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[Feature] Interfaces remapping for controllers #1667

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[Feature] Interfaces remapping for controllers #1667

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saikishor
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This PR aims to add a new features to the controllers so that they will be able to remap interfaces, this would be interesting to have as for interfaces such as effort the hardware could expose more meaningful interfaces such as torque, force or current and it would get the logic of the controller more complicated if they need to support multiple type of interfaces. Instead the users should be able to remap as simply by defining the remapping definition under the controller's parameters

controller_joint2:
  ros__parameters:
    type: "controller_manager/test_controller_with_interfaces"
    joint_name: "joint2"
    remap:
      state_interfaces:
        "joint2/effort": "joint2/torque"
      command_interfaces:
        "joint2/effort": "joint2/torque"

The controller prints some more explicit log when configuring the controller, so that the user are clear on what interfaces are being remapped

1: [INFO] [1723486187.875195738] [test_controller_manager]: Configuring controller 'controller_joint3'
1: [WARN] [1723486187.875569719] [controller_joint3]: The controller : controller_joint3 will remap the following state interfaces:
1: [WARN] [1723486187.875584819] [controller_joint3]: 	'joint3/effort' to 'joint3/force'
1: [WARN] [1723486187.875615433] [controller_joint3]: The controller : controller_joint3 will remap the following command interfaces:
1: [WARN] [1723486187.875621793] [controller_joint3]: 	'joint3/effort' to 'joint3/force'

Related to ros-controls/roadmap#61

@saikishor
add interface mapping to the ControllerInterfaceBase class
7242148
@saikishor
add methods to access the state and command remapping interface map
0b09028
@saikishor
add a remapped integration configuration method to ControllerSpec
85aa876
@saikishor
utilize the remapped interface configuration in the CM
5da8889
@saikishor
Add support for effort interface inside the test_actuator component
2113614
@saikishor
parameterize the joint name in the controller with interfaces
1f83254
@saikishor
Move the remapping logic to the configure method of controller interf…
81752bb 
…ace base
@saikishor
Request also state interfaces from TestControllerWithInterfaces class
ceb3e77
@saikishor
Added test for the remapping controllers
81adce4
@saikishor
predeclare all the available state interfaces for the controllers
c37a08b
@saikishor
simplify the remapping logic in the ControllerSpec class
f800768
@saikishor
simplify the method names
3971510
@saikishor
update test to unspawn the controllers and recheck the release of int…
e6b8d9e 
…erfaces
@saikishor
Add release notes
cd62c79
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codecov bot commented Aug 12, 2024 •
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Codecov Report

Attention: Patch coverage is 95.72650% with 5 lines in your changes missing coverage. Please review.

Project coverage is 86.97%. Comparing base (9e57adf) to head (a3ef839).
Report is 1 commits behind head on master.

Files Patch % Lines
...roller_interface/src/controller_interface_base.cpp 85.71% 0 Missing and 4 partials ⚠️
controller_manager/src/controller_manager.cpp 95.23% 0 Missing and 1 partial ⚠️
Additional details and impacted files 
@@            Coverage Diff             @@
##           master    #1667      +/-   ##
==========================================
+ Coverage   86.81%   86.97%   +0.16%     
==========================================
  Files         116      117       +1     
  Lines       10692    10785      +93     
  Branches      978      997      +19     
==========================================
+ Hits         9282     9380      +98     
+ Misses       1059     1047      -12     
- Partials      351      358       +7
Flag Coverage Δ
unittests 86.97% <95.72%> (+0.16%) ⬆️

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

Files Coverage Δ
...controller_interface/controller_interface_base.hpp 87.50% <ø> (ø)
...ger/include/controller_manager/controller_spec.hpp 100.00% <100.00%> (ø)
...ller_manager/test/test_controller_manager_srvs.cpp 99.26% <100.00%> (ø)
...ith_interfaces/test_controller_with_interfaces.cpp 100.00% <100.00%> (+20.00%) ⬆️
...ith_interfaces/test_controller_with_interfaces.hpp 100.00% <100.00%> (ø)
...ler_manager/test/test_hardware_management_srvs.cpp 98.56% <ø> (ø)
...ontroller_manager/test/test_release_interfaces.cpp 92.30% <100.00%> (+4.80%) ⬆️
...ace_testing/test/test_components/test_actuator.cpp 92.85% <100.00%> (+1.19%) ⬆️
...e_interface_testing/test/test_resource_manager.cpp 99.32% <ø> (ø)
controller_manager/src/controller_manager.cpp 77.49% <95.23%> (-0.20%) ⬇️
... and 1 more

... and 2 files with indirect coverage changes

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mergify bot commented Aug 21, 2024

This pull request is in conflict. Could you fix it @saikishor?

@christophfroehlich christophfroehlich mentioned this pull request Aug 22, 2024
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mergify bot commented Aug 26, 2024

This pull request is in conflict. Could you fix it @saikishor?

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