ros-controls/ros2_controllers

diff_drive_controller code tidy-up + many tests are missing from ROS1

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#304 opened on Feb 25, 2022

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good second issuehelp wanted

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Description

Review the code and feature list of diff_drive_controller from ROS1 and write up a comparison with the current version in ROS2, don't forget about testing either. Please make sure to highlight messy or inefficient parts in the current ROS2 implementation, there should be a few of those still...

https://github.com/ros-controls/ros_controllers/tree/noetic-devel/diff_drive_controller https://wiki.ros.org/diff_drive_controller

The ticket then should be extended with either a list of TODOs or a list of additional tickets to address the missing parts.

Contributor guide

Research direction
Compare the ROS1 diff drive controller implementation (in ros controllers/noetic devel) with the current ROS2 version in this repository. Identify missing tests, messy code, and inefficiencies. Create a list of TODOs or follow up tickets to address gaps.
Tech stack
ccpp
Domain
backend
Issue type
Refactor
DifficultyEstimated implementation difficulty for a new contributor, from 1 for very small changes to 5 for expert-level work.
2
Estimated timeA rough time range for an experienced contributor to investigate, implement, test, and prepare a pull request.
1-2 days
Activity statusHow available the issue appears right now: fresh, active, stale, blocked, or waiting on maintainer input.
Active
ClarityHow clearly the issue explains the expected change, acceptance criteria, and next step.
Clear
Prerequisites
C++ROS
Newbie friendlinessA 1-100 score estimating how approachable this issue is for first-time contributors.
60