Add filtering capability to ft_broadcaster

[OscarMrZ]

Good morning!

This is a continuation of #559 as it was inactive.

The changes are minimal:

1. Applied @saikishor suggestions

• Added sensor_filter_chain to the parameters, which serves as documentation.
• I removed all the logic about the additional frames. I agree with @saikishor that transforming to different frames should be handled by the user in their application. With this, no tf calls inside the RT are needed.
• No more publishing NaN if the update of the filter failed.

2. Added some relevant tests
   IMHO, the previous tests were testing the business logic of the filters themselves, that is, checking that the actual computations were correct, rather than the actual new logic for adding filters. I added three tests for configuring, activating/deactivating, and updating with a configured filter chain. Just one consideration: I changed a little bit the logic of SetUpFTSBroadcaster a little bit to accept a node name. This is because I added some parameters in the YAML that are needed for the broadcaster with filters. I cannot do set_parameter because the filter chain expects the parameters to be overrides.

Thanks a lot for your time!

Óscar

[OscarMrZ]

Good morning!

Yeah, there's no dependency for control_toolbox in the ft_broadcaster, but I think it's perfectly fine to use a filter from filters as we are introducing the dependency for the chain.

I added dummy_filter.cpp, which performs the template specialization for the WrenchStamped type of the increment filter update method. It will just add 1.0 to every field of the message.

I updated the tests accordingly and included an additional one to ensure the correct message is received. Everything seems to be working fine!

Thanks a lot!

[christophfroehlich]

This looks quite good already. Can you please update

• https://github.com/ros-controls/ros2_controllers/blob/master/force_torque_sensor_broadcaster/doc/userdoc.rst
• https://github.com/ros-controls/ros2_controllers/blob/master/doc/release_notes.rst

then this is good to be merged.

[OscarMrZ]

Good morning @christophfroehlich!

Sorry for the delay, things get slower in summer! 😄

Everything should be ready for merging. Please let me know if you think further changes may be needed.

Thanks a lot for your assistance!

[christophfroehlich]

Thanks for the follow-ups, LGTM!

[saikishor]

LGTM