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Create poc for distributed control #5

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Create poc for distributed control #5

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Commits on May 17, 2023

  1. allow an empty robot description file. 

    * Deprecate passing of robot description file to controller manager
* subscribe to robot_state_publisher to get robot_description_file
    @mamueluth
    mamueluth committed May 17, 2023
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  2. on startup wait for robot description, however allow to reveice later

    @mamueluth
    mamueluth committed May 17, 2023
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  3. undo waiting for robot description file, change QoS instead

    @mamueluth
    mamueluth committed May 17, 2023
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  4. apply suggestions from review

    @mamueluth
    mamueluth committed May 17, 2023
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  5. check if resource manager has been initialized

    @mamueluth
    mamueluth committed May 17, 2023
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  6. rename flag, add some ttests in resource manager

    @mamueluth
    mamueluth committed May 17, 2023
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  7. Apply suggestions from code review

    @destogl @mamueluth
    destogl authored and mamueluth committed May 17, 2023
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  8. update test fixture to use publishing, some tests are failing

    @mamueluth
    mamueluth committed May 17, 2023
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  9. Not working! tried waiting for urdf to arrive before starting control… 

    …lers in test

In tests we have to be sure, that our urdf arrived before continuing
with the actuell tests otherwise they will naturally fail...
    @mamueluth
    mamueluth committed May 17, 2023
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  10. workaround for topic issues while testing

    @mamueluth
    mamueluth committed May 17, 2023
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  11. Create poc for distributed control

    @mamueluth
    mamueluth committed May 17, 2023
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  12. add parameter for setting publish period

    @mamueluth
    mamueluth committed May 17, 2023
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  13. change argument order for state_publisher and command_forwarder

    @mamueluth
    mamueluth committed May 17, 2023
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  14. make possible to create only on node for pub/sub in distributed cm

    @mamueluth
    mamueluth committed May 17, 2023
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  15. create publishers in cm and only add in rm

    @mamueluth
    mamueluth committed May 17, 2023
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  16. make possible to export only subset of command/state interfaces, fix 

    adding node multiple times to executor
    @mamueluth
    mamueluth committed May 17, 2023
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