ros-controls / ros-controls/ros2_controllers
Refactor: joint_trajectory_controllers library
Nobody has claimed this yet.
- Dominant language
- C++
- Stars
- 834
- Forks
- 530
- Avg merge
- 18h 3m
- Merged PRs (30d)
- 19
Description
Hey dear ros2_controllers maintainers, while browsing joint_trajectory_controllers library I noticed this library do not have necessary comments and in source files (e.g., trajectory.cpp) the code is mess and do not follows DRY (Do not Repeated Yourself) and lacks comments. If you want me go ahead and refactor the library codebase, then just give me a green flag.
I can do the following things,
- Enforce DRY.
- Add Doxygen-style comments.
- Add new features like explicit LINEAR interpolation method.
- Extend test cases for new features.
As this is a huge is undertaking (refactoring a library), I need a green flag from you, the respected maintainers.
Regards,
Surya
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
Start by reviewing the joint_trajectory_controllers library, especially trajectory.cpp, to identify the specific duplication and missing comments described in the issue. Check the existing test cases before considering any additions. Done would require an agreed scope for the refactor, Doxygen comments, any new interpolation behavior, and corresponding test coverage.
Written by the indexing model from the issue text.
Assessment
- Tech stack
- cpp
- Domain
- robotics
- Issue type
- Refactor
- Difficulty
- 5/5
- Estimated time
- Over a week
- Activity status
- Active
- Clarity
- Needs clarification
- Newbie friendliness
- 25/100