{"action":"created","comment":{"url":"https://api.github.com/repos/ros-controls/ros_control/pulls/comments/29875600","id":29875600,"diff_hunk":"@@ -151,19 +152,24 @@ class SwitchBot : public hardware_interface::RobotHW\n \n         for(std::list<hardware_interface::ControllerInfo>::const_iterator it = start_list.begin(); it != start_list.end(); ++it)\n         {\n-            for (std::set<std::string>::const_iterator res_it = it->resources.begin(); res_it != it->resources.end(); ++res_it)\n+            if (it->claimed_resources.size() != 1)\n+            {\n+                ROS_FATAL(\"We expect controllers to claim resoures from only one interface. This should never happen!\");","path":"controller_manager/test/hwi_switch_test.cpp","position":17,"original_position":17,"commit_id":"f7d6be8220c82234916d8180d7c82a414c1ad17a","original_commit_id":"f7d6be8220c82234916d8180d7c82a414c1ad17a","user":{"login":"sachinchitta","id":2379731,"avatar_url":"https://avatars.githubusercontent.com/u/2379731?v=3","gravatar_id":"","url":"https://api.github.com/users/sachinchitta","html_url":"https://github.com/sachinchitta","followers_url":"https://api.github.com/users/sachinchitta/followers","following_url":"https://api.github.com/users/sachinchitta/following{/other_user}","gists_url":"https://api.github.com/users/sachinchitta/gists{/gist_id}","starred_url":"https://api.github.com/users/sachinchitta/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/sachinchitta/subscriptions","organizations_url":"https://api.github.com/users/sachinchitta/orgs","repos_url":"https://api.github.com/users/sachinchitta/repos","events_url":"https://api.github.com/users/sachinchitta/events{/privacy}","received_events_url":"https://api.github.com/users/sachinchitta/received_events","type":"User","site_admin":false},"body":"This will go away when controllers starting claiming resource from more than one interface (in the future)?","created_at":"2015-05-07T17:35:24Z","updated_at":"2015-05-07T17:35:24Z","html_url":"https://github.com/ros-controls/ros_control/pull/204#discussion_r29875600","pull_request_url":"https://api.github.com/repos/ros-controls/ros_control/pulls/204","_links":{"self":{"href":"https://api.github.com/repos/ros-controls/ros_control/pulls/comments/29875600"},"html":{"href":"https://github.com/ros-controls/ros_control/pull/204#discussion_r29875600"},"pull_request":{"href":"https://api.github.com/repos/ros-controls/ros_control/pulls/204"}}},"pull_request":{"url":"https://api.github.com/repos/ros-controls/ros_control/pulls/204","id":34906893,"html_url":"https://github.com/ros-controls/ros_control/pull/204","diff_url":"https://github.com/ros-controls/ros_control/pull/204.diff","patch_url":"https://github.com/ros-controls/ros_control/pull/204.patch","issue_url":"https://api.github.com/repos/ros-controls/ros_control/issues/204","number":204,"state":"open","locked":false,"title":"Allow controllers to claim resources from multiple interfaces","user":{"login":"adolfo-rt","id":1128028,"avatar_url":"https://avatars.githubusercontent.com/u/1128028?v=3","gravatar_id":"","url":"https://api.github.com/users/adolfo-rt","html_url":"https://github.com/adolfo-rt","followers_url":"https://api.github.com/users/adolfo-rt/followers","following_url":"https://api.github.com/users/adolfo-rt/following{/other_user}","gists_url":"https://api.github.com/users/adolfo-rt/gists{/gist_id}","starred_url":"https://api.github.com/users/adolfo-rt/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/adolfo-rt/subscriptions","organizations_url":"https://api.github.com/users/adolfo-rt/orgs","repos_url":"https://api.github.com/users/adolfo-rt/repos","events_url":"https://api.github.com/users/adolfo-rt/events{/privacy}","received_events_url":"https://api.github.com/users/adolfo-rt/received_events","type":"User","site_admin":false},"body":"### DO NOT MERGE YET \r\n\r\nFixes #75.\r\n\r\nThis PR contains the core changes required to allow controllers to claim resources from more than one hardware interface. It targets *jade-devel* because it breaks both C++ and ROS APIs (see #201 ). The changes are very localized, and mostly affect:\r\n * The `controller_manager/ListControllers` service.\r\n * The `initRequest` method of `ControllerBase` (mostly power users).\r\n\r\nThe work isn't finalized yet, pending tasks:\r\n * Add more tests exercising the new features\r\n * Propagate the changes to `rqt_controller_manager`\r\n * Propagate the changes to `ros_controllers`\r\n\r\nThe timeline is to get this reviewed and (if the review is positive) merged for the official jade release.\r\n\r\nWhat will not be in the scope of this work package is a `ControllerBase` subclass allowing for more than one HW interface, i.e., a multi-interface analog of `Controller`. Since that is an API addition, it can be iterated on with more time and incorporated later in the jade cycle.\r\n","created_at":"2015-05-07T11:39:56Z","updated_at":"2015-05-07T17:35:24Z","closed_at":null,"merged_at":null,"merge_commit_sha":"5fbfa220978b554fe1fcf330febfe5a63c2bb660","assignee":{"login":"adolfo-rt","id":1128028,"avatar_url":"https://avatars.githubusercontent.com/u/1128028?v=3","gravatar_id":"","url":"https://api.github.com/users/adolfo-rt","html_url":"https://github.com/adolfo-rt","followers_url":"https://api.github.com/users/adolfo-rt/followers","following_url":"https://api.github.com/users/adolfo-rt/following{/other_user}","gists_url":"https://api.github.com/users/adolfo-rt/gists{/gist_id}","starred_url":"https://api.github.com/users/adolfo-rt/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/adolfo-rt/subscriptions","organizations_url":"https://api.github.com/users/adolfo-rt/orgs","repos_url":"https://api.github.com/users/adolfo-rt/repos","events_url":"https://api.github.com/users/adolfo-rt/events{/privacy}","received_events_url":"https://api.github.com/users/adolfo-rt/received_events","type":"User","site_admin":false},"milestone":{"url":"https://api.github.com/repos/ros-controls/ros_control/milestones/2","html_url":"https://github.com/ros-controls/ros_control/milestones/Jade%20release","labels_url":"https://api.github.com/repos/ros-controls/ros_control/milestones/2/labels","id":1100485,"number":2,"title":"Jade release","description":"","creator":{"login":"adolfo-rt","id":1128028,"avatar_url":"https://avatars.githubusercontent.com/u/1128028?v=3","gravatar_id":"","url":"https://api.github.com/users/adolfo-rt","html_url":"https://github.com/adolfo-rt","followers_url":"https://api.github.com/users/adolfo-rt/followers","following_url":"https://api.github.com/users/adolfo-rt/following{/other_user}","gists_url":"https://api.github.com/users/adolfo-rt/gists{/gist_id}","starred_url":"https://api.github.com/users/adolfo-rt/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/adolfo-rt/subscriptions","organizations_url":"https://api.github.com/users/adolfo-rt/orgs","repos_url":"https://api.github.com/users/adolfo-rt/repos","events_url":"https://api.github.com/users/adolfo-rt/events{/privacy}","received_events_url":"https://api.github.com/users/adolfo-rt/received_events","type":"User","site_admin":false},"open_issues":1,"closed_issues":0,"state":"open","created_at":"2015-05-07T16:22:53Z","updated_at":"2015-05-07T16:25:01Z","due_on":"2015-05-21T22:00:00Z","closed_at":null},"commits_url":"https://api.github.com/repos/ros-controls/ros_control/pulls/204/commits","review_comments_url":"https://api.github.com/repos/ros-controls/ros_control/pulls/204/comments","review_comment_url":"https://api.github.com/repos/ros-controls/ros_control/pulls/comments{/number}","comments_url":"https://api.github.com/repos/ros-controls/ros_control/issues/204/comments","statuses_url":"https://api.github.com/repos/ros-controls/ros_control/statuses/f7d6be8220c82234916d8180d7c82a414c1ad17a","head":{"label":"ros-controls:multi-iface-ctrl","ref":"multi-iface-ctrl","sha":"f7d6be8220c82234916d8180d7c82a414c1ad17a","user":{"login":"ros-controls","id":4827547,"avatar_url":"https://avatars.githubusercontent.com/u/4827547?v=3","gravatar_id":"","url":"https://api.github.com/users/ros-controls","html_url":"https://github.com/ros-controls","followers_url":"https://api.github.com/users/ros-controls/followers","following_url":"https://api.github.com/users/ros-controls/following{/other_user}","gists_url":"https://api.github.com/users/ros-controls/gists{/gist_id}","starred_url":"https://api.github.com/users/ros-controls/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/ros-controls/subscriptions","organizations_url":"https://api.github.com/users/ros-controls/orgs","repos_url":"https://api.github.com/users/ros-controls/repos","events_url":"https://api.github.com/users/ros-controls/events{/privacy}","received_events_url":"https://api.github.com/users/ros-controls/received_events","type":"Organization","site_admin":false},"repo":{"id":6607925,"name":"ros_control","full_name":"ros-controls/ros_control","owner":{"login":"ros-controls","id":4827547,"avatar_url":"https://avatars.githubusercontent.com/u/4827547?v=3","gravatar_id":"","url":"https://api.github.com/users/ros-controls","html_url":"https://github.com/ros-controls","followers_url":"https://api.github.com/users/ros-controls/followers","following_url":"https://api.github.com/users/ros-controls/following{/other_user}","gists_url":"https://api.github.com/users/ros-controls/gists{/gist_id}","starred_url":"https://api.github.com/users/ros-controls/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/ros-controls/subscriptions","organizations_url":"https://api.github.com/users/ros-controls/orgs","repos_url":"https://api.github.com/users/ros-controls/repos","events_url":"https://api.github.com/users/ros-controls/events{/privacy}","received_events_url":"https://api.github.com/users/ros-controls/received_events","type":"Organization","site_admin":false},"private":false,"html_url":"https://github.com/ros-controls/ros_control","description":"Generic and basic controller framework for ROS","fork":false,"url":"https://api.github.com/repos/ros-controls/ros_control","forks_url":"https://api.github.com/repos/ros-controls/ros_control/forks","keys_url":"https://api.github.com/repos/ros-controls/ros_control/keys{/key_id}","collaborators_url":"https://api.github.com/repos/ros-controls/ros_control/collaborators{/collaborator}","teams_url":"https://api.github.com/repos/ros-controls/ros_control/teams","hooks_url":"https://api.github.com/repos/ros-controls/ros_control/hooks","issue_events_url":"https://api.github.com/repos/ros-controls/ros_control/issues/events{/number}","events_url":"https://api.github.com/repos/ros-controls/ros_control/events","assignees_url":"https://api.github.com/repos/ros-controls/ros_control/assignees{/user}","branches_url":"https://api.github.com/repos/ros-controls/ros_control/branches{/branch}","tags_url":"https://api.github.com/repos/ros-controls/ros_control/tags","blobs_url":"https://api.github.com/repos/ros-controls/ros_control/git/blobs{/sha}","git_tags_url":"https://api.github.com/repos/ros-controls/ros_control/git/tags{/sha}","git_refs_url":"https://api.github.com/repos/ros-controls/ros_control/git/refs{/sha}","trees_url":"https://api.github.com/repos/ros-controls/ros_control/git/trees{/sha}","statuses_url":"https://api.github.com/repos/ros-controls/ros_control/statuses/{sha}","languages_url":"https://api.github.com/repos/ros-controls/ros_control/languages","stargazers_url":"https://api.github.com/repos/ros-controls/ros_control/stargazers","contributors_url":"https://api.github.com/repos/ros-controls/ros_control/contributors","subscribers_url":"https://api.github.com/repos/ros-controls/ros_control/subscribers","subscription_url":"https://api.github.com/repos/ros-controls/ros_control/subscription","commits_url":"https://api.github.com/repos/ros-controls/ros_control/commits{/sha}","git_commits_url":"https://api.github.com/repos/ros-controls/ros_control/git/commits{/sha}","comments_url":"https://api.github.com/repos/ros-controls/ros_control/comments{/number}","issue_comment_url":"https://api.github.com/repos/ros-controls/ros_control/issues/comments{/number}","contents_url":"https://api.github.com/repos/ros-controls/ros_control/contents/{+path}","compare_url":"https://api.github.com/repos/ros-controls/ros_control/compare/{base}...{head}","merges_url":"https://api.github.com/repos/ros-controls/ros_control/merges","archive_url":"https://api.github.com/repos/ros-controls/ros_control/{archive_format}{/ref}","downloads_url":"https://api.github.com/repos/ros-controls/ros_control/downloads","issues_url":"https://api.github.com/repos/ros-controls/ros_control/issues{/number}","pulls_url":"https://api.github.com/repos/ros-controls/ros_control/pulls{/number}","milestones_url":"https://api.github.com/repos/ros-controls/ros_control/milestones{/number}","notifications_url":"https://api.github.com/repos/ros-controls/ros_control/notifications{?since,all,participating}","labels_url":"https://api.github.com/repos/ros-controls/ros_control/labels{/name}","releases_url":"https://api.github.com/repos/ros-controls/ros_control/releases{/id}","created_at":"2012-11-09T03:09:38Z","updated_at":"2015-05-05T13:17:37Z","pushed_at":"2015-05-07T11:39:56Z","git_url":"git://github.com/ros-controls/ros_control.git","ssh_url":"git@github.com:ros-controls/ros_control.git","clone_url":"https://github.com/ros-controls/ros_control.git","svn_url":"https://github.com/ros-controls/ros_control","homepage":"https://github.com/ros_controls/ros_control","size":3368,"stargazers_count":28,"watchers_count":28,"language":"C++","has_issues":true,"has_downloads":true,"has_wiki":true,"has_pages":false,"forks_count":47,"mirror_url":null,"open_issues_count":28,"forks":47,"open_issues":28,"watchers":28,"default_branch":"indigo-devel"}},"base":{"label":"ros-controls:jade-devel","ref":"jade-devel","sha":"8c6be1a504188c0790d89ee0b9f83652f43f06d6","user":{"login":"ros-controls","id":4827547,"avatar_url":"https://avatars.githubusercontent.com/u/4827547?v=3","gravatar_id":"","url":"https://api.github.com/users/ros-controls","html_url":"https://github.com/ros-controls","followers_url":"https://api.github.com/users/ros-controls/followers","following_url":"https://api.github.com/users/ros-controls/following{/other_user}","gists_url":"https://api.github.com/users/ros-controls/gists{/gist_id}","starred_url":"https://api.github.com/users/ros-controls/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/ros-controls/subscriptions","organizations_url":"https://api.github.com/users/ros-controls/orgs","repos_url":"https://api.github.com/users/ros-controls/repos","events_url":"https://api.github.com/users/ros-controls/events{/privacy}","received_events_url":"https://api.github.com/users/ros-controls/received_events","type":"Organization","site_admin":false},"repo":{"id":6607925,"name":"ros_control","full_name":"ros-controls/ros_control","owner":{"login":"ros-controls","id":4827547,"avatar_url":"https://avatars.githubusercontent.com/u/4827547?v=3","gravatar_id":"","url":"https://api.github.com/users/ros-controls","html_url":"https://github.com/ros-controls","followers_url":"https://api.github.com/users/ros-controls/followers","following_url":"https://api.github.com/users/ros-controls/following{/other_user}","gists_url":"https://api.github.com/users/ros-controls/gists{/gist_id}","starred_url":"https://api.github.com/users/ros-controls/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/ros-controls/subscriptions","organizations_url":"https://api.github.com/users/ros-controls/orgs","repos_url":"https://api.github.com/users/ros-controls/repos","events_url":"https://api.github.com/users/ros-controls/events{/privacy}","received_events_url":"https://api.github.com/users/ros-controls/received_events","type":"Organization","site_admin":false},"private":false,"html_url":"https://github.com/ros-controls/ros_control","description":"Generic and basic controller framework for ROS","fork":false,"url":"https://api.github.com/repos/ros-controls/ros_control","forks_url":"https://api.github.com/repos/ros-controls/ros_control/forks","keys_url":"https://api.github.com/repos/ros-controls/ros_control/keys{/key_id}","collaborators_url":"https://api.github.com/repos/ros-controls/ros_control/collaborators{/collaborator}","teams_url":"https://api.github.com/repos/ros-controls/ros_control/teams","hooks_url":"https://api.github.com/repos/ros-controls/ros_control/hooks","issue_events_url":"https://api.github.com/repos/ros-controls/ros_control/issues/events{/number}","events_url":"https://api.github.com/repos/ros-controls/ros_control/events","assignees_url":"https://api.github.com/repos/ros-controls/ros_control/assignees{/user}","branches_url":"https://api.github.com/repos/ros-controls/ros_control/branches{/branch}","tags_url":"https://api.github.com/repos/ros-controls/ros_control/tags","blobs_url":"https://api.github.com/repos/ros-controls/ros_control/git/blobs{/sha}","git_tags_url":"https://api.github.com/repos/ros-controls/ros_control/git/tags{/sha}","git_refs_url":"https://api.github.com/repos/ros-controls/ros_control/git/refs{/sha}","trees_url":"https://api.github.com/repos/ros-controls/ros_control/git/trees{/sha}","statuses_url":"https://api.github.com/repos/ros-controls/ros_control/statuses/{sha}","languages_url":"https://api.github.com/repos/ros-controls/ros_control/languages","stargazers_url":"https://api.github.com/repos/ros-controls/ros_control/stargazers","contributors_url":"https://api.github.com/repos/ros-controls/ros_control/contributors","subscribers_url":"https://api.github.com/repos/ros-controls/ros_control/subscribers","subscription_url":"https://api.github.com/repos/ros-controls/ros_control/subscription","commits_url":"https://api.github.com/repos/ros-controls/ros_control/commits{/sha}","git_commits_url":"https://api.github.com/repos/ros-controls/ros_control/git/commits{/sha}","comments_url":"https://api.github.com/repos/ros-controls/ros_control/comments{/number}","issue_comment_url":"https://api.github.com/repos/ros-controls/ros_control/issues/comments{/number}","contents_url":"https://api.github.com/repos/ros-controls/ros_control/contents/{+path}","compare_url":"https://api.github.com/repos/ros-controls/ros_control/compare/{base}...{head}","merges_url":"https://api.github.com/repos/ros-controls/ros_control/merges","archive_url":"https://api.github.com/repos/ros-controls/ros_control/{archive_format}{/ref}","downloads_url":"https://api.github.com/repos/ros-controls/ros_control/downloads","issues_url":"https://api.github.com/repos/ros-controls/ros_control/issues{/number}","pulls_url":"https://api.github.com/repos/ros-controls/ros_control/pulls{/number}","milestones_url":"https://api.github.com/repos/ros-controls/ros_control/milestones{/number}","notifications_url":"https://api.github.com/repos/ros-controls/ros_control/notifications{?since,all,participating}","labels_url":"https://api.github.com/repos/ros-controls/ros_control/labels{/name}","releases_url":"https://api.github.com/repos/ros-controls/ros_control/releases{/id}","created_at":"2012-11-09T03:09:38Z","updated_at":"2015-05-05T13:17:37Z","pushed_at":"2015-05-07T11:39:56Z","git_url":"git://github.com/ros-controls/ros_control.git","ssh_url":"git@github.com:ros-controls/ros_control.git","clone_url":"https://github.com/ros-controls/ros_control.git","svn_url":"https://github.com/ros-controls/ros_control","homepage":"https://github.com/ros_controls/ros_control","size":3368,"stargazers_count":28,"watchers_count":28,"language":"C++","has_issues":true,"has_downloads":true,"has_wiki":true,"has_pages":false,"forks_count":47,"mirror_url":null,"open_issues_count":28,"forks":47,"open_issues":28,"watchers":28,"default_branch":"indigo-devel"}},"_links":{"self":{"href":"https://api.github.com/repos/ros-controls/ros_control/pulls/204"},"html":{"href":"https://github.com/ros-controls/ros_control/pull/204"},"issue":{"href":"https://api.github.com/repos/ros-controls/ros_control/issues/204"},"comments":{"href":"https://api.github.com/repos/ros-controls/ros_control/issues/204/comments"},"review_comments":{"href":"https://api.github.com/repos/ros-controls/ros_control/pulls/204/comments"},"review_comment":{"href":"https://api.github.com/repos/ros-controls/ros_control/pulls/comments{/number}"},"commits":{"href":"https://api.github.com/repos/ros-controls/ros_control/pulls/204/commits"},"statuses":{"href":"https://api.github.com/repos/ros-controls/ros_control/statuses/f7d6be8220c82234916d8180d7c82a414c1ad17a"}}}}