Add key-value-storage to the InterfaceInfo #1421
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This looks valuable and the implementation is straight forward, thanks!
Just one usual comment from my side, please add this to the docs:
- maybe here or create a new page.
- into the release notes. If it get not merged soon, just comment here and I'll add that later.
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@mamueluth can you please rebase this on master to run the checks? (we can't do that because this PR comes from an organization) |
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…ned per Command-/StateInterface
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@christophfroehlich I added a overview to the docs. There the key-value storage is described in a generic example. We could explain the other xml tags there as well. |
destogl
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Aug 16, 2024
Codecov ReportAll modified and coverable lines are covered by tests ✅
Additional details and impacted files@@ Coverage Diff @@
## master #1421 +/- ##
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+ Coverage 86.81% 86.82% +0.01%
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Files 116 116
Lines 10692 10688 -4
Branches 978 977 -1
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- Hits 9282 9280 -2
Misses 1059 1059
+ Partials 351 349 -2
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Co-authored-by: Dr. Denis <[email protected]>
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hardware_interface/include/hardware_interface/hardware_info.hpp
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Co-authored-by: Bence Magyar <[email protected]>
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Co-authored-by: Sai Kishor Kothakota <[email protected]>
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This PR adds the possibility to define custom parameters (key-value-storage) per Interface (Commad-/StateInterface). This is useful to define a .ros2_control.xacro for a hardware driver that uses for example Modbus for communication. In this case, you want to be able to define e.g. which register is used to retrieve/write the data for each Command-/StateInteface Individually.
Has been tested and works. Test have been added.
The exception as been altered as I did some mistake while defining the URDF and the thrown exception "invalid URDF passed in to robot parser" is not very useful at all. I would prefer this to be merged as it now gives some useful hint what was gone wrong. If i should move the two lines of code to an other PR as its not really related please let me know.