reset odometry service update - tricycle controller

[kuralme]

First part of changes for addressing the issue:

• atomic reset flag
• reset is now checked in the update loop
• testing

Note: I redefined the odometry_ object in the test class. If this doesnt seem ok i can change it to something else, like adding an odom getter method

[codecov]

Codecov Report

✅ All modified and coverable lines are covered by tests.
✅ Project coverage is 84.97%. Comparing base (665c60c) to head (154d559).

Additional details and impacted files

@@            Coverage Diff             @@
##           master    #2081      +/-   ##
==========================================
+ Coverage   84.92%   84.97%   +0.04%     
==========================================
  Files         153      153              
  Lines       14990    15024      +34     
  Branches     1291     1293       +2     
==========================================
+ Hits        12731    12767      +36     
+ Misses       1785     1782       -3     
- Partials      474      475       +1     

Flag	Coverage Δ
unittests	84.97% <100.00%> (+0.04%)	⬆️

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

Files with missing lines	Coverage Δ
...nclude/tricycle_controller/tricycle_controller.hpp	100.00% <ø> (ø)
tricycle_controller/src/tricycle_controller.cpp	65.57% <100.00%> (+1.25%)	⬆️
...cycle_controller/test/test_tricycle_controller.cpp	91.78% <100.00%> (+2.21%)	⬆️

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[christophfroehlich]

LGTM, this looks better. And thanks for adding also tests for it.

[kuralme]

Happy new year.

Do I not need to mention this in release notes? If not, I will continue impementing this into the rest of the controllers

[christophfroehlich]

Happy new year.

Also a happy new year!

Do I not need to mention this in release notes? If not, I will continue impementing this into the rest of the controllers

No because there is no new functionality here, you just have improved it by making it thread safe?

[kuralme]

I guess it'll be new for other controllers, not this one. I'll continue with controllers that has odometry implementations

[github-actions]

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.

[kuralme]

I forgot about this one. Unlike other three drive controllers this one still has reset odometry service. Should we merge it or close? @christophfroehlich
Saying based on your previous statement:

We plan to integrate tricycle_controller into the steering controller lib and deprecate it (at least before ROS-L is the goal) -> Let's don't spend too much time on it, but when we add this service to the the other controllers we could use the new service. The service definition can be added to control_msgs.

[christophfroehlich]

As the work is already done, I'd say we can merge this as it is.