rqt_jtc: Check for interface type when adding joint names

[urfeex]

The JTC RQT gui extracts joint names from the required state interfaces of a controller matching the JTC name pattern. If that controller doesn't contain limits for all joints, that controller will be ignored. Therefore, of the controller has setup a speed scaling state interface, that will show up in the list of joints, while there are no limits configured.

Thus, the GUI cannot be used if the controller is setup with a speed scaling state interface.

This commit only adds state interfaces which are of type "position" or "velocity" to the list of joints.

[codecov]

Codecov Report

❌ Patch coverage is 0% with 3 lines in your changes missing coverage. Please review.
✅ Project coverage is 84.78%. Comparing base (a014322) to head (c220713).
⚠️ Report is 4 commits behind head on master.

Files with missing lines	Patch %	Lines
...ajectory_controller/joint_trajectory_controller.py	0.00%	3 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##           master    #2231      +/-   ##
==========================================
- Coverage   84.80%   84.78%   -0.02%     
==========================================
  Files         153      152       -1     
  Lines       15244    15212      -32     
  Branches     1321     1322       +1     
==========================================
- Hits        12927    12897      -30     
+ Misses       1835     1833       -2     
  Partials      482      482              

Flag	Coverage Δ
unittests	84.78% <0.00%> (-0.02%)	⬇️

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Files with missing lines	Coverage Δ
...ajectory_controller/joint_trajectory_controller.py	0.00% <0.00%> (ø)

... and 1 file with indirect coverage changes

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[christophfroehlich]

Have you seen #1131, is this related?

[urfeex]

Have you seen #1131, is this related?

Yes, and yes, but no. The problem described there, is similar, as in the past, basically all joints in the URDF were checked. That was fixed in #1146 as a breakout of #1131 as far as I can see. Since then, only joints in the controller's required_state_interfaces (which is effectively what _jtc_joint_names(jtc_info) returns) are checked.

The issue described here is that the speed scaling interface is a required state interface of the controller if reading speed scaling is enabled.

Another approach would be to use the required command interfaces, instead, but that would still leave the problem if one configured setting speed scaling from the controller.

[christophfroehlich]

Thanks for clarification, the change makes sense. As we discussed in the PMC meeting, position should be sufficient