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[Feature] Choose different read and write rate for the hardware components #1570

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[Feature] Choose different read and write rate for the hardware components #1570

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71f1e85
added the initial changes for read_rate and write_rate
saikishor Jun 13, 2024
92d2006
add last read and write cycle time to control the rate
saikishor Jun 16, 2024
030b759
add read write rate parsing from the ros2_control tag in component pa…
saikishor Jun 16, 2024
a5cdbb9
fix the component info using the rw_rate in the HardwareInfo
saikishor Jun 16, 2024
e98c2bf
Add tests to the parsed rw_rate
saikishor Jun 16, 2024
e4a09a6
change the rw_rate between system and sensor interface for tests
saikishor Jun 16, 2024
45c3f0e
for hardware read and write period switch to rclcpp::Duration
saikishor Jun 16, 2024
31ef85e
update the state of the system test component similar to actuator tes…
saikishor Jun 16, 2024
802db2c
Add a test for a different components update rate and verifying with …
saikishor Jun 16, 2024
c524ca5
Add more checks and clean a part of the testing code
saikishor Jun 16, 2024
bd4ff9b
Add the test case of the deactivated case
saikishor Jun 16, 2024
f4fc17b
parameterize the tests for flexibility
saikishor Jun 16, 2024
c810576
Test also for the unconfigured and finalized lifecycle states
saikishor Jun 16, 2024
482a355
Add testing for the component parser of the read and write rate
saikishor Jun 16, 2024
23fde82
Update documentation and the release notes
saikishor Jun 17, 2024
ca62a0b
Parse the actual period to the read and write methods
saikishor Jun 17, 2024
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fix the component info using the rw_rate in the HardwareInfo
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@saikishor
saikishor committed Jul 8, 2024
commit a5cdbb9fe5b4ff8b86b7cf96692e1590f80ccf27
10 changes: 8 additions & 2 deletions hardware_interface/src/resource_manager.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -142,8 +142,14 @@ class ResourceStorage
component_info.name = hardware_info.name;
component_info.type = hardware_info.type;
component_info.group = hardware_info.group;
component_info.read_rate = cm_update_rate_;
component_info.write_rate = cm_update_rate_;
component_info.read_rate =
(hardware_info.rw_rate == 0 || hardware_info.rw_rate > cm_update_rate_)
? cm_update_rate_
: hardware_info.rw_rate;
component_info.write_rate =
(hardware_info.rw_rate == 0 || hardware_info.rw_rate > cm_update_rate_)
? cm_update_rate_
: hardware_info.rw_rate;
component_info.plugin_name = hardware_info.hardware_plugin_name;
component_info.is_async = hardware_info.is_async;

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