[Feature] Choose different read and write rate for the hardware components

[saikishor]

Hello!

This PR helps to obtain different read and write update rates rather than having the same update rate as of the controller manager. With these changes, each and every component can run at their own chosen rate and they update the State and Command interfaces according to that rate. This is very useful for system with different communication layers such as EtherCAT, CAN and Serial. Hope this helps the community.

Thank you

[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

Project coverage is 87.51%. Comparing base (465b58f) to head (ca62a0b).

Additional details and impacted files

@@            Coverage Diff             @@
##           master    #1570      +/-   ##
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+ Coverage   87.30%   87.51%   +0.20%     
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  Files         108      108              
  Lines        9866    10020     +154     
  Branches      890      898       +8     
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+ Hits         8614     8769     +155     
  Misses        929      929              
+ Partials      323      322       -1     

Flag	Coverage Δ
unittests	87.51% <100.00%> (+0.20%)	⬆️

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

Files	Coverage Δ
..._interface/include/hardware_interface/actuator.hpp	100.00% <ø> (ø)
...re_interface/include/hardware_interface/sensor.hpp	75.00% <ø> (+8.33%)	⬆️
...re_interface/include/hardware_interface/system.hpp	100.00% <ø> (ø)
hardware_interface/src/actuator.cpp	76.22% <100.00%> (+1.22%)	⬆️
hardware_interface/src/component_parser.cpp	94.35% <100.00%> (+0.22%)	⬆️
hardware_interface/src/resource_manager.cpp	74.27% <100.00%> (+1.02%)	⬆️
hardware_interface/src/sensor.cpp	71.28% <100.00%> (+0.87%)	⬆️
hardware_interface/src/system.cpp	76.22% <100.00%> (+1.22%)	⬆️
hardware_interface/test/test_component_parser.cpp	98.73% <100.00%> (+0.08%)	⬆️
...rface_testing/test/test_components/test_system.cpp	89.58% <100.00%> (+0.22%)	⬆️
... and 1 more

[christophfroehlich]

Great addition 👍

Why not just use update_rate as attribute name (same as for controller_manager or the controllers)

Please update the docs and add also a paragraph to the release notes.

[saikishor]

Great addition 👍

Why not just use update_rate as attribute name (same as for controller_manager or the controllers)

Please update the docs and add also a paragraph to the release notes.

Sure. I forgot about the docs. I'll update it tomorrow at the earliest. Thanks for reminding me.

Well regarding the parameter name, I thought of using different because, we have update_rate for the update callback of the controllers and for the hardware I wanted to use the appropriate one, so I used rw_rate to specify the read/write_rate. How the changes are done, in future we can also have different read and write rates if needed, with just changing the parsing part. I'm open to the discussion on the parameter naming part.

[christophfroehlich]

Thanks for the docs 👍

[mergify]

This pull request is in conflict. Could you fix it @saikishor?

[saikishor]

Resolved conflicts!

[mergify]

This pull request is in conflict. Could you fix it @saikishor?

[saikishor]

@christophfroehlich I've just fixed the conflicts after your merged PR on deprecating mimic stuff

[mergify]

This pull request is in conflict. Could you fix it @saikishor?