Integrate tricycle_controller into steering_controller_library

[christophfroehlich]

Closes #850 and others.

Tested with ros-controls/gz_ros2_control#865

[codecov]

Codecov Report

❌ Patch coverage is 90.64516% with 29 lines in your changes missing coverage. Please review.
✅ Project coverage is 86.84%. Comparing base (16e4416) to head (50045bb).

Files with missing lines	Patch %	Lines
...t_tricycle_steering_controller_single_traction.hpp	85.86%	8 Missing and 5 partials ⚠️
...ng_controller/src/tricycle_steering_controller.cpp	69.23%	6 Missing and 2 partials ⚠️
...llers_library/src/steering_controllers_library.cpp	69.23%	3 Missing and 1 partial ⚠️
...ng_controllers_library/src/steering_kinematics.cpp	82.35%	2 Missing and 1 partial ⚠️
...ontrollers_library/test/test_steering_odometry.cpp	98.38%	1 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##           master    #1695      +/-   ##
==========================================
+ Coverage   86.77%   86.84%   +0.06%     
==========================================
  Files         148      150       +2     
  Lines       15852    16105     +253     
  Branches     1347     1360      +13     
==========================================
+ Hits        13756    13986     +230     
- Misses       1601     1618      +17     
- Partials      495      501       +6     

Flag	Coverage Δ
unittests	86.84% <90.64%> (+0.06%)	⬆️

Flags with carried forward coverage won't be shown. Click here to find out more.

Files with missing lines	Coverage Δ
...eering_controllers_library/steering_kinematics.hpp	100.00% <100.00%> (ø)
...library/test/test_steering_controllers_library.cpp	98.91% <ø> (ø)
...library/test/test_steering_controllers_library.hpp	97.64% <ø> (ø)
tricycle_controller/src/tricycle_controller.cpp	65.44% <ø> (ø)
...er/test/test_load_tricycle_steering_controller.cpp	100.00% <100.00%> (ø)
...est_tricycle_steering_controller_dual_traction.cpp	100.00% <100.00%> (ø)
...est_tricycle_steering_controller_dual_traction.hpp	87.25% <100.00%> (ø)
...st/test_tricycle_steering_controller_preceding.cpp	100.00% <100.00%> (ø)
...t_tricycle_steering_controller_single_traction.cpp	100.00% <100.00%> (ø)
...ontrollers_library/test/test_steering_odometry.cpp	99.08% <98.38%> (-0.92%)	⬇️
... and 4 more

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[github-actions]

This PR is stale because it has been open for 45 days with no activity. Please tag a maintainer for help on completing this PR, or close it if you think it has become obsolete.

[Ishan1923]

Hi @christophfroehlich ,

I noticed that Issue #2042 (updating odometry for tricycle) is currently blocked pending the completion of this integration.

I am very interested in picking up this architectural migration, especially after my recent deep dive into the steering_controllers_library (fixing the open-loop timeout behavior).

Would you be open to me taking over this PR? :)

I can:

• Rebase the branch and resolve the current merge conflicts.
• Ensure the tricycle kinematics are correctly migrated into steering_kinematics.cpp.
• Add the necessary tests to the library to verify the new mode.

Please let me know if I should work off a fork of this branch or start fresh!

[mergify]

This pull request is in conflict. Could you fix it @christophfroehlich?

[thedevmystic]

In my previous work #2149, I tested some different ways of speed scaling. This might help here too, @christophfroehlich.

different algorithms for speed scaling

[github-actions]

This PR is stale because it has been open for 45 days with no activity. Please tag a maintainer for help on completing this PR, or close it if you think it has become obsolete.

[github-actions]

This PR is stale because it has been open for 45 days with no activity. Please tag a maintainer for help on completing this PR, or close it if you think it has become obsolete.

[mergify]

This pull request is in conflict. Could you fix it @christophfroehlich?