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Add utility node for transform wrench messages for a list of frames (backport #2021) #2030

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Merged
merged 5 commits into from
Nov 30, 2025
Merged

Add utility node for transform wrench messages for a list of frames (backport #2021) #2030

merged 5 commits into from
Nov 30, 2025

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@mergify mergify bot commented Nov 28, 2025

Address #1842

This PR adds a new utility node wrench_transformer_node to force_torque_sensor_broadcaster to transform input Wrench messages to output Wrench messages for a given list of frames.

Feedback on naming is welcome and appreciated.

Testing

This is an automatic backport of pull request #2021 done by [Mergify](https://mergify.com).

@Juliaj @mergify
Add utility node to transform wrench messages for a list of frames (#…
e05abe6 
…2021)

(cherry picked from commit 3d03572)

# Conflicts:
#	doc/release_notes.rst
#	force_torque_sensor_broadcaster/CMakeLists.txt
@mergify mergify bot added the conflicts label Nov 28, 2025
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mergify bot commented Nov 28, 2025

Cherry-pick of 3d03572 has failed:

On branch mergify/bp/humble/pr-2021
Your branch is up to date with 'origin/humble'.

You are currently cherry-picking commit 3d03572.
  (fix conflicts and run "git cherry-pick --continue")
  (use "git cherry-pick --skip" to skip this patch)
  (use "git cherry-pick --abort" to cancel the cherry-pick operation)

Changes to be committed:
	modified:   force_torque_sensor_broadcaster/README.md
	modified:   force_torque_sensor_broadcaster/doc/userdoc.rst
	new file:   force_torque_sensor_broadcaster/include/force_torque_sensor_broadcaster/wrench_transformer.hpp
	modified:   force_torque_sensor_broadcaster/package.xml
	new file:   force_torque_sensor_broadcaster/src/wrench_transformer.cpp
	new file:   force_torque_sensor_broadcaster/src/wrench_transformer_main.cpp
	new file:   force_torque_sensor_broadcaster/src/wrench_transformer_parameters.yaml
	new file:   force_torque_sensor_broadcaster/test/test_wrench_transformer.cpp

Unmerged paths:
  (use "git add <file>..." to mark resolution)
	both modified:   doc/release_notes.rst
	both modified:   force_torque_sensor_broadcaster/CMakeLists.txt

To fix up this pull request, you can check it out locally. See documentation: https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/reviewing-changes-in-pull-requests/checking-out-pull-requests-locally

christophfroehlich
christophfroehlich reviewed Nov 30, 2025
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codecov bot commented Nov 30, 2025 •
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Codecov Report

❌ Patch coverage is 75.60976% with 100 lines in your changes missing coverage. Please review.
✅ Project coverage is 67.58%. Comparing base (72cbca8) to head (94328aa).
⚠️ Report is 1 commits behind head on humble.

Files with missing lines Patch % Lines
...ensor_broadcaster/test/test_wrench_transformer.cpp 75.15% 19 Missing and 63 partials ⚠️
...rque_sensor_broadcaster/src/wrench_transformer.cpp 79.22% 8 Missing and 8 partials ⚠️
...sensor_broadcaster/src/wrench_transformer_main.cpp 0.00% 2 Missing ⚠️
Additional details and impacted files 
@@            Coverage Diff             @@
##           humble    #2030      +/-   ##
==========================================
+ Coverage   67.35%   67.58%   +0.23%     
==========================================
  Files         122      126       +4     
  Lines       13881    14291     +410     
  Branches     8809     9088     +279     
==========================================
+ Hits         9349     9659     +310     
- Misses       1377     1406      +29     
- Partials     3155     3226      +71
Flag Coverage Δ
unittests 67.58% <75.60%> (+0.23%) ⬆️

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

Files with missing lines Coverage Δ
...e_torque_sensor_broadcaster/wrench_transformer.hpp 100.00% <100.00%> (ø)
...sensor_broadcaster/src/wrench_transformer_main.cpp 0.00% <0.00%> (ø)
...rque_sensor_broadcaster/src/wrench_transformer.cpp 79.22% <79.22%> (ø)
...ensor_broadcaster/test/test_wrench_transformer.cpp 75.15% <75.15%> (ø)
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@christophfroehlich christophfroehlich merged commit 1611447 into humble Nov 30, 2025
14 checks passed
@christophfroehlich christophfroehlich deleted the mergify/bp/humble/pr-2021 branch November 30, 2025 19:13
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@christophfroehlich @Juliaj