Dr. Denis

Add `list_hardware_components` CLI

1

## Background Add CLI command for `list_hardware_components` service and make nice colored output of it. See for example how `list_hardware_interfaces` CLI is done. ## Instructions Hi, this is a `good-first-issue`...

Clean definition of `mimic` joints under ros2_control URDF tag

10

The feature is related to discussion in ros-simulation/gazebo_ros2_control#111. The current definition of `mimic` joint features in URDF is not complete. To have all the features, we should also add the...

Can we move this in utils namespace of `hardware_interface/handle.hpp` since there is also defined a rule that interfaces have "/" in their name. What do you think? _Originally posted by...

Handle HW errors on read and write in CM by stopping controllers

4

In short: when a hardware fails, i.e., error happens on read and write and hardware goes to "UNCONFIGURED" or "FINALIZED" state, controllers should be stopped automatically. this addresses few recent...

## Background Rename `fake_sensor_commands` parameter to `mock_sensor_commands`. Steps: 1. Deprecate `fake_sensor_commands` --> if exist write deprecation message. 2. Add new parameter `mock_sensor_commands` 3. Rename variable `fake_sensor_commands` to `mock_sensor_commands`. 4. Update...

Add `cleanup_controller` service and method to controller manager and also add its CLI script

6

## Background Better support for controller's lifecycle, that is the same as for the Lifecycle node. To transition between `inactive` and `unconfigured` state, we should provide service that enables that....

Change ugly `namespace_` variable format in controller manager and controller interface.

2

## Background Rename the argument to `node_namespace` because `namespace` is reserved C++ keyword. Please do the following: - [ ] rename argument in `ControllerInterface` files - [ ] rename argument...

Remove unused constructors and methods in handles

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The PR addresses late detection of invalid (`nullptr`) pointers detection for interfaces. This is done by not allowing to have at all `nullptr` in handles. Until now, a handle with...

Add `set_controller_state` service to controller manager

2

## Background Service should be equivalent to `set_hardware_compoent_state` so that controller manager takes care of all transitions to the desired state. This service should replace than all the individual services...