Mecanum Drive: Populate the pose covariance matrix

[hilary-luo]

During recent testing I noticed that the pose covariance matrix was not being populated in the mecanum drive controller. This PR is to populate the covariance matrix in the message using the coordinating parameters in the same way that the twist covariance matrix is populated.

Once this is merged I do want to get it backported, I'm not certain what the process is for that.

[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

Project coverage is 86.39%. Comparing base (a88bf0a) to head (cd37d40).

Additional details and impacted files

@@           Coverage Diff           @@
##           master    #1772   +/-   ##
=======================================
  Coverage   86.38%   86.39%           
=======================================
  Files         123      123           
  Lines       12240    12241    +1     
  Branches     1024     1024           
=======================================
+ Hits        10574    10575    +1     
  Misses       1348     1348           
  Partials      318      318           

Flag	Coverage Δ
unittests	86.39% <100.00%> (+<0.01%)	⬆️

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

Files with missing lines	Coverage Δ
..._drive_controller/src/mecanum_drive_controller.cpp	90.94% <100.00%> (+0.03%)	⬆️

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[Juliaj]

The change looks good, please help add a test.

[destogl]

This is good,but let's add test as @christophfroehlich mentioned.

[moriarty]

@destogl is it enough to just modify one of the existing tests to catch this?

Eg: just update one of these two lines

ros2_controllers/mecanum_drive_controller/test/mecanum_drive_controller_params.yaml

Lines 19 to 20 in e1f5116

	twist_covariance_diagonal: [0.0, 7.0, 14.0, 21.0, 28.0, 35.0]
	pose_covariance_diagonal: [0.0, 7.0, 14.0, 21.0, 28.0, 35.0]

ros2_controllers/mecanum_drive_controller/test/mecanum_drive_controller_params.yaml

Lines 40 to 41 in e1f5116

	pose_covariance_diagonal: [0.001, 0.001, 0.001, 0.001, 0.001, 0.001]
	twist_covariance_diagonal: [0.001, 0.001, 0.001, 0.001, 0.001, 0.001]

[christophfroehlich]

@destogl is it enough to just modify one of the existing tests to catch this?

this is not enough because there is no test for checking the values ;)

This can be added to when_update_is_called_expect_status_message for example.

[hilary-luo]

Please let me know if this requires any additional changes from me to get this merged.

[christophfroehlich]

please have a look at the failing pre-commit tests. Apart from that, LGTM!