[RM] Add get_hardware_info method to the Hardware Components
#1643
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
github-actions
bot
requested review from
arne48,
bmagyar,
christophfroehlich,
destogl,
erickisos,
fmauch and
VanshGehlot
bmagyar
approved these changes
Jul 29, 2024
christophfroehlich
added a commit
that referenced
this pull request
Aug 12, 2024
* [ResourceManager] Make destructor virtual for use in derived classes (#1607) * Fix typos in test_resource_manager.cpp (#1609) * [CM] Remove support for the description parameter and use only `robot_description` topic (#1358) --------- Co-authored-by: Felix Exner <[email protected]> Co-authored-by: Christoph Froehlich <[email protected]> * move critical variables to the private context (#1623) * Fix controller starting with later load of robot description test (#1624) * Fix the duplicated restart of the controller_manager services initialization * Scope the ControllerManagerRunner to avoid malloc and other test issues * reorder the tests for consistent log at the end * Remove noqa (#1626) * Unused header cleanup (#1627) * Create debugging.rst (#1625) --------- Co-authored-by: Sai Kishor Kothakota <[email protected]> Co-authored-by: Christoph Froehlich <[email protected]> * Update changelogs * 4.14.0 * add missing rclcpp logging include for Humble compatibility build (#1635) * [CM] Remove deprecated spawner args (#1639) * Add a pytest launch file to test ros2_control_node (#1636) * Fix rst markup (#1642) * Fix rqt_cm paragraph * Fix indent * CM: Add missing includes (#1641) * [RM] Add `get_hardware_info` method to the Hardware Components (#1643) * Fix the namespaced controller_manager spawner + added tests (#1640) * Bump version of pre-commit hooks (#1649) Co-authored-by: christophfroehlich <[email protected]> * Add missing include for executors (#1653) * Update changelogs * 4.15.0 * refactor SwitchParams to fix the incosistencies in the spawner tests (#1638) * Modify test with missing CM to have a timeout * Catch exception when CM services are not found And print the error and exit in the application * Exit with code 1 on unreached CM --------- Co-authored-by: Sai Kishor Kothakota <[email protected]> Co-authored-by: Parker Drouillard <[email protected]> Co-authored-by: Dr. Denis <[email protected]> Co-authored-by: Christoph Froehlich <[email protected]> Co-authored-by: Christoph Fröhlich <[email protected]> Co-authored-by: Henry Moore <[email protected]> Co-authored-by: Lennart Nachtigall <[email protected]> Co-authored-by: Sai Kishor Kothakota <[email protected]> Co-authored-by: Bence Magyar <[email protected]> Co-authored-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com> Co-authored-by: christophfroehlich <[email protected]>
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
In order to go with the similar efforts of #1623, the idea is to protect the critical variables of the hardware components interfaces, as these variables are actively used within the ResourceManager inorder to call and define the components and it's group,. Modifying them might cause undesired behaviour and this is something we should strive to avoid happening.
To give some context, until Iron, the
on_initmethod was supposed to be overwritten and the user is kinda responsible to also call the base class implementation to set thisinfo_variable, and if the user forgets to do this callback, this will affect the whole internal schema as it creates a new Hardware component internally with empty name etc.This PR aims to solve this by adding this new method, so users can get the hardware info from there, and then eventually move the
info_andlifecycle_state_to private context to avoid such misuses or modifying the information.Thank you