Refactor: joint_trajectory_controllers library

[thedevmystic]

Hey dear ros2_controllers maintainers, while browsing joint_trajectory_controllers library I noticed this library do not have necessary comments and in source files (e.g., trajectory.cpp) the code is mess and do not follows DRY (Do not Repeated Yourself) and lacks comments. If you want me go ahead and refactor the library codebase, then just give me a green flag.

I can do the following things,

1. Enforce DRY.
2. Add Doxygen-style comments.
3. Add new features like explicit LINEAR interpolation method.
4. Extend test cases for new features.

As this is a huge is undertaking (refactoring a library), I need a green flag from you, the respected maintainers.

Regards,
Surya

[christophfroehlich]

there is for sure enough potential for improvements..my suggestion is to make that in small batches, focussing on a single file for example. otherwise the reviews will take an eternity.

[thedevmystic]

Of course then, so at first I will focus on refactoring and feature addition in following order,

1. Refactoring of joint_trajectory/include directory
2. Refactoring of joint_trajectory/src directory
3. Feature addition, like explicit LINEAR interpolation method
4. Test case extension

And submit different PR on each.

If its fine with you, can I proceed?
@christophfroehlich

[github-actions]

This issue is being labeled as stale because it has been open 45 days with no activity. It will be automatically closed after another 45 days without follow-ups.

[christophfroehlich]

Is this completed? I don't think so..

[thedevmystic]

If you want to open it, then okay 👍!
I only closed it because it got the stale label and was going to close.
But I'm not stopping working on it, and my next PR about JTC Tolerances refactor is almost complete, once the current PR about params validation gets accepted I'll initiate the next PR afterwards. Just some delays due to exams.

[github-actions]

This issue is being labeled as stale because it has been open 45 days with no activity. It will be automatically closed after another 45 days without follow-ups.

[thedevmystic]

Still working :)

[github-actions]

This issue is being labeled as stale because it has been open 45 days with no activity. It will be automatically closed after another 45 days without follow-ups.