Add data_type field to the HardwareInterfaces message

[saikishor]

This would be interesting to have when we extend the data types in the handles. Now, the CLI will also show the type of the interface, so it is much easier for the users to understand the types from a closed system. Below will be the output with these changes

$ ros2 control list_hardware_interfaces 
command interfaces
	joint1/position [available] [claimed]
	joint1_position_controller/joint1/position [available] [unclaimed]
	joint2/position [available] [claimed]
	joint2_position_controller/joint2/position [available] [unclaimed]
state interfaces
	joint1/position
	joint2/position

$ ros2 control list_hardware_interfaces -v
command interfaces
	joint1/position [double] [available] [claimed]
	joint1_position_controller/joint1/position [double] [available] [unclaimed]
	joint2/position [double] [available] [claimed]
	joint2_position_controller/joint2/position [double] [available] [unclaimed]
state interfaces
	joint1/position [double]
	joint2/position [double]

$ ros2 control list_hardware_components 
Hardware Component 1
	name: RRBot
	type: system
	plugin name: ros2_control_demo_example_12/RRBotSystemPositionOnlyHardware
	state: id=3 label=active
	read/write rate: 10 Hz
	is_async: False
	command interfaces
		joint2/position [available] [claimed]
		joint1/position [available] [claimed]

$ ros2 control list_hardware_components -v
Hardware Component 1
	name: RRBot
	type: system
	plugin name: ros2_control_demo_example_12/RRBotSystemPositionOnlyHardware
	state: id=3 label=active
	read/write rate: 10 Hz
	is_async: False
	command interfaces
		joint2/position [double] [available] [claimed]
		joint1/position [double] [available] [claimed]
	state interfaces
		joint2/position [double] [available]
		joint1/position [double] [available]

[christophfroehlich]

I like the idea, but should we only add it with verbose mode maybe? (so we need to add this arg to list_hardware_interfaces verb).

Please also update https://github.com/ros-controls/ros2_control/blob/master/ros2controlcli/doc/userdoc.rst (or make sphinx auto-fill this page ;))

[saikishor]

I like the idea, but should we only add it with verbose mode maybe? (so we need to add this arg to list_hardware_interfaces verb).

Right now, it is in the same mode where the information of claimed or unclaimed is printed. It's just extra in same line. Do you think it's better to do it only in verbose?. If you think so, I can make the changes.

Please also update https://github.com/ros-controls/ros2_control/blob/master/ros2controlcli/doc/userdoc.rst (or make sphinx auto-fill this page ;))

Sorry, I forgot🙈

[christophfroehlich]

I like the idea, but should we only add it with verbose mode maybe? (so we need to add this arg to list_hardware_interfaces verb).

Right now, it is in the same mode where the information of claimed or unclaimed is printed. It's just extra in same line. Do you think it's better to do it only in verbose?. If you think so, I can make the changes.

it was just an idea, to avoid overloading users with info. some users never might see anything other from double. on the other hand, so they might get aware of the variants.

[saikishor]

it was just an idea, to avoid overloading users with info. some users never might see anything other from double. on the other hand, so they might get aware of the variants.

You are right. Makes sense. I'll change it for verbose mode only. Thanks for your insights

[codecov]

Codecov Report

Attention: Patch coverage is 75.00000% with 4 lines in your changes missing coverage. Please review.

Project coverage is 89.12%. Comparing base (af0d776) to head (cbfb5d3).
Report is 1 commits behind head on master.

Files with missing lines	Patch %	Lines
hardware_interface/src/resource_manager.cpp	66.66%	2 Missing and 2 partials ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##           master    #2204      +/-   ##
==========================================
+ Coverage   89.08%   89.12%   +0.03%     
==========================================
  Files         139      139              
  Lines       16118    16140      +22     
  Branches     1389     1391       +2     
==========================================
+ Hits        14359    14385      +26     
+ Misses       1228     1224       -4     
  Partials      531      531              

Flag	Coverage Δ
unittests	89.12% <75.00%> (+0.03%)	⬆️

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

Files with missing lines	Coverage Δ
controller_manager/src/controller_manager.cpp	76.55% <100.00%> (+0.17%)	⬆️
hardware_interface/src/resource_manager.cpp	77.07% <66.66%> (-0.13%)	⬇️

... and 2 files with indirect coverage changes

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[christophfroehlich]

This is great, thanks!

[mergify]

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