Feature: add incremental encoder

[Olavhaasie]

Closes PM-24

Description

Adds the feature to read out the incremental encoder on the joints. It maps the Motor Position object from the IMotionCube.

@bjornminderman started on this feature and I solved the conflicts it had, since it was a bit outdated.

The original Encoder class is now a super class of AbsoluteEncoder and IncrementalEncoder. Also in order to keep it clean I have added a new encoder directory, where these classes reside. The IMotionCube and Joint class now have two separate functions for reading out the absolute and incremental encoder position. The incremental encoder position is only published on the imc state topic. It shouldn't be too hard to use it for any calculations in the hardware interface.

Changes

• Create AbsoluteEncoder and IncrementalEncoder
• Rename a lot of stuff from Encoder to AbsoluteEncoder
• Add publishing incremental encoder position
• Add tests

[codecov]

Codecov Report

Merging #225 into develop will increase coverage by 0.86%.
The diff coverage is n/a.

@@             Coverage Diff             @@
##           develop     #225      +/-   ##
===========================================
+ Coverage    52.45%   53.31%   +0.86%     
===========================================
  Files           77       86       +9     
  Lines         2425     2517      +92     
===========================================
+ Hits          1272     1342      +70     
- Misses        1153     1175      +22     

Flag	Coverage Δ
#production	34.55% <55.78%> (+0.55%)	⬆️
#test	99.86% <99.17%> (-0.14%)	⬇️

Impacted Files	Coverage Δ
...e/include/march_hardware/encoder/AbsoluteEncoder.h	7.14% <0.00%> (ø)
..._hardware/include/march_hardware/encoder/Encoder.h	100.00% <0.00%> (ø)
..._builder/test/incremental_encoder_builder_test.cpp	100.00% <0.00%> (ø)
...rch_hardware/test/mocks/MockIncrementalEncoder.cpp	100.00% <0.00%> (ø)
march_hardware/test/mocks/MockAbsoluteEncoder.cpp	100.00% <0.00%> (ø)
...nclude/march_hardware/encoder/IncrementalEncoder.h	50.00% <0.00%> (ø)
march_hardware/src/encoder/AbsoluteEncoder.cpp	100.00% <0.00%> (ø)
...h_hardware/test/encoder/TestIncrementalEncoder.cpp	100.00% <0.00%> (ø)
march_hardware/src/encoder/IncrementalEncoder.cpp	100.00% <0.00%> (ø)
...are_builder/test/absolute_encoder_builder_test.cpp	100.00% <0.00%> (ø)
... and 2 more

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[RutgerVanBeek]

Nice work @bjornminderman and @Olavhaasie! Main comment is that I think we should for know just read the integer value. The current conversion to radians does not seem appropriate, because we use the total positions, but for an incremental encoder this is bigger than one round.

[Olavhaasie]

I will study the behavior of the incremental encoders first

[Olavhaasie]

I have added a transmission variable to the incremental encoder config in b537910. The transmission is already defined in the xacro, however, I was not able to access that with the urdf package, so I added it as a variable in the yaml.

[Roelemans]

:)