set and reset odometry service additions - diff drive controller

[kuralme]

adds service to reset odometry, works similar to the updated one in tricycle controller. Addressing the issue. Key additions:

• atomic reset flag
• reset is executed in the update loop after service call
• testing

[codecov]

Codecov Report

❌ Patch coverage is 89.69072% with 10 lines in your changes missing coverage. Please review.
✅ Project coverage is 84.87%. Comparing base (c703235) to head (5bce25f).

Files with missing lines	Patch %	Lines
...iff_drive_controller/src/diff_drive_controller.cpp	77.77%	8 Missing and 2 partials ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##           master    #2096      +/-   ##
==========================================
+ Coverage   84.79%   84.87%   +0.07%     
==========================================
  Files         151      151              
  Lines       14607    14684      +77     
  Branches     1266     1267       +1     
==========================================
+ Hits        12386    12463      +77     
  Misses       1763     1763              
  Partials      458      458              

Flag	Coverage Δ
unittests	84.87% <89.69%> (+0.07%)	⬆️

Flags with carried forward coverage won't be shown. Click here to find out more.

Files with missing lines	Coverage Δ
...troller/include/diff_drive_controller/odometry.hpp	100.00% <ø> (ø)
diff_drive_controller/src/odometry.cpp	51.66% <100.00%> (+2.54%)	⬆️
...ive_controller/test/test_diff_drive_controller.cpp	94.72% <100.00%> (+0.72%)	⬆️
...iff_drive_controller/src/diff_drive_controller.cpp	82.68% <77.77%> (+1.39%)	⬆️

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[christophfroehlich]

What I am wondering about: Should we use a custom service type to be able to configure the reset value of the odometry? So we could set the robot to a custom position instead of 0/0/0.

[kuralme]

That sounds like a nice feature. Shall i start working on it starting with tricycle?
How about adding it as a new service called set_odometry and keep the reset?

[christophfroehlich]

We plan to integrate tricycle_controller into the steering controller lib and deprecate it (at least before ROS-L is the goal) -> Let's don't spend too much time on it, but when we add this service to the the other controllers we could use the new service. The service definition can be added to control_msgs.