Cartesian twist controller

[livanov93]

PR info:

• add twist controller (cartesian controller) using input type message geometry_msgs/TwistStamped

TODOs:

• add tests

[moriarty]

@livanov93 I've rebased this branch onto Humble and brought it in sync with the internal version from PickNik for open sourcing. https://github.com/livanov93/ros2_controllers/commit/19a6068df093252c7c4a4d3756c6c8d854372316

Should we force push onto this PR or close this one out and open a new one?

[livanov93]

@moriarty Feel free to force-push here.

[mergify[bot]]

This pull request is in conflict. Could you fix it @livanov93?

[moriarty]

@livanov93 I've rebased this branch onto Humble and brought it in sync with the internal version from PickNik for open sourcing. livanov93@19a6068

Should we force push onto this PR or close this one out and open a new one?

I've forced pushed but the internal version was targeting humble so that's what I'd rebased on. To bring it up to date with master I'll need to first do a bit more testing.

[moriarty]

looks good to me. someone else must approve.

@malapatiravi

Looks mostly fine to me, but I've left a few nits in-line.

I think you need to rebase your branch on ros-controls:master for CI to pass, since your branch doesn't have ros2_controllers_test_nodes (e7d0517) yet.

Also, looks like the linter is unhappy.

@aprotyas

I've taken over this Branch & PR from @livanov93 and it's ready for another review. I'm unable to re-request reviews or remove the [WIP] because I didn't open the PR. The tests should be passing, but if someone could trigger CI that would be great then I can take a look at any failures

[codecov-commenter]

Codecov Report

Merging #300 (87717e7) into master (e7f9962) will decrease coverage by 3.36%. The diff coverage is 26.44%.

:mega: This organization is not using Codecov’s GitHub App Integration. We recommend you install it so Codecov can continue to function properly for your repositories. Learn more

@@            Coverage Diff             @@
##           master     #300      +/-   ##
==========================================
- Coverage   35.78%   32.43%   -3.36%     
==========================================
  Files         189        7     -182     
  Lines       17570      666   -16904     
  Branches    11592      358   -11234     
==========================================
- Hits         6287      216    -6071     
+ Misses        994      157     -837     
+ Partials    10289      293    -9996     

Flag	Coverage Δ
unittests	32.43% <26.44%> (-3.36%)	:arrow_down:

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

Impacted Files	Coverage Δ
...ontroller/test/test_load_diff_drive_controller.cpp	11.11% <0.00%> (ø)
diff_drive_controller/src/odometry.cpp	42.16% <11.11%> (ø)
diff_drive_controller/src/speed_limiter.cpp	46.55% <11.11%> (ø)
...ive_controller/test/test_diff_drive_controller.cpp	17.62% <12.08%> (ø)
...troller/include/diff_drive_controller/odometry.hpp	20.00% <20.00%> (ø)
...iff_drive_controller/src/diff_drive_controller.cpp	39.22% <35.50%> (ø)
...de/diff_drive_controller/diff_drive_controller.hpp	100.00% <100.00%> (ø)

... and 189 files with indirect coverage changes

[moriarty]

@moriarty Looks fine, please take a look on the suggestions. Although I can't approve as PR owner

:+1: and as I am not PR owner I can't mark any comments as resolved :laughing:

I will run the fixup the formatting. The Rolling - ABI compatibility is known to be broken. I noticed it when testing locally and had to clone control_msgs to get https://github.com/ros-controls/control_msgs/pull/86 and it is causing a lot of CI jobs to fail https://github.com/ros-controls/ros2_controllers/pull/565#issuecomment-1531882731