[JTC] Rename open_loop_control parameter and slightly change its scope

[Thieso]

Resolves #1505

[christophfroehlich]

Thanks for your PR. However, we must not change the default behavior of existing setups. Your change would go into the stable jazzy release as well.

1. please keep the old open_loop parameter and add a deprecation warning if it is set to the non-default value (true)
2. if open_loop is set to true, we still should deactivate the use_closed_loop_pid_adapter_ and override the setting of interpolate_from_desired_state
3. Mark deprecated code clearly, so we can remove that in the release after next.
4. Please add a migration note and release note here.

[Thieso]

Thanks for the comments. This should be better now.

[christophfroehlich]

Thanks for the follow-up, but please use pre-commit the next time (fixed that for you).

[codecov]

Codecov Report

Attention: Patch coverage is 66.66667% with 3 lines in your changes missing coverage. Please review.

Project coverage is 84.25%. Comparing base (ae6efeb) to head (5ec4197).

Files with missing lines	Patch %	Lines
...ory_controller/src/joint_trajectory_controller.cpp	0.00%	1 Missing and 2 partials ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##           master    #1525      +/-   ##
==========================================
- Coverage   84.27%   84.25%   -0.03%     
==========================================
  Files         123      123              
  Lines       11359    11360       +1     
  Branches      961      963       +2     
==========================================
- Hits         9573     9571       -2     
- Misses       1470     1471       +1     
- Partials      316      318       +2     

Flag	Coverage Δ
unittests	84.25% <66.66%> (-0.03%)	⬇️

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

Files with missing lines	Coverage Δ
...ory_controller/test/test_trajectory_controller.cpp	99.74% <100.00%> (-0.01%)	⬇️
...ntroller/test/test_trajectory_controller_utils.hpp	83.87% <ø> (-0.06%)	⬇️
...ory_controller/src/joint_trajectory_controller.cpp	84.50% <0.00%> (-0.39%)	⬇️

... and 2 files with indirect coverage changes

[christophfroehlich]

@Thieso as you are currently working on the open-loop mode, could you have a look on #780 please and approve it if it makes sense for you? Then, please change also all occurances of open-loop in the code comments in this PR here ;)

[Thieso]

@Thieso as you are currently working on the open-loop mode, could you have a look on #780 please and approve it if it makes sense for you? Then, please change also all occurances of open-loop in the code comments in this PR here ;)

Hi, I took a look and tested it on my example and it actually fixes another bug which I was not yet able to find. So it looks good to me but what exactly do you mean by replacing open-loop occurances?

[christophfroehlich]

can you leave a review in the other pr please?
i just mean that in the comments of some tests there is written open-loop, and after your changes this does not make sense any more

[mergify]

This pull request is in conflict. Could you fix it @Thieso?