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Add node interfaces to motion_ref_handlers and sync clients #370

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Add node interfaces to motion_ref_handlers and sync clients #370

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@pariaspe pariaspe commented Dec 4, 2023

Basic Info

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Issue(s) this addresses #369
ROS2 version tested on Humble
Aerial platform tested on Ignition

Description of contribution in a few bullet points

  • Motion reference handlers and synchronous client uses node interfaces to extend compatibility to other Nodes (not only as2::Node). Constructors with as2::Node arguments are kept to maintain compatibility.

Description of documentation updates required from your changes

  • Update API with new methods

@pariaspe pariaspe requested review from miferco97 and RPS98 December 4, 2023 16:10
@pariaspe pariaspe linked an issue Dec 4, 2023 that may be closed by this pull request
[as2_motion_reference_handlers, as2_core] Use NodeInterfaces arguments instead of Node #369
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codecov-commenter commented Dec 4, 2023 •
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Codecov Report

Attention: 98 lines in your changes are missing coverage. Please review.

Comparison is base (8999e71) 1.97% compared to head (a20c723) 1.97%.

❗ Current head a20c723 differs from pull request most recent head 6dff077. Consider uploading reports for the commit 6dff077 to get more accurate results

Files Patch % Lines
...reference_handlers/src/basic_motion_references.cpp 0.00% 26 Missing ⚠️
..._motion_reference_handlers/src/position_motion.cpp 0.00% 16 Missing ⚠️
as2_motion_reference_handlers/src/speed_motion.cpp 0.00% 16 Missing ⚠️
...reference_handlers/src/speed_in_a_plane_motion.cpp 0.00% 14 Missing ⚠️
...otion_reference_handlers/src/trajectory_motion.cpp 0.00% 14 Missing ⚠️
as2_motion_reference_handlers/src/hover_motion.cpp 0.00% 12 Missing ⚠️

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Additional details and impacted files 
@@          Coverage Diff           @@
##            main    #370    +/-   ##
======================================
  Coverage   1.97%   1.97%            
======================================
  Files        103     103            
  Lines       5626    5759   +133     
  Branches     181     198    +17     
======================================
+ Hits         111     114     +3     
- Misses      5405    5521   +116     
- Partials     110     124    +14
Flag Coverage Δ
unittests 1.97% <0.00%> (+<0.01%) ⬆️

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@miferco97 miferco97 requested review from miferco97 and removed request for miferco97 December 5, 2023 17:08
@RPS98 RPS98 requested review from RPS98 and removed request for RPS98 January 25, 2024 15:37
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@pariaspe is this really worth it? it seems to be very messy in comparison with the former approach. Did you see any benefit from using this?

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pariaspe commented May 6, 2024

@pariaspe is this really worth it? it seems to be very messy in comparison with the former approach. Did you see any benefit from using this?

Mainly, it will work for every Node (as2::Node, rclcpp::Node, rclcpp::LifecycleNode or whatever). I just overloaded constructors to extend the supported nodes, it won't break the existing use of it.
Future ROS 2 releases include NodeInterfaces class, which simplifies the syntax.

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Working on it on branch 369-node-interfaces-arguments-updated

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@miferco97 miferco97 Awaiting requested review from miferco97

@RPS98 RPS98 Awaiting requested review from RPS98

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[as2_motion_reference_handlers, as2_core] Use NodeInterfaces arguments instead of Node
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