Generic transmission support in EthercatDriver - #248
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August 19, 2026 16:58
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No behavior change; makes the sizing step callable on its own.
Adds the pluginlib transmission loader, the per-transmission runtime state, and method declarations. No definitions yet.
Loads each URDF <transmission> via pluginlib and builds a staging buffer per joint/actuator role sized to the union of that joint's declared state and command interfaces, so any interface name a project needs flows through automatically without touching this driver - only the transmission plugin needs to know about it. Not wired into on_init() yet.
Read direction copies actuator hardware state through the transmission into transmission-only joints. Write direction copies transmission-only joint commands through the transmission into actuator commands, holding an actuator's previous command for any interface the plugin didn't project rather than overwriting it with NaN, and warning once per transmission if that drops a real command. Not called from read()/write() yet.
on_init() loads declared transmissions before wiring EC modules; read()/write() propagate through them each cycle.
Covers reduction on read/write, an actuator missing an <ec_module>, an unresolvable transmission joint, an unknown plugin type, and an actuator command interface the transmission plugin doesn't recognize (holds its previous value). Also fixes two uncrustify brace-style spots in ethercat_driver.cpp.
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Adds
loadTransmissions()/propagateTransmissionStates()/applyTransmissionCommands()using the standardtransmission_interface::TransmissionLoaderpluginlib pattern — config-only,To be merged after PR #241