[Feature] Choose different read and write rate for the hardware components#1570

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bmagyar merged 28 commits intoros-controls:masterfrom

saikishor:add/hw_components/update_rate

Dec 4, 2024

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[Feature] Choose different read and write rate for the hardware components#1570

[Feature] Choose different read and write rate for the hardware components#1570
bmagyar merged 28 commits intoros-controls:masterfrom
saikishor:add/hw_components/update_rate

Commits on Nov 25, 2024

added the initial changes for read_rate and write_rate

add last read and write cycle time to control the rate

add read write rate parsing from the ros2_control tag in component parser

fix the component info using the rw_rate in the HardwareInfo

Add tests to the parsed rw_rate

change the rw_rate between system and sensor interface for tests

for hardware read and write period switch to rclcpp::Duration

update the state of the system test component similar to actuator test component

Add a test for a different components update rate and verifying with test components

Add more checks and clean a part of the testing code

Add the test case of the deactivated case

parameterize the tests for flexibility

Test also for the unconfigured and finalized lifecycle states

Add testing for the component parser of the read and write rate

Update documentation and the release notes

Parse the actual period to the read and write methods

Use the current time to trigger the components based on their update rate

Update tests to reflect the change w.r.t reality

update the logic to use the clock to initialize the last read and write cycle time

Fix the test_component_interface for missing valid node_clock_interface

use the internal mutex to skip when occupied by other nonRT things

add missing copying of read and write time in the copy constructor

added the corner case of the simulation

Fix test_component_interfaces for newly added tests

Commits on Nov 28, 2024

Merge branch 'master' into add/hw_components/update_rate

Commits on Dec 3, 2024

Merge branch 'master' into add/hw_components/update_rate

Commits on Dec 4, 2024

Move to single rw_rate variable instead of read and write separate rates

Merge branch 'master' into add/hw_components/update_rate

[Feature] Choose different read and write rate for the hardware components#1570bmagyar merged 28 commits intoros-controls:masterros-controls/ros2_control:masterfrom saikishor:add/hw_components/update_ratesaikishor/ros2_control:add/hw_components/update_rateCopy head branch name to clipboard

Commits

Commits on Nov 25, 2024

Commits on Nov 28, 2024

Commits on Dec 3, 2024

Commits on Dec 4, 2024

[Feature] Choose different read and write rate for the hardware components#1570
bmagyar merged 28 commits intoros-controls:masterfrom
saikishor:add/hw_components/update_rate