[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 This label should be used by maintaines only! Label triggers PR backport to ROS2 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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✅ Backports have been created

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