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Distributed control aio#6

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mamueluth wants to merge 26 commits intomasterStoglRobotics-forks/ros2_control:masterfrom distributed_control_aioStoglRobotics-forks/ros2_control:distributed_control_aioCopy head branch name to clipboard

+2,763-132

Commits

Commits on May 17, 2023

• allow an empty robot description file.

  Show description for 7f41c4b
  mamueluth

  committed
  7f41c4b

• on startup wait for robot description, however allow to reveice later

  mamueluth

  committed
  d1a0da7

• undo waiting for robot description file, change QoS instead

  mamueluth

  committed
  f781d1a

• apply suggestions from review

  mamueluth

  committed
  bf6564a

• check if resource manager has been initialized

  mamueluth

  committed
  32c2f38

• rename flag, add some ttests in resource manager

  mamueluth

  committed
  ce32ebe

• Apply suggestions from code review

  

  destogl

  authored and

  mamueluth

  committed
  33ae1ce

• update test fixture to use publishing, some tests are failing

  mamueluth

  committed
  f32d36c

• Not working! tried waiting for urdf to arrive before starting controllers in test

  Show description for 7fd2e50
  mamueluth

  committed
  7fd2e50

• workaround for topic issues while testing

  mamueluth

  committed
  6dcd4cd

• Create poc for distributed control

  mamueluth

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  300e985

• add parameter for setting publish period

  mamueluth

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  984d896

• change argument order for state_publisher and command_forwarder

  mamueluth

  committed
  bc8f800

• make possible to create only on node for pub/sub in distributed cm

  mamueluth

  committed
  7043187

• create publishers in cm and only add in rm

  mamueluth

  committed
  9764f8f

• make possible to export only subset of command/state interfaces, fix

  Show description for 8b4b553
  mamueluth

  committed
  8b4b553

• make initialization and parameters more clear and easy

  mamueluth

  committed
  14a2c07

• adapt controller interfaces for distributed chained control

  mamueluth

  committed
  cab9d52

Commits on May 19, 2023

• change exporting of state_publishers and command_forwarders

  mamueluth

  committed
  eebc602

• add skeleton for of service for registration of reference interfaces

  mamueluth

  committed
  7cb7d71

• reorder distributed parameters

  mamueluth

  committed
  92e2965

Commits on May 20, 2023

• first rough working poc of distributed chained controllers

  mamueluth

  committed
  6f9de32

Commits on May 22, 2023

• change warn to debug in distributed handles and state-/commandpublisher

  mamueluth

  committed
  6241a0e

Commits on Jun 14, 2023

• add helper for evaluation (qos, publish, publish qos)

  mamueluth

  committed
  f8976fc

• change qos for distributed services to reliable

  mamueluth

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  59de6ff

• add steady clock to nodes

  mamueluth

  committed
  a9a5998