ros-controls / ros-controls/control_toolbox
How to add clock interface in the filters?
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- C++
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Description
Unless the filter_base is changed, I don't think the filter has any access to the node (only its logger and parameter interfaces). Maybe the filter should get a time and dt passed when updated (as controllers do)
Originally posted by @guihomework in https://github.com/ros-controls/control_toolbox/pull/153#discussion_r1141803766
There are 2 options I can see right now:
- Change
FilterBaseandFilterChainBaseto support this argument in theconfigure() - Add override of the
FilterBaseandFilterChainBaseclasses and enable controllers to use it instead of the generic filters.
Contributor guide
First steps
- Read the whole issue, then the project's contributing guide.
- Comment on the issue to say you are picking it up — it saves two people doing the same work.
- Fork the repository and make your change on a branch.
- Open a pull request that references the issue number.
Research direction
The issue names FilterBase, FilterChainBase, configure(), and controller update paths, but no files or tests. Start by tracing these APIs and the linked discussion, then establish which design should provide filters with time and dt and define the affected controller behavior before implementing it.
Written by the indexing model from the issue text.
Assessment
- Tech stack
- cpp
- Domain
- robotics
- Issue type
- Feature
- Difficulty
- 5/5
- Estimated time
- Over a week
- Activity status
- Stale
- Clarity
- Needs clarification
- Newbie friendliness
- 25/100