[mecanum_drive_controller] Fix mergify/bp/humble/pr 512

[soham2560]

Brief

In this PR

• Completed Humble backport of Add Mecanum Drive Controller (backport #512, #1444, #1547) #1376

Note: Refer this comment for exact motivation

[soham2560]

I do have some questions about this implementation though

• the odom transforms seems to be publishing to a non-standard topic ~/tf_odometry
  

  ros2_controllers/mecanum_drive_controller/src/mecanum_drive_controller.cpp

  Line 165 in 11ed083

  get_node()->create_publisher<TfStateMsg>("~/tf_odometry", rclcpp::SystemDefaultsQoS());

• there is no unstamped cmd vel topic, I believe we need that for humble? (also the stamped cmd vel topic is ~/reference by default)

let me know if anything is to be done about this

[christophfroehlich]

I do have some questions about this implementation though

* the odom transforms seems to be publishing to a non-standard topic `~/tf_odometry`
  https://github.com/ros-controls/ros2_controllers/blob/11ed083dbc1126d8db03d90c32395ee18e6e4be4/mecanum_drive_controller/src/mecanum_drive_controller.cpp#L165

* there is no unstamped cmd vel topic, I believe we need that for humble? (also the stamped cmd vel topic is `~/reference` by default)

let me know if anything is to be done about this

The non-default topics are used by other controllers here to, one has to remap them if to be used in the "standard" way.
About unstamped cmd_vel, you are maybe right. Have a look how the switch is implemented in diff_drive_controller for example.

[soham2560]

@christophfroehlich I have added stamped vel support (refer 97e8ba9), can you have a look?

[christophfroehlich]

Thanks for the changes. I tested the package locally, it seems to be fine

[christophfroehlich]

@soham2560 please install pre-commit and run the checks the next time before opening a PR ;)

[soham2560]

@soham2560 please install pre-commit and run the checks the next time before opening a PR ;)

oh I completely missed that, had run it but it skipped al the files since they were already commited, just checked, should've used --all-files flag in that scenario, thanks for the pointer will keep it in mind

[soham2560]

The non-default topics are used by other controllers here to, one has to remap them if to be used in the "standard" way.

@christophfroehlich apologies for commenting here, but is remapping possible on humble if the spawner does not support the --ros-args arg like in ros-controls/ros2_control#1713

[saikishor]

@christophfroehlich apologies for commenting here, but is remapping possible on humble if the spawner does not support the --ros-args arg like in ros-controls/ros2_control#1713

You can remap by adding the remapping arg to ros2_control_node.