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Create poc for distributed control#5

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mamueluth wants to merge 16 commits intomasterStoglRobotics-forks/ros2_control:masterfrom distributed_control_baseStoglRobotics-forks/ros2_control:distributed_control_baseCopy head branch name to clipboard

+2,071-130

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Commits on May 17, 2023

• allow an empty robot description file.

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• on startup wait for robot description, however allow to reveice later

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• undo waiting for robot description file, change QoS instead

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• apply suggestions from review

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• check if resource manager has been initialized

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• rename flag, add some ttests in resource manager

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• Apply suggestions from code review

  

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• update test fixture to use publishing, some tests are failing

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• Not working! tried waiting for urdf to arrive before starting controllers in test

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• workaround for topic issues while testing

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• Create poc for distributed control

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• add parameter for setting publish period

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• change argument order for state_publisher and command_forwarder

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• make possible to create only on node for pub/sub in distributed cm

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• create publishers in cm and only add in rm

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• make possible to export only subset of command/state interfaces, fix

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