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Fix Hardware spawner and add tests for it #1759

Merged
merged 11 commits into from
Oct 31, 2024
Merged

Fix Hardware spawner and add tests for it #1759

merged 11 commits into from
Oct 31, 2024

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fmauch
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@fmauch fmauch commented Sep 20, 2024

This basically implements my comments from #1682 (review)

I discussed with @destogl that I would create a new PR including his commit from #1682. So, this effectively replaces #1682.

It basically changes the following things:

  • Actually makes the hardware spawner work. I think it never worked correctly the way it was structured before. (is_hardware_component_loaded checks for one single string, while activate_components and configure_components expect a list.)
  • Fully implement that the hardware spawner allows specifying a list of components that should be started. This is cmdline-interface-breaking (basically only on a parameter description level) change but since it never worked I would expect nobody has been using it so far, so we can safely backport it.
  • Add tests for hardware_spawner (mainly implemented by @destogl)

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Codecov Report

Attention: Patch coverage is 93.75000% with 6 lines in your changes missing coverage. Please review.

Project coverage is 88.26%. Comparing base (832602d) to head (93e253f).
Report is 1 commits behind head on master.

Files with missing lines Patch % Lines
...ler_manager/controller_manager/hardware_spawner.py 68.42% 4 Missing and 2 partials ⚠️
Additional details and impacted files 
@@            Coverage Diff             @@
##           master    #1759      +/-   ##
==========================================
+ Coverage   87.60%   88.26%   +0.65%     
==========================================
  Files         120      121       +1     
  Lines       12224    12301      +77     
  Branches     1093     1093              
==========================================
+ Hits        10709    10857     +148     
+ Misses       1125     1051      -74     
- Partials      390      393       +3
Flag Coverage Δ
unittests 88.26% <93.75%> (+0.65%) ⬆️

Flags with carried forward coverage won't be shown. Click here to find out more.

Files with missing lines Coverage Δ
controller_manager/test/test_hardware_spawner.cpp 100.00% <100.00%> (ø)
...ler_manager/controller_manager/hardware_spawner.py 70.23% <68.42%> (+70.23%) ⬆️

... and 2 files with indirect coverage changes

@destogl destogl mentioned this pull request Sep 24, 2024
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destogl
destogl previously approved these changes Sep 24, 2024
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destogl commented Sep 24, 2024

Thanks for fixing this! And yes, we have to backport this. Not many people are using it so it is fine if we do small breakings on user-level.

saikishor
saikishor requested changes Sep 24, 2024
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The proposed changes good to me. One minor comment about the tests and another one to update the documentation

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LGTM

christophfroehlich
christophfroehlich approved these changes Sep 25, 2024
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LGTM.

We should add the usage of this in the demos. Maybe it suits with ros-controls/ros2_control_demos#417.

And should we also add a load_hardware_component CLI verb?

@christophfroehlich christophfroehlich added backport-humble This label should be used by maintaines only! Label triggers PR backport to ROS2 humble. backport-iron This label should be used by maintaines only! Label triggers PR backport to ROS2 Iron. labels Oct 31, 2024
@christophfroehlich christophfroehlich merged commit 5dbd6d5 into ros-controls:master Oct 31, 2024
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mergify bot pushed a commit that referenced this pull request Oct 31, 2024
@fmauch @mergify
Fix Hardware spawner and add tests for it (#1759)
1c179d5 
* Tests for hardware spawner.

* Fully support spawning a list of hardware components

* Use python3 coverage instead of ros2 run in tests

* Actually check component's state after changing it

* Update hardware_spawner's user documentation

---------

Co-authored-by: Dr. Denis Štogl <denis@stoglrobotics.de>
Co-authored-by: Bence Magyar <bence.magyar.robotics@gmail.com>
Co-authored-by: Christoph Fröhlich <christophfroehlich@users.noreply.github.com>
(cherry picked from commit 5dbd6d5)

# Conflicts:
#	controller_manager/CMakeLists.txt
@mergify mergify bot mentioned this pull request Oct 31, 2024
Merged
mergify bot pushed a commit that referenced this pull request Oct 31, 2024
@fmauch @mergify
Fix Hardware spawner and add tests for it (#1759)
3afba42 
* Tests for hardware spawner.

* Fully support spawning a list of hardware components

* Use python3 coverage instead of ros2 run in tests

* Actually check component's state after changing it

* Update hardware_spawner's user documentation

---------

Co-authored-by: Dr. Denis Štogl <denis@stoglrobotics.de>
Co-authored-by: Bence Magyar <bence.magyar.robotics@gmail.com>
Co-authored-by: Christoph Fröhlich <christophfroehlich@users.noreply.github.com>
(cherry picked from commit 5dbd6d5)

# Conflicts:
#	controller_manager/CMakeLists.txt
@mergify mergify bot mentioned this pull request Oct 31, 2024
Merged
christophfroehlich pushed a commit that referenced this pull request Nov 9, 2024
@fmauch @christophfroehlich
Fix Hardware spawner and add tests for it (#1759)
4fd74e5 
* Tests for hardware spawner.

* Fully support spawning a list of hardware components

* Use python3 coverage instead of ros2 run in tests

* Actually check component's state after changing it

* Update hardware_spawner's user documentation

---------

Co-authored-by: Dr. Denis Štogl <denis@stoglrobotics.de>
Co-authored-by: Bence Magyar <bence.magyar.robotics@gmail.com>
Co-authored-by: Christoph Fröhlich <christophfroehlich@users.noreply.github.com>
(cherry picked from commit 5dbd6d5)

# Conflicts:
#	controller_manager/CMakeLists.txt
christophfroehlich pushed a commit that referenced this pull request Nov 9, 2024
@fmauch @christophfroehlich
Fix Hardware spawner and add tests for it (#1759)
b1c45eb 
* Tests for hardware spawner.

* Fully support spawning a list of hardware components

* Use python3 coverage instead of ros2 run in tests

* Actually check component's state after changing it

* Update hardware_spawner's user documentation

---------

Co-authored-by: Dr. Denis Štogl <denis@stoglrobotics.de>
Co-authored-by: Bence Magyar <bence.magyar.robotics@gmail.com>
Co-authored-by: Christoph Fröhlich <christophfroehlich@users.noreply.github.com>
(cherry picked from commit 5dbd6d5)

# Conflicts:
#	controller_manager/CMakeLists.txt
christophfroehlich pushed a commit that referenced this pull request Nov 10, 2024
@mergify @fmauch
@bmagyar @saikishor
Fix Hardware spawner and add tests for it (backport #1759) (#1828)
a76101d 
* Fix Hardware spawner and add tests for it (#1759)

* Tests for hardware spawner.

* Fully support spawning a list of hardware components

* Use python3 coverage instead of ros2 run in tests

* Actually check component's state after changing it

* Update hardware_spawner's user documentation

---------

Co-authored-by: Dr. Denis Štogl <denis@stoglrobotics.de>
Co-authored-by: Bence Magyar <bence.magyar.robotics@gmail.com>
Co-authored-by: Christoph Fröhlich <christophfroehlich@users.noreply.github.com>
(cherry picked from commit 5dbd6d5)

# Conflicts:
#	controller_manager/CMakeLists.txt

* Fix conflict

* Fix the missing bcolors.ENDC in hardware_spawner log prints (#1870)

* Choose pass_urdf_as_parameter as false

---------

Co-authored-by: Felix Exner (fexner) <exner@fzi.de>
Co-authored-by: Bence Magyar <bence.magyar.robotics@gmail.com>
Co-authored-by: Sai Kishor Kothakota <sai.kishor@pal-robotics.com>
christophfroehlich added a commit that referenced this pull request Nov 10, 2024
@mergify @fmauch
@saikishor @christophfroehlich
Fix Hardware spawner and add tests for it (backport #1759) (#1827)
dcb958f 
* Fix Hardware spawner and add tests for it (#1759)

* Tests for hardware spawner.

* Fully support spawning a list of hardware components

* Use python3 coverage instead of ros2 run in tests

* Actually check component's state after changing it

* Update hardware_spawner's user documentation

---------

Co-authored-by: Dr. Denis Štogl <denis@stoglrobotics.de>
Co-authored-by: Bence Magyar <bence.magyar.robotics@gmail.com>
Co-authored-by: Christoph Fröhlich <christophfroehlich@users.noreply.github.com>
(cherry picked from commit 5dbd6d5)

# Conflicts:
#	controller_manager/CMakeLists.txt

* Fix conflicts

* FIx missing lines

* Fix the missing bcolors.ENDC in hardware_spawner log prints (#1870)

* Fix pre-commit

* Fix the API of the tests and the CMakeLists.txt

* Apply target properties as other tests

---------

Co-authored-by: Felix Exner (fexner) <exner@fzi.de>
Co-authored-by: Sai Kishor Kothakota <sai.kishor@pal-robotics.com>
Co-authored-by: Christoph Froehlich <christoph.froehlich@ait.ac.at>
saikishor pushed a commit to pal-robotics-forks/ros2_control that referenced this pull request Nov 12, 2024
@fmauch @destogl
@bmagyar @christophfroehlich @saikishor
Fix Hardware spawner and add tests for it (ros-controls#1759)
f901285 
* Tests for hardware spawner.

* Fully support spawning a list of hardware components

* Use python3 coverage instead of ros2 run in tests

* Actually check component's state after changing it

* Update hardware_spawner's user documentation


---------

Co-authored-by: Dr. Denis Štogl <denis@stoglrobotics.de>
Co-authored-by: Bence Magyar <bence.magyar.robotics@gmail.com>
Co-authored-by: Christoph Fröhlich <christophfroehlich@users.noreply.github.com>
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@saikishor saikishor saikishor approved these changes

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