Integrate pal_statistics for introspecting the ros2_control_demos #654
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I'll set it to draft until a valid version is in the ros2_control repo. |
Sure. Thanks |
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| @@ -85,6 +85,11 @@ controller_interface::CallbackReturn PassthroughController::on_configure( | |||
| reference_interfaces_.resize( | |||
| reference_interface_names_.size(), std::numeric_limits<double>::quiet_NaN()); | |||
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| for (size_t i = 0; i < reference_interface_names_.size(); i++) | |||
| { | |||
| REGISTER_ROS2_CONTROL_INTROSPECTION(reference_interface_names_[i], &reference_interfaces_[i]); | |||
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aren't reference interfaces exported by default?
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Yes yes, they are.
I added to just show how to introspect internal variables. I didn't know what else to register in this controller
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I see. I had a look now and don't find any other more useful variables to introspect in this repository. maybe we should have a look in ros2_controllers and register more variables to pal_statistics, currently most of the controllers have their own publisher with a custom status message type. not sure what is the best way in the controllers for doing so
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I would say yes, it is better to register some variables in the controllers
Needs: ros-controls/ros2_control#1897