Scaled jtc (backport #1191)

[mergify]

This is my take2 on #301.

I plan to finish this until Friday, @firesurfer feel free to poke me :-)

Currently missing

• tests for scaled execution
• There are some ToDos in the documentation:
  • Algorithmics
  • Handling tolerances

Things that will get changed, as discussed in the latest working group meeting

• Allowing scaling factors above 1 might get postponed to a later point.
• Report the scaling factor in the controller state
• Use a custom datatype for the scaling_factor subscriber (std_msgs are deprecated)
• Change subscription to transient_local. This will require documentation, as a standard ros2 topic pub will not work with this.

  ---

  This is an automatic backport of pull request Scaled jtc #1191 done by Mergify.

[pastoriomarco]

Sorry, I didn't commit the pre-commit fix -_-'

About the state_interfaces_broadcaster error during build, I noticed that it happens on jazzy branch in general when colcon building: it's unrelated to speed scaling, right?

[christophfroehlich]

About the state_interfaces_broadcaster error during build, I noticed that it happens on jazzy branch in general when colcon building: it's unrelated to speed scaling, right?

Yes, this is not related.
Float64Values got released some time ago, but there was no sync of Jazzy distro yet. Semi-binary builds succeed.

[codecov]

Codecov Report

❌ Patch coverage is 97.42489% with 6 lines in your changes missing coverage. Please review.
✅ Project coverage is 84.93%. Comparing base (066b731) to head (6f19e34).

Files with missing lines	Patch %	Lines
...ory_controller/src/joint_trajectory_controller.cpp	89.58%	2 Missing and 3 partials ⚠️
...ectory_controller/test/test_trajectory_actions.cpp	98.70%	0 Missing and 1 partial ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##            jazzy    #2105      +/-   ##
==========================================
+ Coverage   84.70%   84.93%   +0.22%     
==========================================
  Files         146      146              
  Lines       14185    14414     +229     
  Branches     1255     1268      +13     
==========================================
+ Hits        12015    12242     +227     
+ Misses       1719     1717       -2     
- Partials      451      455       +4     

Flag	Coverage Δ
unittests	84.93% <97.42%> (+0.22%)	⬆️

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

Files with missing lines	Coverage Δ
...jectory_controller/joint_trajectory_controller.hpp	50.00% <ø> (ø)
...ory_controller/test/test_trajectory_controller.cpp	99.80% <100.00%> (+0.02%)	⬆️
...ntroller/test/test_trajectory_controller_utils.hpp	84.92% <100.00%> (+0.40%)	⬆️
...ectory_controller/test/test_trajectory_actions.cpp	97.32% <98.70%> (+0.21%)	⬆️
...ory_controller/src/joint_trajectory_controller.cpp	83.80% <89.58%> (+0.82%)	⬆️

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[pastoriomarco]

I can't really say how much the ABI change would be worth the gain here: I would surely use the functionality, but I don't know how much demand there is for it or the scale of the problems it could cause for the current user base.

I defer to the court's decision ^^

I was thinking about sending a new issue about a soft stop command tied (at least conceptually) to scaled velocity soon, meaning I'd like to contribute there however possible: that probably would have higher utility, at least in my perception.

[christophfroehlich]

@fmauch any thoughts on this?