11445280253
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Ran 21 Oct 2024 05:32PM UTC

Jobs 2

Files 55

Run time 1min

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Committed 21 Oct 2024 05:18PM UTC coverage: 51.043%. Remained the same

Build # 11445280253

Build Type

push

github

Committed by

web-flow

Commit Message

[SW-1483] Reorganize ROS 2 control packages (#511)

## Change Overview

This PR splits the hardware interface for Spot into its own package in an effort to clean up the ros2 control work and make things more modular. The ROS 2 control relevant packages in this repo now are:
* `spot_hardware_interface`: contains custom hardware interface plugin
* `spot_controllers`: contains custom controller plugin (and would contain any future controller plugins we may want to have in this repo)
* `spot_ros2_control`: contains the main launchfiles for bringing up the hardware interface + controllers via ros2 control, also contains the examples

As a part of this I also updated the READMEs in these packages and moved some utility functions out of a header and into a .cpp file. 


## Testing Done

- [x] tested examples on robot and in mock. The interface for bringing up the ros2 control stack + running the examples has stayed the same.

Run Details

1933 of 3787 relevant lines covered (51.04%)

28.24 hits per line

Jobs

ID	Job ID	Ran	Files	Coverage
1	unittests-cpp - 11445280253.1	21 Oct 2024 05:32PM UTC	0	70.33	GitHub Action Run
2	unittests-python - 11445280253.2	21 Oct 2024 05:32PM UTC	0	40.05	GitHub Action Run

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