Bence Magyar

Clean up controller manager tests

2

## Background A set of easy-to-tackle points were raised on #476 . The following list captures them: 1. ``` controller_manager/test/test_load_controller.cpp TEST_F(TestLoadController, can_configure_loaded_controller) @destogl destogl yesterday Member Isn't this the same...

In #467 , `controller_manager/doc/userdoc.rst ` introduced docs for spawner and unspawner. Should we add controller_manager_services.py and launch_utils.py ?

Time to get rid of exceptions

3

We have error codes returned as well as exceptions. While it's quick and easy to flag up issues this way while things are wildly developing, I think we have reached...

Exceptions thrown in controllers should never crash the entire framework

3

Restrict the scope of exceptions thrown in controllers to those controllers. General idea: When an exception is thrown in a controller, that controller should go into some failed state. This...

Add terminate handler to ros2_control_node

1

A terminate handler should be added to `ros2_control_node` as a last resort to ensure destructors of system components are called and (when done) everything in `ResourceManager` can be put through...

Implement with templated `getValue()` function using `reinterpret_cast`

... in "optional" stages so they are allowed to fail but would serve to flag up changes that could break controllers.

Review & update controller_interface documentation on realtime-safe methods

3

Methods that should be realtime-safe should have this documented in their docstrings

Documentation and/or tests for ros2controlcli

2

With https://github.com/ros-controls/ros2_control/pull/349 we've introduced a new verb, `ros2 control set_state ...` and added an optional parameter to `ros2 control load ...` to support the same logic, advancing the state of...

pep257 differences between the ros-tooling and ros-industrial CI

5

By @Karsten1987 > I do believe there's a fine difference in the pep257 between the ros-tooling and ros-industrial CI. The source build (ros-tooling) seems to use a version which expects...