Document order of interfaces

[christophfroehlich]

See ros-controls/ros2_controllers#116

Any other location to document this?

[codecov]

Codecov Report

✅ All modified and coverable lines are covered by tests.
✅ Project coverage is 88.92%. Comparing base (750ac8a) to head (9aaa3f0).
⚠️ Report is 1 commits behind head on master.

Additional details and impacted files

@@           Coverage Diff           @@
##           master    #2394   +/-   ##
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  Coverage   88.91%   88.92%           
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  Files         148      148           
  Lines       16973    16973           
  Branches     1448     1448           
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+ Hits        15092    15093    +1     
  Misses       1318     1318           
+ Partials      563      562    -1     

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unittests	88.92% <ø> (+<0.01%)	⬆️

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Files with missing lines	Coverage Δ
...controller_interface/controller_interface_base.hpp	91.66% <ø> (ø)

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[saikishor]

Isn't it defined by the order we define in the command_interface_configuration method?

ros2_control/controller_interface/include/controller_interface/controller_interface_base.hpp

Line 117 in ad47e2a

virtual InterfaceConfiguration command_interface_configuration() const = 0;

[saikishor]

I believe you are right, when we use ALL instead of INDIVIDUAL type

[christophfroehlich]

you mean if one uses the deprecated export_command_interfaces? Then there is no command_interface_configuration?

[saikishor]

Isn't the export_command_interfaces and export_state_interfaces from HW component side?

[christophfroehlich]

I thought in the wrong direction. I simplified the docstring, how is the order if interface_configuration_type::ALL is configured? Is it determined by the order of loading the hardware components, and per component as defined in the xml tag?

[bmagyar]

me gusta, barring the ongoing discussion

[saikishor]

Spot on!