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[JSB] Remove dynamic_joint_states and use INDIVIDUAL_BEST_EFFORT for interfaces#2187

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pal-robotics-forks:joint_state_broadcaster/cleanup
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[JSB] Remove dynamic_joint_states and use INDIVIDUAL_BEST_EFFORT for interfaces#2187
saikishor wants to merge 5 commits intoros-controls:masterfrom
pal-robotics-forks:joint_state_broadcaster/cleanup

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@saikishor
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This cleans up the deprecated dynamic joint states and then uses the INDIVIDUAL_BEST_EFFORT part to handle the joint_states topic

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codecov bot commented Feb 26, 2026

Codecov Report

❌ Patch coverage is 83.33333% with 7 lines in your changes missing coverage. Please review.
✅ Project coverage is 84.85%. Comparing base (2942d73) to head (1207c6e).

Files with missing lines Patch % Lines
..._state_broadcaster/src/joint_state_broadcaster.cpp 68.18% 3 Missing and 4 partials ⚠️
Additional details and impacted files
@@            Coverage Diff             @@
##           master    #2187      +/-   ##
==========================================
+ Coverage   84.64%   84.85%   +0.21%     
==========================================
  Files         153      153              
  Lines       14987    14977      -10     
  Branches     1299     1291       -8     
==========================================
+ Hits        12685    12708      +23     
+ Misses       1828     1799      -29     
+ Partials      474      470       -4     
Flag Coverage Δ
unittests 84.85% <83.33%> (+0.21%) ⬆️

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

Files with missing lines Coverage Δ
...oint_state_broadcaster/joint_state_broadcaster.hpp 100.00% <ø> (ø)
..._broadcaster/test/test_joint_state_broadcaster.cpp 97.98% <100.00%> (+0.07%) ⬆️
..._state_broadcaster/src/joint_state_broadcaster.cpp 85.36% <68.18%> (+15.68%) ⬆️
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bmagyar
bmagyar previously approved these changes Mar 11, 2026
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@christophfroehlich christophfroehlich left a comment

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Changes LGTM. This is possibly a behavior change, if the urdf does not contain a joint otherwise published with interface_configuration_type::ALL?
At least a hint in the release notes would be great.

@saikishor
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Changes LGTM. This is possibly a behavior change, if the urdf does not contain a joint otherwise published with interface_configuration_type::ALL?
At least a hint in the release notes would be great.

Right now, it does use filter URDF joints parameter in doing so. Sure, I can add to the release notes

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In file included from /workspaces/ros2_ipc_ws/src/ros2_controllers/joint_state_broadcaster/test/test_joint_state_broadcaster.cpp:32:
/workspaces/ros2_ipc_ws/src/ros2_controllers/joint_state_broadcaster/test/test_joint_state_broadcaster.hpp:57:36: warning: ISO C++ forbids converting a string constant to ‘char*’ [-Wwrite-strings]
   57 | constexpr char * kThreeJointURDF = R"(
      |                                    ^~~
...
---
Finished <<< joint_state_broadcaster [27.1s]

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3 participants