[WIP] Distributed control poc #1
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| controller_manager_msgs::msg::PublisherDescription create_publisher_description_msg() const; | ||
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| void publish_value_on_timer(); |
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We should publish on events an not on timer. For example when one of read, write or update methods is called.
| namespace distributed_control | ||
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| class SubControllerManagerWrapper final |
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| virtual std::string get_underscore_separated_name() const override | ||
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| // remove first "/" from namespace and replace all follow occurrences with "_" |
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Probably needed for node names. Why not use one node name per CM/RM and namespaces, e.g. /<controller_manager>/<hardware>/<joint>/<interface>
hardware_interface/include/hardware_interface/loaned_state_interface.hpp
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hardware_interface/include/hardware_interface/loaned_command_interface.hpp
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| return msg; | ||
| } | ||
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| void CommandForwarder::subscribe_to_command_publisher(const std::string & topic_name) |
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What's the difference between “command forwarder” and “command publisher”?
| std::flush(std::cout); | ||
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| // Put the message into a queue to be processed by the middleware. | ||
| // This call is non-blocking. |
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Shouldn't this be blocking call?
| msg->data = std::numeric_limits<double>::quiet_NaN(); | ||
| } | ||
| RCLCPP_INFO(node_->get_logger(), "Publishing: '%.7lf'", msg->data); | ||
| std::flush(std::cout); |
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Probably not needed?
| std::flush(std::cout); |
| @@ -540,6 +663,58 @@ class ResourceStorage | |||
| import_command_interfaces(systems_.back()); | |||
| } | |||
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| void add_sub_controller_manager( | |||
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Does resource manager have to know about controller manager? It's a bit convoluted.
* fix typo in StatePublisher (used the pointer which has been moved...) * not a component anymore * collect StatePublishers in map
* export and imprt statepublisher description * initialize DistributedHandle through description * automated generation of node and topic names
* Its not working, since the storage type of command interfaces needs to be changed to std::shared_ptr. This is done in follow_up since should change a lot.
mamueluth
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This pull request is in conflict. Could you fix it @mamueluth? |
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This pull request is in conflict. Could you fix it @mamueluth? |
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