Bence Magyar comments

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                                            Bence Magyar

expose complex data types through interfaces

Indeed it is a valid point but I'm still quite uneasy about it. Why should we aim to support non-ROS-compliant robots? Where does this stop? Should we also implement optional...

rqt_controller_manager port

There is nothing stopping anyone from porting it but we don't have it in the works at the moment. Are you interested in doing it?

rqt_controller_manager port

Thank you for contributing to the roadmap, added!

Remove unused constructors and methods in handles

After rebasing and playing with this locally a bit I noticed how transmission handles are broken by it :/ unfortunately that bit of code specifically relies on the nullptr functionality....

Check that all packages use gmock, not gtest

I also think we shoudl only use either gtest or gmock in the repo, but *at least* in a single package for simplicity and cleanliness.

Check that all packages use gmock, not gtest

we are using gmock in all the packages AFAIK but it could be worth a check

Add terminate handler to ros2_control_node

@Karsten1987 @destogl @v-lopez @mahaarbo

Clean up controller manager tests

Thanks @NourS-d ! If you have any questions feel free to ask here or tag along to one of the Working Group meetings (next one is next Wednesday) to discuss

Exceptions thrown in controllers should never crash the entire framework

@Karsten1987 @v-lopez @mahaarbo

Time to get rid of exceptions

The title may be a little extreme :) > Also is it a blanket ban on exceptions? > > Of course there are places where they may still be justified....