JTC add more options for tolerance configuration

[Vedant87]

Closes #1180

Added new Parameters velocity_tolerance and acceleration_tolerance, to the Joint Trajectory Controller.

[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

Project coverage is 85.69%. Comparing base (483d6ac) to head (dca0485).
Report is 36 commits behind head on master.

Additional details and impacted files

@@           Coverage Diff           @@
##           master    #1677   +/-   ##
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  Coverage   85.69%   85.69%           
=======================================
  Files         123      123           
  Lines       11897    11900    +3     
  Branches     1015     1015           
=======================================
+ Hits        10195    10198    +3     
  Misses       1379     1379           
  Partials      323      323           

Flag	Coverage Δ
unittests	85.69% <100.00%> (+<0.01%)	⬆️

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Files with missing lines	Coverage Δ
...jectory_controller/joint_trajectory_controller.hpp	100.00% <ø> (ø)
...ory_controller/src/joint_trajectory_controller.cpp	86.06% <100.00%> (+0.05%)	⬆️

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[christophfroehlich]

Thanks for tackling this issue.

This PR is not functional yet, right? However, I added some early review comments.

[christophfroehlich]

I think the initial idea was to have them per-joint, as it is used in the action
https://github.com/ros-controls/control_msgs/blob/master/control_msgs/action/FollowJointTrajectory.action
and defined here
https://github.com/ros-controls/control_msgs/blob/master/control_msgs/msg/JointTolerance.msg

[christophfroehlich]

I suggest adding the parameters constraints.__map_joints.trajectory_velocity, constraints.__map_joints.goal_velocity etc. We cannot easily rename the old parameters, as it would change existing code. If necessary, we have to deprecate the old parameters and add something like
constraints.__map_joints.path.position
constraints.__map_joints.path.velocity
constraints.__map_joints.path.acceleration

[christophfroehlich]

you don't need to use get_parameter() method. Have a look at the structure params_ , generate_parameter_library automatically fills this.

[Vedant87]

Thanks for tackling this issue.

This PR is not functional yet, right? However, I added some early review comments.

Yes this PR is still a work in progress, have been busy with other work hence haven't got enough time to complete this.

[github-actions]

This PR is stale because it has been open for 45 days with no activity. Please tag a maintainer for help on completing this PR, or close it if you think it has become obsolete.