Single controller template (ROS Melodic) #329
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hi @mikepurvis , do you think this is ready to be rolled out? |
…ks for gcc and clang. Original error is: (#1) robothw_interfaces.h:60:68: error: typedef 'value_type' cannot be referenced with a class specifier.
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@bmagyar I'd still love to see this go upstream at some point. We've been running it since it was proposed ~18 months ago, and it's a nice quality of life improvement taking advantage of variadic templates and enabling a more sane path to composite controllers. That said, it looks like it has merge issues again, so I'll probably push yet another branch that includes these changes and the ones from #301. The branches don't integrate completely cleanly, so keeping them separate for the sake of upstream review ease isn't worth the ongoing pain for us. |
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Happy to merge a working version into melodic, please keep them coming :) |
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Closing in favour of #387. |
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Successor to #302. Not a clean rebase for Melodic, so just making a separate PR for comparison purposes.
See discussion in the original PR. IMO this is a worthwhile change to get in for Melodic— it deprecates
MultiInterfaceController, but otherwise should be fully backward compatible with source.