Generate Parameter Library for Joint Trajectory Controller

[tylerjw]

Signed-off-by: Tyler Weaver [email protected]

This is an PR to converting the parameter usage in JTC to use https://github.com/PickNikRobotics/generate_parameter_library

[tylerjw]

Overall I think this looks like an improvement. There are more changes that will need to be made, though, like making dof_ constant in trajectory.cpp.

Can you help me understand what you mean by this by pointing to the code you want me to update?

[AndyZe]

I think we should talk about in the ros2_control WG meeting. Basically dof_ should become constant (I think). That's going to change a bunch of other stuff in good ways. Then this PR can be applied on top of it.

[tylerjw]

I think we should talk about in the ros2_control WG meeting. Basically dof_ should become constant (I think). That's going to change a bunch of other stuff in good ways. Then this PR can be applied on top of it.

https://github.com/ros-controls/ros2_controllers/issues/394

[tylerjw]

This passes all CI jobs but the ABI compatibility checks one which doesn't use a repos file so I wasn't able to add it as a source dependency. We'll bloom the package but it won't be ready for use without a repos file until the next sync.

[mergify[bot]]

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

[codecov-commenter]

Codecov Report

Merging #384 (0a36a6b) into master (e7f9962) will decrease coverage by 5.79%. The diff coverage is 20.65%.

@@            Coverage Diff             @@
##           master     #384      +/-   ##
==========================================
- Coverage   35.78%   29.98%   -5.80%     
==========================================
  Files         189        7     -182     
  Lines       17570      737   -16833     
  Branches    11592      422   -11170     
==========================================
- Hits         6287      221    -6066     
+ Misses        994      161     -833     
+ Partials    10289      355    -9934     

Flag	Coverage Δ
unittests	29.98% <20.65%> (-5.80%)	:arrow_down:

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

Impacted Files	Coverage Δ
...de/diff_drive_controller/diff_drive_controller.hpp	100.00% <ø> (ø)
...ontroller/test/test_load_diff_drive_controller.cpp	12.50% <0.00%> (ø)
diff_drive_controller/src/odometry.cpp	42.16% <11.11%> (ø)
...ive_controller/test/test_diff_drive_controller.cpp	17.62% <12.08%> (ø)
diff_drive_controller/src/speed_limiter.cpp	46.55% <13.33%> (ø)
...troller/include/diff_drive_controller/odometry.hpp	20.00% <20.00%> (ø)
...iff_drive_controller/src/diff_drive_controller.cpp	32.67% <24.89%> (ø)
...ory_controller/src/joint_trajectory_controller.cpp
...ntroller/test/test_load_joint_state_controller.cpp
...ontroller/test/test_forward_command_controller.cpp
... and 192 more