broadcaster for magnetic field values from a magnetometer

[christianrauch]

This PR adds a broadcaster for magnetometers via the semantic_components::MagneticFieldSensor, similar to how this is done for other semantic components (semantic_components::IMUSensor, semantic_components::ForceTorqueSensor).

---

• Fork the repository.
• Modify the source; please focus on the specific change you are contributing. If you also reformat all the code, it will be hard for us to focus on your change.
• Ensure local tests pass. (colcon test and pre-commit run (requires you to install pre-commit by pip3 install pre-commit)
• Commit to your fork using clear commit messages.
• Send a pull request, answering any default questions in the pull request interface.
• Pay attention to any automated CI failures reported in the pull request, and stay involved in the conversation.

[thedevmystic]

Hey @christianrauch, I see its some usage. Let's see what maintainers have to say.

And another thing, why is the class declaration is in implementation file (everything is in .cpp file).

It'll be really better if declaration was in .hpp and implementation was in .cpp

[bmagyar]

The hpp/cpp comment is a good catch indeed but since this is delivered as a plugin I'm not too concerned about it. Thanks for pointing it out @thedevmystic

[christianrauch]

I addressed the one comment about the maintainers and fixed one CI issue from my side.

The CI shows a couple of other issues, such as missing dependencies on controller_manager and backward_ros, which I suspect come from other packages since the magnetometer_broadcaster is not using controller_manager and backward_ros is already defined.

[christophfroehlich]

I haven't reviewed the code yet, but there is a lack of documentation. At least a brief description rst file, added to the controller_index and a note in the release_notes is mandatory.

[bmagyar]

Generally looks good but please purge the linting dependencies and run pre-commit to fix formatting issues

[christianrauch]

Generally looks good but please purge the linting dependencies and run pre-commit to fix formatting issues

I removed the ament_lint test dependencies. Can you trigger the CI again?

FYI, I essentially took them from the imu_sensor_broadcaster:

ros2_controllers/imu_sensor_broadcaster/package.xml

Lines 37 to 38 in fc570f8

	<test_depend>ament_lint_auto</test_depend>
	<test_depend>ament_lint_common</test_depend>

If they are not required for the packages in this repo, you also want to remove them from there.

I will add the documentation later, but I would like to see that the CI is happy first.

[christophfroehlich]

FYI, I essentially took them from the imu_sensor_broadcaster:

ros2_controllers/imu_sensor_broadcaster/package.xml

Lines 37 to 38 in fc570f8

	<test_depend>ament_lint_auto</test_depend>
	<test_depend>ament_lint_common</test_depend>

If they are not required for the packages in this repo, you also want to remove them from there.

#2263

[christianrauch]

I haven't reviewed the code yet, but there is a lack of documentation. At least a brief description rst file, added to the controller_index and a note in the release_notes is mandatory.

I also added the documentation now. Thanks for the feedback.

[codecov]

Codecov Report

❌ Patch coverage is 86.48649% with 15 lines in your changes missing coverage. Please review.
✅ Project coverage is 84.69%. Comparing base (fc570f8) to head (8473213).

Files with missing lines	Patch %	Lines
...meter_broadcaster/src/magnetometer_broadcaster.cpp	60.52%	14 Missing and 1 partial ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##           master    #2214      +/-   ##
==========================================
+ Coverage   84.68%   84.69%   +0.01%     
==========================================
  Files         153      156       +3     
  Lines       15319    15430     +111     
  Branches     1332     1333       +1     
==========================================
+ Hits        12973    13069      +96     
- Misses       1858     1872      +14     
- Partials      488      489       +1     

Flag	Coverage Δ
unittests	84.69% <86.48%> (+0.01%)	⬆️

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

Files with missing lines	Coverage Δ
...caster/test/test_load_magnetometer_broadcaster.cpp	100.00% <100.00%> (ø)
...broadcaster/test/test_magnetometer_broadcaster.cpp	100.00% <100.00%> (ø)
...meter_broadcaster/src/magnetometer_broadcaster.cpp	60.52% <60.52%> (ø)

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