Add ruff/ruff format to pre-commit & Add integration test #28
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JafarAbdi
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| current_joint_state = robot.get_current_joint_state() | ||
| urdf_initial_values = [0.2, 0.3, 0.1] | ||
| assert ( | ||
| current_joint_state == urdf_initial_values | ||
| ), f"{current_joint_state=} != {urdf_initial_values=}" |
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Test a bug, should be fixed with a6486ff
JafarAbdi
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| throttle_duration_sec=2.0, | ||
| skip_first=True, | ||
| ) | ||
| rclpy.spin_once(self, timeout_sec=0.0) |
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With this approach is the node's spin coupled to the topics it's processing? Why are you setting the timeout to 0? Does that cause it to move on immediately and not block?
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Yes, this will process current callbacks and return without waiting, so if there are none it will just return
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What happens if there is no message and this returns. How would this get future callbacks if nothing is spinning?
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We only care about processing them when we call get_current_joint_command, that is why we only spin when we need the values from those callbacks
| msg = f"Joint name '{joint_name}' not in input keys {msg.name}" | ||
| raise ValueError(msg) from None |
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Should this be masking the function variable msg? I also don't see any try statements around the call to filter_joint_state_msg so what happens to a test when this is triggered?
| @@ -91,6 +91,7 @@ CallbackReturn TopicBasedSystem::on_init(const hardware_interface::HardwareInfo& | |||
| // Check the initial_value param is used | |||
| if (!interface.initial_value.empty()) | |||
| { | |||
| joint_states_[index][i] = std::stod(interface.initial_value); | |||
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By setting this can it cause the connected robot to jump to the initial position when started?
To make it easy to test #25 and #24