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Integrate pal_statistics for introspecting the ros2_control_demos #654

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Integrate pal_statistics for introspecting the ros2_control_demos #654

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e8cd5d4
Integrate pal_statistics for introspecting the ros2_control_demos
saikishor Nov 28, 2024
8726ccc
rename the macro to REGISTER_ROS2_CONTROL_INTROSPECTION
saikishor Dec 5, 2024
f82fc37
cleanup after variants merge
saikishor Jan 1, 2025
918cca9
Merge branch 'master' into integrate/pal_statistics
saikishor Jan 28, 2025
33f52fe
Merge branch 'master' into integrate/pal_statistics
saikishor Feb 13, 2025
7b1ab6f
Merge branch 'master' into integrate/pal_statistics
saikishor Mar 29, 2025
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5 changes: 5 additions & 0 deletions example_12/controllers/src/passthrough_controller.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -85,6 +85,11 @@ controller_interface::CallbackReturn PassthroughController::on_configure(
reference_interfaces_.resize(
reference_interface_names_.size(), std::numeric_limits<double>::quiet_NaN());

for (size_t i = 0; i < reference_interface_names_.size(); i++)
{
REGISTER_ROS2_CONTROL_INTROSPECTION(reference_interface_names_[i], &reference_interfaces_[i]);
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aren't reference interfaces exported by default?

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Yes yes, they are.
I added to just show how to introspect internal variables. I didn't know what else to register in this controller

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I see. I had a look now and don't find any other more useful variables to introspect in this repository. maybe we should have a look in ros2_controllers and register more variables to pal_statistics, currently most of the controllers have their own publisher with a custom status message type. not sure what is the best way in the controllers for doing so

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I would say yes, it is better to register some variables in the controllers

}

return controller_interface::CallbackReturn::SUCCESS;
}

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4 changes: 4 additions & 0 deletions example_12/hardware/rrbot.cpp
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Expand Up @@ -81,6 +81,10 @@ hardware_interface::CallbackReturn RRBotSystemPositionOnlyHardware::on_init(
}
}

REGISTER_ROS2_CONTROL_INTROSPECTION("hw_start_sec", &hw_start_sec_);
REGISTER_ROS2_CONTROL_INTROSPECTION("hw_stop_sec", &hw_stop_sec_);
REGISTER_ROS2_CONTROL_INTROSPECTION("hw_slowdown", &hw_slowdown_);

return hardware_interface::CallbackReturn::SUCCESS;
}

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5 changes: 5 additions & 0 deletions example_4/hardware/rrbot_system_with_sensor.cpp
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Expand Up @@ -85,6 +85,11 @@ hardware_interface::CallbackReturn RRBotSystemWithSensorHardware::on_init(
}
}

REGISTER_ROS2_CONTROL_INTROSPECTION("hw_start_sec", &hw_start_sec_);
REGISTER_ROS2_CONTROL_INTROSPECTION("hw_stop_sec", &hw_stop_sec_);
REGISTER_ROS2_CONTROL_INTROSPECTION("hw_slowdown", &hw_slowdown_);
REGISTER_ROS2_CONTROL_INTROSPECTION("hw_sensor_change", &hw_sensor_change_);

return hardware_interface::CallbackReturn::SUCCESS;
}

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