Add docs to wheel_slip_parameters_cmd.proto #227

ivanpauno · 2022-03-10T14:13:03Z

🦟 Bug fix

Summary

Add docs to wheel_slip_parameters_cmd.proto.

Checklist

Signed all commits for DCO
Added tests
Updated documentation (as needed)
Updated migration guide (as needed)
codecheck passed (See contributing)
All tests passed (See test coverage)
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Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>

codecov · 2022-03-10T14:16:31Z

Codecov Report

Merging #227 (05178a7) into ign-msgs7 (eff9354) will not change coverage.
The diff coverage is n/a.

@@            Coverage Diff             @@
##           ign-msgs7     #227   +/-   ##
==========================================
  Coverage      85.60%   85.60%           
==========================================
  Files              9        9           
  Lines            924      924           
==========================================
  Hits             791      791           
  Misses           133      133

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chapulina

Thanks for adding docs!

chapulina · 2022-03-10T16:59:58Z

proto/ignition/msgs/wheel_slip_parameters_cmd.proto

@@ -31,9 +31,29 @@ message WheelSlipParametersCmd
  /// \brief Optional header data
  Header header                       = 1;

+  /// \brief Name of the model we want to modify the wheel slip parameters.


It would be nice to clarify if it's the scoped name (i.e. parent_model::model) or not

I think that I'm not using scoped names in the current implementation (gazebosim/gz-sim#1241), should I be?
If it's common to reuse model names but have different parents for each model, maybe I should be using scoped names.

Yup, it looks like you're treating them as unscoped names.

I think it would be good to support nested models in some way. I can imagine creating a single wheel model that's repeated multiple times inside the same vehicle, for example, and they all may end up with the same name. I can't think of a clean way to do it with just model_name and link_name. Maybe if model_name accepts scoped names, but the implementation will need to be updated. My suggestion would be to remove string model_name and string link_name in favor of Entity link_entity.

My suggestion would be to remove string model_name and string link_name in favor of Entity link_entity.

That sounds good to me.
Is name in that case scoped?

Ha I thought that message was better suited to work with nested models but looking at it now I think it isn't. Just saw this bit of code used to get "top-level" (i.e. children of the world) entities using the message.

Now I can't think of a clean way of using the Entity message for nested models unless the name is scoped. So it ends up not being too different from what you have here, except that the user can alternatively pass the ID, or make the type explicit.

except that the user can alternatively pass the ID

Yes, this might be useful in some cases.

or make the type explicit.

I think it's always going to be a link, so that's maybe not needed (?).

In the current approach, you can use the same link name in different models, and distinguish them using the model name.
Would that be possible if I start using msgs::Entity?
e.g. https://github.com/ignitionrobotics/ign-gazebo/blob/f5bb284884de9c5d4d7fa5614e53b528654b6611/examples/worlds/trisphere_cycle_wheel_slip.sdf#L283 and https://github.com/ignitionrobotics/ign-gazebo/blob/f5bb284884de9c5d4d7fa5614e53b528654b6611/examples/worlds/trisphere_cycle_wheel_slip.sdf#L685.

Ideally, I agree that supporting nested models would be the best.

I think it's always going to be a link, so that's maybe not needed (?).

I think it's mostly useful if there's a generic way to handle the Entity message which multiple systems can use. This plugin could handle an error in case the user specifies a joint, for example.

It would be helpful to distinguish between links and other entities, in case there are name overlaps. For example, it's common to have links and joints with the same name (i.e. right_wheel).

Would that be possible if I start using msgs::Entity?

Only if the name is scoped, I believe. I think it would be reasonable to use the Entity message this way. By the way, the entitiesFromScopedName helper function should help.

Only if the name is scoped, I believe. I think it would be reasonable to use the Entity message this way. By the way, the entitiesFromScopedName helper function should help.

Sounds good, I can try that.

I got that working, see 7c15ad8 and gazebosim/gz-sim@2d98ab9.

proto/ignition/msgs/wheel_slip_parameters_cmd.proto

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>

chapulina

Thanks for iterating, LGTM!

chapulina · 2022-03-12T02:02:18Z

Merging with a failing ABI checker because the first version of the message hasn't been released yet.

osrf-triage · 2022-03-25T22:29:10Z

This pull request has been mentioned on Gazebo Community. There might be relevant details there:

https://community.gazebosim.org/t/new-ignition-releases-2022-03-25-fortress-edifice-citadel/1343/1

Add docs to wheel_slip_parameters_cmd.proto

e4a3a21

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>

ivanpauno added the enhancement New feature or request label Mar 10, 2022

ivanpauno requested a review from chapulina March 10, 2022 14:13

ivanpauno requested a review from caguero as a code owner March 10, 2022 14:13

ivanpauno self-assigned this Mar 10, 2022

github-actions bot added the 🏢 edifice Ignition Edifice label Mar 10, 2022

ivanpauno mentioned this pull request Mar 10, 2022

Add wheel slip message definition #205

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chapulina reviewed Mar 10, 2022

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ivanpauno added 2 commits March 11, 2022 18:02

Use msgs::Entity instead of model_name/link_name

7c15ad8

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>

Address peer review comment

05178a7

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>

ivanpauno requested a review from chapulina March 11, 2022 21:05

ivanpauno mentioned this pull request Mar 11, 2022

Add wheel slip user command gazebosim/gz-sim#1241

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chapulina approved these changes Mar 12, 2022

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chapulina merged commit 6e5c9ef into ign-msgs7 Mar 12, 2022

chapulina deleted the ivanpauno/wheel-slip-parameters-cmd-docs branch March 12, 2022 02:02

chapulina mentioned this pull request Mar 12, 2022

Merge 7 -> 8 #226

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Add docs to wheel_slip_parameters_cmd.proto #227

Add docs to wheel_slip_parameters_cmd.proto #227

ivanpauno commented Mar 10, 2022 •

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chapulina commented Mar 12, 2022

osrf-triage commented Mar 25, 2022

Add docs to wheel_slip_parameters_cmd.proto #227

Add docs to wheel_slip_parameters_cmd.proto #227

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ivanpauno commented Mar 10, 2022 • edited Loading

🦟 Bug fix

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chapulina commented Mar 12, 2022

osrf-triage commented Mar 25, 2022

ivanpauno commented Mar 10, 2022 •

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