Implemented a generic filters plugin #1634

ankurbodhe · 2025-04-09T08:08:34Z

This PR migrates and enhances the chained_filter_controller originally implemented during the ROSCon 2024 control workshop. The controller enables chaining and filtering of state interfaces through a sequence of filters.

Changes introduced:

Ported chained_filter_controller from workshop reference implementation.
Developed unit tests covering:
- Initialization and lifecycle behavior.
- Filter configuration and chaining.
- Correct propagation of state values through the filter stack.

ankurbodhe · 2025-04-09T15:52:11Z

@christophfroehlich I just made another commit to fix the issues in the workflow.. requesting you to approve to workflow

saikishor · 2025-04-10T06:52:57Z

@ankurbodhe can you fix the pre-commit jobs?

Is this ready for review?

christophfroehlich

Thank you for contribution!
In general, have a look at other packages in this repository to follow the (code) style, copyright claims etc.

Please address my comments and also fix the pre-commit failures as Sai already has mentioned.

chained_filter_controller/CMakeLists.txt

chained_filter_controller/config/chained_filter_parameters.yaml

chained_filter_controller/package.xml

chained_filter_controller/include/chained_filter_controller/chained_filter.hpp

chained_filter_controller/src/chained_filter.cpp

chained_filter_controller/test/test_chained_filter.cpp

christophfroehlich · 2025-04-19T20:33:52Z

chained_filter_controller/test/test_chained_filter.cpp

Please add a test if a filter is loaded and used to process data.

christophfroehlich · 2025-05-28T19:59:34Z

@ankurbodhe can I help you to finish this PR? We also have to apply the changes of #1697 to the new CMakeLists.

ankurbodhe · 2025-05-29T02:35:21Z

@christophfroehlich Sorry had a hectic work schedule... my calendar just freed up and would be working on completing the PR.. will be working on this everyday now until completion.

christophfroehlich · 2025-05-29T15:27:17Z

no worries. don't hesitate to ask if there are any doubts how to proceed

christophfroehlich · 2025-05-31T16:34:17Z

@ankurbodhe please don't force-push to already reviewed PRs, it just makes subsequent reviews slow. There is no need for a clean history, as we squash PRs at the time of merging into the base branches.
Ping me again if it is ready for the next review round.

github-actions · 2025-07-16T12:50:43Z

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.

…ilter_controller' for better portability

codecov · 2025-07-22T13:49:08Z

Codecov Report

Attention: Patch coverage is 92.07317% with 13 lines in your changes missing coverage. Please review.

Project coverage is 85.74%. Comparing base (9a5cf64) to head (16c3303).
Report is 2 commits behind head on master.

Files with missing lines	Patch %	Lines
chained_filter_controller/src/chained_filter.cpp	78.68%	9 Missing and 4 partials ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##           master    #1634      +/-   ##
==========================================
+ Coverage   85.66%   85.74%   +0.08%     
==========================================
  Files         123      127       +4     
  Lines       12407    12571     +164     
  Branches     1056     1065       +9     
==========================================
+ Hits        10628    10779     +151     
- Misses       1430     1439       +9     
- Partials      349      353       +4

Flag	Coverage Δ
unittests	`85.74% <92.07%> (+0.08%)`	⬆️

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

Files with missing lines	Coverage Δ
...ned_filter_controller/test/test_chained_filter.cpp	`100.00% <100.00%> (ø)`
...oller/test/test_load_chained_filter_controller.cpp	`100.00% <100.00%> (ø)`
...r_controller/test/test_multiple_chained_filter.cpp	`100.00% <100.00%> (ø)`
chained_filter_controller/src/chained_filter.cpp	`78.68% <78.68%> (ø)`

🚀 New features to boost your workflow:

❄️ Test Analytics: Detect flaky tests, report on failures, and find test suite problems.

…-plugin

christophfroehlich

I needed something like this in a project of mine and finished this PR.

As an example, adding this to example_16 gives the wheel acceleration by a derivative filter

left_wheel_filter:
  ros__parameters:
    type: chained_filter_controller/ChainedFilter
    filter_chain:
      filter1:
        name: filter1
        type: "filters/TransferFunctionFilterDouble"
        params:
          # Transfer function coefficients for a third-order state variable filter, giving the first derivative
          a: [1.0, -1.104, 0.406, -0.04979]
          b: [1.839, -1.163, -0.6767]
    input_interfaces: ["left_wheel_joint/velocity"]
    output_interfaces: ["left_wheel_joint/acceleration"]

saikishor

Very impressive work 👏🏾

Leaving some comments of my partial review

chained_filter_controller/src/chained_filter.cpp

saikishor · 2025-07-24T23:11:09Z

chained_filter_controller/src/chained_filter.cpp

+rclcpp::NodeOptions ChainedFilter::define_custom_node_options() const
+{
+  return rclcpp::NodeOptions()
+    .allow_undeclared_parameters(true)
+    .automatically_declare_parameters_from_overrides(false);
+}


Won't it work with the default settings?, Just curious

haven't tested it before, but it seems to work without

chained_filter_controller/src/chained_filter_parameters.yaml

saikishor · 2025-07-24T23:26:24Z

chained_filter_controller/test/test_multiple_chained_filter.cpp

+{
+  auto node_options = controller_->define_custom_node_options();
+  node_options.parameter_overrides(parameters);
+


Don't we need to parse multiple_chained_filter.yaml this file here?

this is done via the cmake method
https://github.com/ros-controls/ros2_controllers/pull/1634/files#diff-a3a22369907540a2005b908a839ba9368165749c3c9c57d6f8480a562dc2aba5R70

Co-authored-by: Sai Kishor Kothakota <[email protected]>

ankurbodhe mentioned this pull request Apr 9, 2025

Implement a generic filters plugin #1577

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4 tasks

christophfroehlich requested changes Apr 19, 2025

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ankurbodhe added 4 commits May 30, 2025 23:39

migrated roscon controller and added unit tests

b96bbdb

removed build install and log files

c1203bb

modified CMakeLists to remove launch install

04fbf95

updated code with build fixes

c3a79de

ankurbodhe force-pushed the abodhe-impl-filters-plugin branch from c61a23d to c3a79de Compare May 30, 2025 23:40

github-actions bot added the stale label Jul 16, 2025

christophfroehlich added 8 commits July 22, 2025 11:12

Merge branch 'master' into abodhe-impl-filters-plugin

5c896d7

Satisfy linters

c5a63f8

Fix some deprecation warnings

858232a

Cleanup CMakeLists and use gmock

c298fe7

Cleanup test file

c9102e9

Refactor package.xml

dd0351b

Document filter parameter in GPL and add load test

c560819

given plugin name 'libchained_filter_controller' should be 'chained_f…

64a3c60

…ilter_controller' for better portability

github-actions bot removed the stale label Jul 22, 2025

christophfroehlich added 2 commits July 22, 2025 13:14

Improve test fixture class

030abca

Test interface configuration

78f7d2b

christophfroehlich added 3 commits July 22, 2025 18:32

Add update-test

df580db

Update docs

23b59fa

Fix text

1d83ef9

christophfroehlich added 4 commits July 23, 2025 07:10

Change for a vector of interfaces

4c15e60

Merge remote-tracking branch 'origin/master' into abodhe-impl-filters…

4f774fc

…-plugin

Make a per-interface configuration possible

0ffc2b8

Update docs

66a7600

christophfroehlich marked this pull request as ready for review July 23, 2025 12:48

github-actions bot requested review from ARK3r, christophfroehlich, DasRoteSkelett, mamueluth, rosterloh, saikishor and VX792 July 23, 2025 12:50

christophfroehlich previously approved these changes Jul 23, 2025

View reviewed changes

saikishor reviewed Jul 24, 2025

View reviewed changes

Use isfinite

fe04cee

Co-authored-by: Sai Kishor Kothakota <[email protected]>

christophfroehlich dismissed their stale review via fe04cee July 25, 2025 06:44

Remove custom node options

16c3303

christophfroehlich requested a review from saikishor July 25, 2025 06:48

Implemented a generic filters plugin #1634

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Implemented a generic filters plugin #1634

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