Merge branch 'master' into feat/non_blocking_get_params

ros-controls · Nov 13, 2024 · 78d337e · 78d337e
2 parents 2223e4a + 28dd7e1
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diff --git a/ackermann_steering_controller/CHANGELOG.rst b/ackermann_steering_controller/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package ackermann_steering_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.16.0 (2024-11-08)
+-------------------
+
 4.15.0 (2024-10-07)
 -------------------
 * Adapt test to new way of exporting reference interfaces (Related to `#1240 <https://github.com/ros-controls/ros2_controllers/issues/1240>`_ in ros2_control) (`#1103 <https://github.com/ros-controls/ros2_controllers/issues/1103>`_)

diff --git a/ackermann_steering_controller/package.xml b/ackermann_steering_controller/package.xml
@@ -2,12 +2,19 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>ackermann_steering_controller</name>
-  <version>4.15.0</version>
+  <version>4.16.0</version>
   <description>Steering controller for Ackermann kinematics. Rear fixed wheels are powering the vehicle and front wheels are steering it.</description>
-  <license>Apache License 2.0</license>
+
   <maintainer email="[email protected]">Bence Magyar</maintainer>
-  <maintainer email="[email protected]">Dr.-Ing. Denis Štogl</maintainer>
-  <maintainer email="[email protected]">dr. sc. Tomislav Petkovic</maintainer>
+  <maintainer email="[email protected]">Denis Štogl</maintainer>
+  <maintainer email="[email protected]">Christoph Froehlich</maintainer>
+  <maintainer email="[email protected]">Sai Kishor Kothakota</maintainer>
+
+  <license>Apache License 2.0</license>
+
+  <url type="website">https://control.ros.org</url>
+  <url type="bugtracker">https://github.com/ros-controls/ros2_controllers/issues</url>
+  <url type="repository">https://github.com/ros-controls/ros2_controllers/</url>
 
   <author email="[email protected]">Dr.-Ing. Denis Štogl</author>
   <author email="[email protected]">dr. sc. Tomislav Petkovic</author>

diff --git a/admittance_controller/CHANGELOG.rst b/admittance_controller/CHANGELOG.rst
@@ -2,6 +2,11 @@
 Changelog for package admittance_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.16.0 (2024-11-08)
+-------------------
+* Adding use of robot description parameter in the Admittance Controller (`#1247 <https://github.com/ros-controls/ros2_controllers/issues/1247>`_)
+* Contributors: Dr. Denis, Kevin DeMarco, Nikola Banovic, Bence Magyar, Christoph Fröhlich
+
 4.15.0 (2024-10-07)
 -------------------
 

diff --git a/admittance_controller/include/admittance_controller/admittance_rule.hpp b/admittance_controller/include/admittance_controller/admittance_rule.hpp
@@ -102,7 +102,8 @@ class AdmittanceRule
 
   /// Configure admittance rule memory using number of joints.
   controller_interface::return_type configure(
-    const std::shared_ptr<rclcpp_lifecycle::LifecycleNode> & node, const size_t num_joint);
+    const std::shared_ptr<rclcpp_lifecycle::LifecycleNode> & node, const size_t num_joint,
+    const std::string & robot_description);
 
   /// Reset all values back to default
   controller_interface::return_type reset(const size_t num_joints);

diff --git a/admittance_controller/include/admittance_controller/admittance_rule_impl.hpp b/admittance_controller/include/admittance_controller/admittance_rule_impl.hpp
@@ -20,6 +20,7 @@
 #include "admittance_controller/admittance_rule.hpp"
 
 #include <memory>
+#include <string>
 #include <vector>
 
 #include <control_toolbox/filters.hpp>
@@ -34,7 +35,8 @@ constexpr auto NUM_CARTESIAN_DOF = 6;  // (3 translation + 3 rotation)
 
 /// Configure admittance rule memory for num joints and load kinematics interface
 controller_interface::return_type AdmittanceRule::configure(
-  const std::shared_ptr<rclcpp_lifecycle::LifecycleNode> & node, const size_t num_joints)
+  const std::shared_ptr<rclcpp_lifecycle::LifecycleNode> & node, const size_t num_joints,
+  const std::string & robot_description)
 {
   num_joints_ = num_joints;
 
@@ -58,7 +60,7 @@ controller_interface::return_type AdmittanceRule::configure(
         kinematics_loader_->createUnmanagedInstance(parameters_.kinematics.plugin_name));
 
       if (!kinematics_->initialize(
-            node->get_node_parameters_interface(), parameters_.kinematics.tip))
+            robot_description, node->get_node_parameters_interface(), "kinematics"))
       {
         return controller_interface::return_type::ERROR;
       }

diff --git a/admittance_controller/package.xml b/admittance_controller/package.xml
@@ -2,13 +2,24 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>admittance_controller</name>
-  <version>4.15.0</version>
+  <version>4.16.0</version>
   <description>Implementation of admittance controllers for different input and output interface.</description>
-  <maintainer email="[email protected]">Denis Štogl</maintainer>
+
   <maintainer email="[email protected]">Bence Magyar</maintainer>
-  <maintainer email="[email protected]">Andy Zelenak</maintainer>
+  <maintainer email="[email protected]">Denis Štogl</maintainer>
+  <maintainer email="[email protected]">Christoph Froehlich</maintainer>
+  <maintainer email="[email protected]">Sai Kishor Kothakota</maintainer>
+
   <license>Apache License 2.0</license>
 
+  <url type="website">https://control.ros.org</url>
+  <url type="bugtracker">https://github.com/ros-controls/ros2_controllers/issues</url>
+  <url type="repository">https://github.com/ros-controls/ros2_controllers/</url>
+
+  <author email="[email protected]">Denis Štogl</author>
+  <author email="[email protected]">Andy Zelenak</author>
+  <author email="[email protected]">Paul Gesel</author>
+
   <buildtool_depend>ament_cmake</buildtool_depend>
 
   <depend>backward_ros</depend>

diff --git a/admittance_controller/src/admittance_controller.cpp b/admittance_controller/src/admittance_controller.cpp
@@ -280,7 +280,9 @@ controller_interface::CallbackReturn AdmittanceController::on_configure(
     semantic_components::ForceTorqueSensor(admittance_->parameters_.ft_sensor.name));
 
   // configure admittance rule
-  if (admittance_->configure(get_node(), num_joints_) == controller_interface::return_type::ERROR)
+  if (
+    admittance_->configure(get_node(), num_joints_, this->get_robot_description()) ==
+    controller_interface::return_type::ERROR)
   {
     return controller_interface::CallbackReturn::ERROR;
   }

diff --git a/admittance_controller/test/test_admittance_controller.hpp b/admittance_controller/test/test_admittance_controller.hpp
@@ -102,18 +102,14 @@ class TestableAdmittanceController : public admittance_controller::AdmittanceCon
     }
   }
 
-private:
   const std::string robot_description_ = ros2_control_test_assets::valid_6d_robot_urdf;
   const std::string robot_description_semantic_ = ros2_control_test_assets::valid_6d_robot_srdf;
 };
 
 class AdmittanceControllerTest : public ::testing::Test
 {
 public:
-  static void SetUpTestCase()
-  {
-    //    rclcpp::init(0, nullptr);
-  }
+  static void SetUpTestCase() {}
 
   void SetUp()
   {
@@ -163,7 +159,8 @@ class AdmittanceControllerTest : public ::testing::Test
   controller_interface::return_type SetUpControllerCommon(
     const std::string & controller_name, const rclcpp::NodeOptions & options)
   {
-    auto result = controller_->init(controller_name, "", 0, "", options);
+    auto result =
+      controller_->init(controller_name, controller_->robot_description_, 0, "", options);
 
     controller_->export_reference_interfaces();
     assign_interfaces();

diff --git a/bicycle_steering_controller/CHANGELOG.rst b/bicycle_steering_controller/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package bicycle_steering_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.16.0 (2024-11-08)
+-------------------
+
 4.15.0 (2024-10-07)
 -------------------
 * Adapt test to new way of exporting reference interfaces (Related to `#1240 <https://github.com/ros-controls/ros2_controllers/issues/1240>`_ in ros2_control) (`#1103 <https://github.com/ros-controls/ros2_controllers/issues/1103>`_)

diff --git a/bicycle_steering_controller/package.xml b/bicycle_steering_controller/package.xml
@@ -2,12 +2,19 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>bicycle_steering_controller</name>
-  <version>4.15.0</version>
+  <version>4.16.0</version>
   <description>Steering controller with bicycle kinematics. Rear fixed wheel is powering the vehicle and front wheel is steering.</description>
-  <license>Apache License 2.0</license>
+
   <maintainer email="[email protected]">Bence Magyar</maintainer>
-  <maintainer email="[email protected]">Dr.-Ing. Denis Štogl</maintainer>
-  <maintainer email="[email protected]">dr. sc. Tomislav Petkovic</maintainer>
+  <maintainer email="[email protected]">Denis Štogl</maintainer>
+  <maintainer email="[email protected]">Christoph Froehlich</maintainer>
+  <maintainer email="[email protected]">Sai Kishor Kothakota</maintainer>
+
+  <license>Apache License 2.0</license>
+
+  <url type="website">https://control.ros.org</url>
+  <url type="bugtracker">https://github.com/ros-controls/ros2_controllers/issues</url>
+  <url type="repository">https://github.com/ros-controls/ros2_controllers/</url>
 
   <author email="[email protected]">Dr.-Ing. Denis Štogl</author>
   <author email="[email protected]">dr. sc. Tomislav Petkovic</author>

diff --git a/diff_drive_controller/CHANGELOG.rst b/diff_drive_controller/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package diff_drive_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.16.0 (2024-11-08)
+-------------------
+
 4.15.0 (2024-10-07)
 -------------------
 

diff --git a/diff_drive_controller/package.xml b/diff_drive_controller/package.xml
@@ -1,13 +1,25 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>diff_drive_controller</name>
-  <version>4.15.0</version>
-  <description>Controller for a differential drive mobile base.</description>
+  <version>4.16.0</version>
+  <description>Controller for a differential-drive mobile base.</description>
+
   <maintainer email="[email protected]">Bence Magyar</maintainer>
-  <maintainer email="[email protected]">Jordan Palacios</maintainer>
+  <maintainer email="[email protected]">Denis Štogl</maintainer>
+  <maintainer email="[email protected]">Christoph Froehlich</maintainer>
+  <maintainer email="[email protected]">Sai Kishor Kothakota</maintainer>
 
   <license>Apache License 2.0</license>
 
+  <url type="website">https://control.ros.org</url>
+  <url type="bugtracker">https://github.com/ros-controls/ros2_controllers/issues</url>
+  <url type="repository">https://github.com/ros-controls/ros2_controllers/</url>
+
+  <author email="[email protected]">Bence Magyar</author>
+  <author>Enrique Fernández</author>
+  <author>Manuel Meraz</author>
+  <author email="[email protected]">Jordan Palacios</author>
+
   <buildtool_depend>ament_cmake</buildtool_depend>
   <build_depend>generate_parameter_library</build_depend>
 

diff --git a/effort_controllers/CHANGELOG.rst b/effort_controllers/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package effort_controllers
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.16.0 (2024-11-08)
+-------------------
+
 4.15.0 (2024-10-07)
 -------------------
 

diff --git a/effort_controllers/package.xml b/effort_controllers/package.xml
@@ -1,13 +1,22 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>effort_controllers</name>
-  <version>4.15.0</version>
+  <version>4.16.0</version>
   <description>Generic controller for forwarding commands.</description>
+
   <maintainer email="[email protected]">Bence Magyar</maintainer>
-  <maintainer email="[email protected]">Jordan Palacios</maintainer>
+  <maintainer email="[email protected]">Denis Štogl</maintainer>
+  <maintainer email="[email protected]">Christoph Froehlich</maintainer>
+  <maintainer email="[email protected]">Sai Kishor Kothakota</maintainer>
 
   <license>Apache License 2.0</license>
 
+  <url type="website">https://control.ros.org</url>
+  <url type="bugtracker">https://github.com/ros-controls/ros2_controllers/issues</url>
+  <url type="repository">https://github.com/ros-controls/ros2_controllers/</url>
+
+  <author email="[email protected]">Jordan Palacios</author>
+
   <buildtool_depend>ament_cmake</buildtool_depend>
 
   <depend>backward_ros</depend>

diff --git a/force_torque_sensor_broadcaster/CHANGELOG.rst b/force_torque_sensor_broadcaster/CHANGELOG.rst
@@ -2,6 +2,11 @@
 Changelog for package force_torque_sensor_broadcaster
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.16.0 (2024-11-08)
+-------------------
+* [ForceTorqueSensorBroadcaster] added force and torque offsets to the parameters + export state interfaces (`#1215 <https://github.com/ros-controls/ros2_controllers/issues/1215>`_)
+* Contributors: Sai Kishor Kothakota
+
 4.15.0 (2024-10-07)
 -------------------
 

diff --git a/force_torque_sensor_broadcaster/package.xml b/force_torque_sensor_broadcaster/package.xml
@@ -2,13 +2,23 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>force_torque_sensor_broadcaster</name>
-  <version>4.15.0</version>
+  <version>4.16.0</version>
   <description>Controller to publish state of force-torque sensors.</description>
+
   <maintainer email="[email protected]">Bence Magyar</maintainer>
-  <maintainer email="[email protected]">Denis Štogl</maintainer>
-  <maintainer email="[email protected]">Subhas Das</maintainer>
+  <maintainer email="[email protected]">Denis Štogl</maintainer>
+  <maintainer email="[email protected]">Christoph Froehlich</maintainer>
+  <maintainer email="[email protected]">Sai Kishor Kothakota</maintainer>
+
   <license>Apache License 2.0</license>
 
+  <url type="website">https://control.ros.org</url>
+  <url type="bugtracker">https://github.com/ros-controls/ros2_controllers/issues</url>
+  <url type="repository">https://github.com/ros-controls/ros2_controllers/</url>
+
+  <author email="[email protected]">Denis Štogl</author>
+  <author email="[email protected]">Subhas Das</author>
+
   <buildtool_depend>ament_cmake</buildtool_depend>
 
   <depend>backward_ros</depend>

diff --git a/forward_command_controller/CHANGELOG.rst b/forward_command_controller/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package forward_command_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.16.0 (2024-11-08)
+-------------------
+
 4.15.0 (2024-10-07)
 -------------------
 

diff --git a/forward_command_controller/package.xml b/forward_command_controller/package.xml
@@ -1,13 +1,22 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>forward_command_controller</name>
-  <version>4.15.0</version>
+  <version>4.16.0</version>
   <description>Generic controller for forwarding commands.</description>
+
   <maintainer email="[email protected]">Bence Magyar</maintainer>
-  <maintainer email="[email protected]">Jordan Palacios</maintainer>
+  <maintainer email="[email protected]">Denis Štogl</maintainer>
+  <maintainer email="[email protected]">Christoph Froehlich</maintainer>
+  <maintainer email="[email protected]">Sai Kishor Kothakota</maintainer>
 
   <license>Apache License 2.0</license>
 
+  <url type="website">https://control.ros.org</url>
+  <url type="bugtracker">https://github.com/ros-controls/ros2_controllers/issues</url>
+  <url type="repository">https://github.com/ros-controls/ros2_controllers/</url>
+
+  <author email="[email protected]">Jordan Palacios</author>
+
   <buildtool_depend>ament_cmake</buildtool_depend>
 
   <depend>backward_ros</depend>

diff --git a/gripper_controllers/CHANGELOG.rst b/gripper_controllers/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package gripper_controllers
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.16.0 (2024-11-08)
+-------------------
+
 4.15.0 (2024-10-07)
 -------------------
 

diff --git a/gripper_controllers/package.xml b/gripper_controllers/package.xml
@@ -4,13 +4,22 @@
   schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>gripper_controllers</name>
-  <version>4.15.0</version>
+  <version>4.16.0</version>
   <description>The gripper_controllers package</description>
+
   <maintainer email="[email protected]">Bence Magyar</maintainer>
+  <maintainer email="[email protected]">Denis Štogl</maintainer>
+  <maintainer email="[email protected]">Christoph Froehlich</maintainer>
+  <maintainer email="[email protected]">Sai Kishor Kothakota</maintainer>
 
   <license>Apache License 2.0</license>
 
+  <url type="website">https://control.ros.org</url>
+  <url type="bugtracker">https://github.com/ros-controls/ros2_controllers/issues</url>
+  <url type="repository">https://github.com/ros-controls/ros2_controllers/</url>
+
   <author email="[email protected]">Sachin Chitta</author>
+  <author email="[email protected]">Jafar Abdi</author>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 

diff --git a/imu_sensor_broadcaster/CHANGELOG.rst b/imu_sensor_broadcaster/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package imu_sensor_broadcaster
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.16.0 (2024-11-08)
+-------------------
+
 4.15.0 (2024-10-07)
 -------------------