[PID Controller] Export state interfaces for easier chaining with other controllers #1214
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Codecov ReportAttention: Patch coverage is
Additional details and impacted files@@ Coverage Diff @@
## master #1214 +/- ##
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- Coverage 80.39% 80.35% -0.05%
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Files 105 105
Lines 9357 9392 +35
Branches 821 830 +9
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+ Hits 7523 7547 +24
- Misses 1557 1570 +13
+ Partials 277 275 -2
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Can't we implement this together with ros-controls/ros2_control#1244? Instead of adding this to every chainable controller? |
@christophfroehlich #1244 is about publishing the interface information to a topic but not exposing as interfaces which is what we need here |
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Aug 29, 2024
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Sep 19, 2024
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This PR aims to export some state interfaces from the PID controllers that can be used in cascade with other controllers, this helps in not defining separate parameters for command interfaces (The one exported by the PID controller) and the state interfaces that define the same state as the PID controller, and it simplifies the design of the chained controllers