Implemented a generic filters plugin #1634
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@christophfroehlich I just made another commit to fix the issues in the workflow.. requesting you to approve to workflow |
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@ankurbodhe can you fix the pre-commit jobs? Is this ready for review? |
| # Enable warnings | ||
| if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") | ||
| add_compile_options(-Wall -Wextra -Wpedantic) | ||
| endif() |
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please have a look at the other packages, we use ros2_control_cmake instead
| find_package(ament_cmake REQUIRED) | ||
| find_package(controller_interface REQUIRED) | ||
| find_package(filters REQUIRED) | ||
| find_package(pluginlib REQUIRED) | ||
| find_package(rclcpp REQUIRED) | ||
| find_package(rclcpp_lifecycle REQUIRED) | ||
| find_package(hardware_interface REQUIRED) | ||
| find_package(generate_parameter_library REQUIRED) |
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please have a look at the other packages to follow the same style (look for THIS_PACKAGE_INCLUDE_DEPENDS)
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we usually put this in the src folder
| <name>chained_filter_controller</name> | ||
| <version>0.0.0</version> | ||
| <description>TODO: Package description</description> | ||
| <maintainer email="[email protected]">ankur-u24</maintainer> | ||
| <license>TODO: License declaration</license> |
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please copy maintainer, license from the other packages of this repo, and add you and Bence as authors
<author email="[email protected]">Bence Magyar</author>
you can copy the description of the plugin xml below.
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please insert a copyright notice
| @@ -0,0 +1,107 @@ | |||
| // chained_filter.cpp (migrated from ROSCon 2024 workshop) | |||
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| // chained_filter.cpp (migrated from ROSCon 2024 workshop) |
please insert a copyright notice instead
| @@ -0,0 +1,93 @@ | |||
| #include <gtest/gtest.h> | |||
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| #include <gtest/gtest.h> | |
| #include <gmock/gmock.h> |
We are using gmock consistently, see #1625
| TEST_F(ChainedFilterControllerTest, DeactivateDoesNotCrash) | ||
| { | ||
| EXPECT_NO_THROW({ | ||
| controller_->on_deactivate(rclcpp_lifecycle::State()); | ||
| }); | ||
| } | ||
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| TEST_F(ChainedFilterControllerTest, CleanupDoesNotCrash) | ||
| { | ||
| EXPECT_NO_THROW({ | ||
| controller_->on_cleanup(rclcpp_lifecycle::State()); | ||
| }); | ||
| } | ||
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| TEST_F(ChainedFilterControllerTest, ShutdownDoesNotCrash) | ||
| { | ||
| EXPECT_NO_THROW({ | ||
| controller_->on_shutdown(rclcpp_lifecycle::State()); | ||
| }); | ||
| } |
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I don't think this is necessary to test. The controller manager assures that only the correct state transitions are called.
| ASSERT_EQ( | ||
| controller_->init( | ||
| "chained_filter", // controller name | ||
| "test_ns", // namespace | ||
| 0, // intra-process (0 = disabled) | ||
| "test_node", // RCL node name | ||
| rclcpp::NodeOptions()), // node options |
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where do you have this from? This is completely wrong, see
https://github.com./ros-controls/ros2_control/blob/c19997a8e614773cf69e5f3e6ffd7b511f2a4f5c/controller_interface/include/controller_interface/controller_interface_base.hpp#L154-L156
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Please add a test if a filter is loaded and used to process data.
This PR migrates and enhances the chained_filter_controller originally implemented during the ROSCon 2024 control workshop. The controller enables chaining and filtering of state interfaces through a sequence of filters.
Changes introduced: