Project Idea: Feature-parity for controllers from ROS1

[christophfroehlich]

The ros2_control framework in ROS 2 is a rewrite of the ros_control framework from ROS 1.
Our rich set of standard controllers was one of the main motivations for users to adopt ros_control in ROS 1 and while we ported most of them, there are quite a few features missing for the two main controllers of this set, the diff_drive_controller and the joint_trajectory_controller.

This work will consist of reviewing the two versions of the two controllers and comparing for feature parity. Once the missing parts are identified, port them over from ROS 1 with as much test support as possible.

Related existing issues are:

• joint_trajectory_controller should be feature complete with ROS Noetic version #303
• diff_drive_controller code tidy-up + many tests are missing from ROS1 #304

Stretch goals:

• realtime_tools API restructure realtime_tools#81
• controllers hardly use realtime_tools, they should #302

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| Skills required/preferred:

• Good C++ skills
• Basic understanding of ROS and/or ROS 2
• Basic understanding of unit testing with gmock

| Possible mentors: Bence Magyar
| Expected size of project: 350 hours
| Difficulty: medium