[JTC] Re-enabling test, bugfixing and hardening. Adding a parameter to define when trajectories with non-zero velocity at the end are used. #705

christophfroehlich · 2023-07-17T09:57:06Z

This PR includes the first batch of jtc-features and reduces the scope of #607.

It includes reactivation of tests for the action interfaces and several bugfixes

The only new feature included is:

[JTC] Reject trajectories with nonzero terminal velocity #567

Merging this PR closes following issues

[JTC] Segmentation fault with action tests #688

* Fix time sources and wrong checks in tests * Use time from update-method instead of node clock * Readd test of last command in test_goal_tolerances_fail --------- Co-authored-by: Bence Magyar <[email protected]>

…ve_ptr_ is nullptr (ros-controls#682)" This reverts commit 9ce288b.

…ontrols#679) (cherry picked from commit 2e0da5d)

…s#567) * Reject receiving trajectory of last velocity point is non-zero * Update docs * Add tests * Change to parameterized test * Rename parameter * not true -> false --------- Co-authored-by: Bence Magyar <[email protected]>

codecov-commenter · 2023-07-17T10:16:08Z

Codecov Report

Merging #705 (f1d9767) into master (e7f9962) will increase coverage by 0.75%.
The diff coverage is 34.91%.

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@@            Coverage Diff             @@
##           master     #705      +/-   ##
==========================================
+ Coverage   35.78%   36.53%   +0.75%     
==========================================
  Files         189        7     -182     
  Lines       17570      676   -16894     
  Branches    11592      357   -11235     
==========================================
- Hits         6287      247    -6040     
+ Misses        994      134     -860     
+ Partials    10289      295    -9994

Flag	Coverage Δ
unittests	`36.53% <34.91%> (+0.75%)`	⬆️

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)`
...iff_drive_controller/src/diff_drive_controller.cpp	`47.09% <46.88%> (ø)`
...de/diff_drive_controller/diff_drive_controller.hpp	`100.00% <100.00%> (ø)`
...troller/include/diff_drive_controller/odometry.hpp	`100.00% <100.00%> (ø)`

... and 189 files with indirect coverage changes

destogl

Happy to merge, as soon as CI is happy. @bmagyar should we here "rebase – merge"? To keep the contributions?

Maybe the commits should be cleaned-up a bit, but they are not bad at all :)

bmagyar

thank you @christophfroehlich

bmagyar · 2023-07-17T17:42:09Z

@Mergifyio backport humble

mergify · 2023-07-17T17:42:23Z

backport humble

✅ Backports have been created

#706 [JTC] Re-enabling test, bugfixing and hardening. Adding a parameter to define when trajectories with non-zero velocity at the end are used. (backport #705) has been created for branch humble but encountered conflicts

* Use new state message * Increase allowed delta for position_error_not_normalized * Deactivate effort test

…o define when trajectories with non-zero velocity at the end are used. (backport #705) (#706)

* Fix file name for include guard (backport #681) (cherry picked from commit c619aac) Co-authored-by: Christoph Fröhlich <[email protected]> * Activate AdmittanceControllerTestParameterizedInvalidParameters (#711) (#733) * [JTC] Re-enabling test, bugfixing and hardening. Adding a parameter to define when trajectories with non-zero velocity at the end are used. (backport #705) (#706) * Enable effort rejection test --------- Co-authored-by: mergify[bot] <37929162+mergify[bot]@users.noreply.github.com>

* Small improvement in remapping (#393) (#724) * Fix file name for include guard (backport #681) (cherry picked from commit c619aac) Co-authored-by: Christoph Fröhlich <[email protected]> * Activate AdmittanceControllerTestParameterizedInvalidParameters (#711) (#733) * [JTC] Re-enabling test, bugfixing and hardening. Adding a parameter to define when trajectories with non-zero velocity at the end are used. (backport #705) (#706) * Add state_publish_rate parameter --------- Co-authored-by: mergify[bot] <37929162+mergify[bot]@users.noreply.github.com>

github-actions bot requested review from bmagyar, destogl, harderthan, mhubii, progtologist, qiayuanl and sachinkum0009 July 17, 2023 09:57

christophfroehlich mentioned this pull request Jul 17, 2023

[JTC] Fix tests and set_hold_position #607

Closed

christophfroehlich and others added 5 commits July 17, 2023 10:06

[JTC] Extend tests (ros-controls#612)

16c6289

Increase action tests timeout (ros-controls#680)

6e6989d

[JTC] Fix time sources and wrong checks in tests (ros-controls#686)

d818eed

* Fix time sources and wrong checks in tests * Use time from update-method instead of node clock * Readd test of last command in test_goal_tolerances_fail --------- Co-authored-by: Bence Magyar <[email protected]>

Match feature branches (ros-controls#689)

2588c61

Revert "[JTC] Command final waypoint identically when traj_point_acti…

1557b98

…ve_ptr_ is nullptr (ros-controls#682)" This reverts commit 9ce288b.

christophfroehlich force-pushed the jtc-tests branch from bceaf96 to 4f979e4 Compare July 17, 2023 10:06

christophfroehlich and others added 7 commits July 17, 2023 10:10

Add test for velocity error with effort cmd interface (ros-controls#690)

d3b7ed2

Compute velocity errors when using an effort command interface (ros-c…

27641e5

…ontrols#679) (cherry picked from commit 2e0da5d)

Fixed update period computation in test (ros-controls#693)

29ca7b1

Fix namespace for parameter traits(ros-controls#703)

8a1125e

Don't test update after cleanup

b4d68ce

Remove reactivation test from ROS 1

f1d9767

christophfroehlich force-pushed the jtc-tests branch from 4f979e4 to f1d9767 Compare July 17, 2023 10:12

destogl linked an issue Jul 17, 2023 that may be closed by this pull request

[JTC] Segmentation fault with action tests #688

Closed

destogl changed the title ~~[JTC] Tests, bugfixes and nonzero terminal velocity rejection~~ [JTC] Re-enabling test, bugfixing and hardening. Jul 17, 2023

destogl changed the title ~~[JTC] Re-enabling test, bugfixing and hardening.~~ [JTC] Re-enabling test, bugfixing and hardening. Adding a parameter to define when trajectories with non-zero velocity at the end are used. Jul 17, 2023

christophfroehlich mentioned this pull request Jul 17, 2023

Compute velocity errors when using an effort command interface #679

Closed

destogl approved these changes Jul 17, 2023

View reviewed changes

bmagyar approved these changes Jul 17, 2023

View reviewed changes

bmagyar merged commit 126b95c into ros-controls:master Jul 17, 2023

bmagyar added the backport-humble Triggers PR backport to ROS 2 humble. label Jul 17, 2023

destogl approved these changes Jul 17, 2023

View reviewed changes

mergify bot mentioned this pull request Jul 17, 2023

[JTC] Re-enabling test, bugfixing and hardening. Adding a parameter to define when trajectories with non-zero velocity at the end are used. (backport #705) #706

Merged

christophfroehlich deleted the jtc-tests branch July 25, 2023 12:39

bmagyar pushed a commit that referenced this pull request Aug 4, 2023

Fixing tests for #706 (backport #705) (#735)

4af4811

* Use new state message * Increase allowed delta for position_error_not_normalized * Deactivate effort test

bmagyar pushed a commit that referenced this pull request Aug 5, 2023

[JTC] Re-enabling test, bugfixing and hardening. Adding a parameter t…

862928c

…o define when trajectories with non-zero velocity at the end are used. (backport #705) (#706)

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[JTC] Re-enabling test, bugfixing and hardening. Adding a parameter to define when trajectories with non-zero velocity at the end are used. #705

[JTC] Re-enabling test, bugfixing and hardening. Adding a parameter to define when trajectories with non-zero velocity at the end are used. #705

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[JTC] Re-enabling test, bugfixing and hardening. Adding a parameter to define when trajectories with non-zero velocity at the end are used. #705

[JTC] Re-enabling test, bugfixing and hardening. Adding a parameter to define when trajectories with non-zero velocity at the end are used. #705

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