ros-controls/ros2_controllers

[Admittance Controller] Use control_interface::helpers method to sort the interfaces.

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#449 opened on Oct 10, 2022

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 (2 comments) (0 reactions) (1 assignee)C++ (520 forks)auto 404
good second issuehelp wanted

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Description

    Can we use here a helper method for sorting reference interfaces out is they exist?

The same one I mentioned before that is used in JTC.

Maybe we need another helper method for this, which would be also fine, since this could be something that is done very oftten. (We should open follow-up if such method is needed).

Originally posted by @destogl in https://github.com/ros-controls/ros2_controllers/pull/370#discussion_r953947980

Contributor guide

Research direction
Locate the existing helper method in control interface::helpers that sorts interfaces, then apply it in the admittance controller code.
Tech stack
cpp
Domain
robotics
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.
1-3 hours
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
GitC++ROS2
Newbie friendlinessA 1-100 score estimating how approachable this issue is for first-time contributors.
75