmauch Can you fix the format locally and push?, apart from that everything looks good to me

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fmauch commented Feb 22, 2024

Yes, but not before tonight

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fmauch commented Feb 22, 2024

Found a short slot.

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LGTM

@destogl destogl merged commit dbfe9ea into ros-controls:master Feb 28, 2024
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Please backport to humble

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Please backport to humble

Unfortunately, we cannot backport this to the Humble LTS distro, it would break lots of existing setups.

@fmauch fmauch deleted the update_docs branch May 22, 2024 17:13
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5 participants