Add ControllerInterfaceParams to initialize the Controllers
#2390
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saikishor
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backport-jazzy
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aprotyas,
bmagyar,
christophfroehlich,
homalozoa,
mhubii,
moriarty and
qiayuanl
Codecov ReportAttention: Patch coverage is
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## master #2390 +/- ##
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+ Coverage 88.90% 88.92% +0.02%
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Files 148 149 +1
Lines 16950 16994 +44
Branches 1448 1449 +1
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+ Hits 15069 15112 +43
Misses 1318 1318
- Partials 563 564 +1
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christophfroehlich
requested changes
Jul 16, 2025
bmagyar
reviewed
Aug 13, 2025
| @@ -43,16 +43,29 @@ return_type ControllerInterfaceBase::init( | |||
| const std::string & controller_name, const std::string & urdf, unsigned int cm_update_rate, | |||
| const std::string & node_namespace, const rclcpp::NodeOptions & node_options) | |||
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we could mark this function as deprecated already
bmagyar
reviewed
Aug 13, 2025
Comment on lines
+113
to
+120
| joint_limits::JointLimits joint_limits; | ||
| joint_limits.has_velocity_limits = true; | ||
| joint_limits.max_velocity = 1.0; | ||
| params.hard_joint_limits["joint1"] = joint_limits; | ||
| joint_limits::SoftJointLimits soft_joint_limits; | ||
| soft_joint_limits.min_position = -1.0; | ||
| soft_joint_limits.max_position = 1.0; | ||
| params.soft_joint_limits["joint1"] = soft_joint_limits; |
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would you mind adding a new constructor to joint limits that allow a one-line initialization please? ;)
bmagyar
approved these changes
Aug 13, 2025
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This PR adds the ControllerInterfaceParams structure and uses it to pass various args to the ControllerInterface class. Right now, doing so we are able to pass the joint limits to the controllers