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mathias31415mathias31415
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Merge branch 'refactoring_to_moprim_base_controller' into moprim_from_traj_controller_with_base_controller
2 parents 688c31b + a348921 commit 7c7a8c9

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+1043
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‎chained_filter_controller/CMakeLists.txt

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cmake_minimum_required(VERSION 3.10)
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project(chained_filter_controller)
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find_package(ros2_control_cmake REQUIRED)
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set_compiler_options()
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export_windows_symbols()
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# Dependencies
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set(THIS_PACKAGE_INCLUDE_DEPENDS
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controller_interface
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generate_parameter_library
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filters
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hardware_interface
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pluginlib
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rclcpp
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rclcpp_lifecycle
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)
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find_package(ament_cmake REQUIRED)
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find_package(backward_ros REQUIRED)
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foreach(Dependency IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS})
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find_package(${Dependency} REQUIRED)
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endforeach()
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# Generate parameters from YAML
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generate_parameter_library(
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chained_filter_parameters
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src/chained_filter_parameters.yaml
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)
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# Library definition
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add_library(${PROJECT_NAME} SHARED
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src/chained_filter.cpp
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)
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target_compile_features(${PROJECT_NAME} PUBLIC cxx_std_17)
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target_include_directories(${PROJECT_NAME} PUBLIC
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$<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>
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$<INSTALL_INTERFACE:include/${PROJECT_NAME}>
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)
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# Dependencies
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target_link_libraries(${PROJECT_NAME}
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PUBLIC
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chained_filter_parameters
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controller_interface::controller_interface
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hardware_interface::hardware_interface
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filters::filter_chain
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pluginlib::pluginlib
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rclcpp::rclcpp
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rclcpp_lifecycle::rclcpp_lifecycle
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)
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# Export the plugin description
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pluginlib_export_plugin_description_file(controller_interface plugin_description.xml)
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if(BUILD_TESTING)
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find_package(ament_cmake_gmock REQUIRED)
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find_package(controller_manager REQUIRED)
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find_package(ros2_control_test_assets REQUIRED)
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add_rostest_with_parameters_gmock(test_chained_filter_controller
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test/test_chained_filter.cpp
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${CMAKE_CURRENT_SOURCE_DIR}/test/config/test_chained_filter.yaml
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)
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target_link_libraries(test_chained_filter_controller
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${PROJECT_NAME}
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)
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add_rostest_with_parameters_gmock(test_multiple_chained_filter_controller
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test/test_multiple_chained_filter.cpp
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${CMAKE_CURRENT_SOURCE_DIR}/test/config/test_multiple_chained_filter.yaml
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)
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target_link_libraries(test_multiple_chained_filter_controller
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${PROJECT_NAME}
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)
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add_definitions(-DTEST_FILES_DIRECTORY="${CMAKE_CURRENT_SOURCE_DIR}/test")
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ament_add_gmock(test_load_chained_filter_controller test/test_load_chained_filter_controller.cpp)
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target_link_libraries(test_load_chained_filter_controller
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controller_manager::controller_manager
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ros2_control_test_assets::ros2_control_test_assets
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)
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endif()
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install(
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DIRECTORY include/
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DESTINATION include/${PROJECT_NAME}
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)
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install(
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TARGETS ${PROJECT_NAME}
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chained_filter_parameters
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EXPORT export_${PROJECT_NAME}
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ARCHIVE DESTINATION lib
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LIBRARY DESTINATION lib
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RUNTIME DESTINATION bin
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)
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# Export targets and dependencies
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ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET)
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ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS})
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ament_package()

‎chained_filter_controller/doc/userdoc.rst

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:github_url: https://github.com/ros-controls/ros2_controllers/blob/{REPOS_FILE_BRANCH}/chained_filter_controller/doc/userdoc.rst
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.. _chained_filter_controller_userdoc:
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Chained Filter Controller
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--------------------------------
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This controller wraps around ``filter_chain`` library from the `filters <https://index.ros.org/p/filters/#humble>`__ package. It allows to chain multiple filters together, where the output of one filter is the input of the next one. The controller can be used to apply a sequence of filters to a single interface, the same filter chain to multiple interfaces, or different filter chains to different interfaces.
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Parameters
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^^^^^^^^^^^
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This controller uses the `generate_parameter_library <https://github.com/PickNikRobotics/generate_parameter_library>`_ to handle its parameters. The parameter `definition file located in the src folder <https://github.com/ros-controls/ros2_controllers/blob/{REPOS_FILE_BRANCH}/chained_filter_controller/src/chained_filter_parameters.yaml>`_ contains descriptions for all the parameters used by the controller.
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Full list of parameters:
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.. generate_parameter_library_details:: ../src/chained_filter_parameters.yaml
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An example parameter file for this controller can be found in `the test directory <https://github.com/ros-controls/ros2_controllers/blob/{REPOS_FILE_BRANCH}/chained_filter_controller/test/config/test_chained_filter.yaml>`_ for a single interface:
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.. literalinclude:: ../test/config/test_chained_filter.yaml
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:language: yaml
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or for `multiple interfaces <https://github.com/ros-controls/ros2_controllers/blob/{REPOS_FILE_BRANCH}/chained_filter_controller/test/config/test_multiple_chained_filter.yaml>`_:
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.. literalinclude:: ../test/config/test_multiple_chained_filter.yaml
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:language: yaml

‎chained_filter_controller/include/chained_filter_controller/chained_filter.hpp

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// Copyright 2025 ros2_control PMC
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#ifndef CHAINED_FILTER_CONTROLLER__CHAINED_FILTER_HPP_
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#define CHAINED_FILTER_CONTROLLER__CHAINED_FILTER_HPP_
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#include <memory>
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#include <string>
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#include <vector>
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#include "controller_interface/chainable_controller_interface.hpp"
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#include "filters/filter_chain.hpp"
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#include "rclcpp/rclcpp.hpp"
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#include "rclcpp_lifecycle/state.hpp"
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#include "chained_filter_controller/chained_filter_parameters.hpp"
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namespace chained_filter_controller
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{
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class ChainedFilter : public controller_interface::ChainableControllerInterface
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{
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public:
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controller_interface::CallbackReturn on_init() override;
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controller_interface::InterfaceConfiguration command_interface_configuration() const override;
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controller_interface::InterfaceConfiguration state_interface_configuration() const override;
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controller_interface::CallbackReturn on_configure(
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const rclcpp_lifecycle::State & previous_state) override;
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controller_interface::CallbackReturn on_activate(
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const rclcpp_lifecycle::State & previous_state) override;
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controller_interface::return_type update_and_write_commands(
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const rclcpp::Time & time, const rclcpp::Duration & period) override;
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protected:
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std::vector<hardware_interface::StateInterface> on_export_state_interfaces() override;
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controller_interface::return_type update_reference_from_subscribers(
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const rclcpp::Time & time, const rclcpp::Duration & period) override;
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std::shared_ptr<chained_filter::ParamListener> param_listener_;
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chained_filter::Params params_;
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std::vector<std::unique_ptr<filters::FilterChain<double>>> filters_;
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std::vector<double> output_state_values_;
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};
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} // namespace chained_filter_controller
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#endif // CHAINED_FILTER_CONTROLLER__CHAINED_FILTER_HPP_

‎chained_filter_controller/package.xml

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<?xml version="1.0"?>
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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>chained_filter_controller</name>
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<version>0.0.0</version>
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<description>ros2_controller for configuring filter chains</description>
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<maintainer email="[email protected]">Bence Magyar</maintainer>
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<maintainer email="[email protected]">Denis Štogl</maintainer>
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<maintainer email="[email protected]">Christoph Froehlich</maintainer>
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<maintainer email="[email protected]">Sai Kishor Kothakota</maintainer>
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<license>Apache License 2.0</license>
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<url type="website">https://control.ros.org</url>
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<url type="bugtracker">https://github.com/ros-controls/ros2_controllers/issues</url>
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<url type="repository">https://github.com/ros-controls/ros2_controllers/</url>
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<author email="[email protected]">Bence Magyar</author>
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<author email="[email protected]">Christoph Froehlich</author>
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<author email="[email protected]">ankur-u24</author>
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<buildtool_depend>ament_cmake</buildtool_depend>
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<build_depend>generate_parameter_library</build_depend>
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<build_depend>ros2_control_cmake</build_depend>
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<depend>controller_interface</depend>
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<depend>filters</depend>
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<depend>pluginlib</depend>
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<depend>rclcpp</depend>
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<depend>rclcpp_lifecycle</depend>
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<depend>hardware_interface</depend>
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<test_depend>ament_cmake_gmock</test_depend>
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<test_depend>controller_manager</test_depend>
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<test_depend>hardware_interface_testing</test_depend>
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<test_depend>ros2_control_test_assets</test_depend>
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<export>
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<build_type>ament_cmake</build_type>
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</export>
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</package>

‎chained_filter_controller/plugin_description.xml

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<library path="chained_filter_controller">
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<class name="chained_filter_controller/ChainedFilter"
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type="chained_filter_controller::ChainedFilter"
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base_class_type="controller_interface::ChainableControllerInterface">
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<description>
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A chainable ROS 2 controller that applies a sequence of filters to a state interface using the filters package,
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and exports the filtered output as a new state interface.
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</description>
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</class>
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</library>

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