ros-controls / ros-controls/ros2_controllers
diff_drive_controller code tidy-up + many tests are missing from ROS1
Nobody has claimed this yet.
- Dominant language
- C++
- Stars
- 834
- Forks
- 530
- Avg merge
- 18h 3m
- Merged PRs (30d)
- 19
Description
Review the code and feature list of diff_drive_controller from ROS1 and write up a comparison with the current version in ROS2, don't forget about testing either.
Please make sure to highlight messy or inefficient parts in the current ROS2 implementation, there should be a few of those still...
https://github.com/ros-controls/ros_controllers/tree/noetic-devel/diff_drive_controller
https://wiki.ros.org/diff_drive_controller
The ticket then should be extended with either a list of TODOs or a list of additional tickets to address the missing parts.
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 comparing the linked ROS1 diff_drive_controller tree and wiki entry with the current ROS2 implementation. Record feature and testing gaps, highlight messy or inefficient areas in ROS2, and extend the issue with actionable TODOs or separate tickets.
Written by the indexing model from the issue text.
Assessment
- Tech stack
- cpp
- Domain
- robotics
- Issue type
- Documentation
- Difficulty
- 5/5
- Estimated time
- Over a week
- Activity status
- Stale
- Clarity
- Mostly clear
- Newbie friendliness
- 25/100