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[WIP] Distributed control poc#1

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mamueluth wants to merge 19 commits intoStoglRobotics-forks:masterStoglRobotics-forks/ros2_control:masterfrom mamueluth:distributed_control_pocmamueluth/ros2_control:distributed_control_pocCopy head branch name to clipboard

+1,608-116

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Commits on Jan 11, 2023

• create topic for publishing StateInterface's value via loan

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• working now

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• add visibility control, rename to distributed since no component anymore

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• rename include guard

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• crude registration of StatePublishers at central controller manager

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• move StatePublisher to Hardware side

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• remove not needed rclcpp warn and info outputs

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• add DistributedStateInterface and adjusted LoanedStateInterface

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• restructure handles

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• move creation of publishers into resource manager

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• subscription in central controller

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• rename miss leading name of function

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• rename StatePublisherDescription to PublisherDescription

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• !Not working! Add registration of DistributedCommandInterfaces

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• change commandinterface from obj to shared_ptr

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• Add own qualitiy of service and register command forwarders

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• public inheritance in handle

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• add distributed interfaces to available list

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• add some output for knowing whats going on

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