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Add ControllerInterfaceBase class with methods for chainable controller #717

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merged 5 commits into from
May 15, 2022

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@destogl destogl commented May 15, 2022

Following the disucssion in #663 (#663 (review)), and on destogl#11 this PR introduces a new base class for controllers interfaces from which "normal" controller implementing ControllerInterface and "chainable controllers" implementing ChainableControllerInterface are derived.

In the second commit loading of controllers inside controller manager is updated resulting that users export their controllers as usual, using ControllerInterface and not ControllerInterfaceBase class.
This provides nice user API. (This will then also enable users to export plugins for chained controllers using ChainableControllerInterface class).

@destogl destogl self-assigned this May 15, 2022
@destogl destogl changed the title Add ControllerInterfaceBase class Add ControllerInterfaceBase class with methods for chainable controller May 15, 2022
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@bmagyar bmagyar left a comment

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Two small notes, otherwise looks pretty clean to me!

@bmagyar bmagyar merged commit 1ceb627 into ros-controls:master May 15, 2022
@destogl destogl deleted the add-controller-interface-base branch May 15, 2022 18:04
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2 participants