Merge branch 'master' into faster_trajectory_sampling

ros-controls · Oct 27, 2024 · aa5aff5 · aa5aff5
2 parents 59d15a5 + 7c89c17
commit aa5aff5
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diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
@@ -63,7 +63,7 @@ repos:
 
   # CPP hooks
   - repo: https://github.com/pre-commit/mirrors-clang-format
-    rev: v18.1.8
+    rev: v19.1.0
     hooks:
       - id: clang-format
         args: ['-fallback-style=none', '-i']
@@ -109,7 +109,7 @@ repos:
 
   # Docs - RestructuredText hooks
   - repo: https://github.com/PyCQA/doc8
-    rev: v1.1.1
+    rev: v1.1.2
     hooks:
       - id: doc8
         args: ['--max-line-length=100', '--ignore=D001']
@@ -133,7 +133,7 @@ repos:
         exclude: CHANGELOG\.rst|\.(svg|pyc|drawio)$
 
   - repo: https://github.com/python-jsonschema/check-jsonschema
-    rev: 0.29.2
+    rev: 0.29.3
     hooks:
       - id: check-github-workflows
         args: ["--verbose"]

diff --git a/ackermann_steering_controller/CHANGELOG.rst b/ackermann_steering_controller/CHANGELOG.rst
@@ -2,6 +2,11 @@
 Changelog for package ackermann_steering_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+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>`_)
+* Contributors: Manuel Muth
+
 4.14.0 (2024-09-11)
 -------------------
 

diff --git a/ackermann_steering_controller/package.xml b/ackermann_steering_controller/package.xml
@@ -2,7 +2,7 @@
 <?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>4.14.0</version>
+  <version>4.15.0</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>

diff --git a/ackermann_steering_controller/test/test_ackermann_steering_controller.cpp b/ackermann_steering_controller/test/test_ackermann_steering_controller.cpp
@@ -89,9 +89,9 @@ TEST_F(AckermannSteeringControllerTest, check_exported_interfaces)
   {
     const std::string ref_itf_name =
       std::string(controller_->get_node()->get_name()) + "/" + joint_reference_interfaces_[i];
-    EXPECT_EQ(reference_interfaces[i].get_name(), ref_itf_name);
-    EXPECT_EQ(reference_interfaces[i].get_prefix_name(), controller_->get_node()->get_name());
-    EXPECT_EQ(reference_interfaces[i].get_interface_name(), joint_reference_interfaces_[i]);
+    EXPECT_EQ(reference_interfaces[i]->get_name(), ref_itf_name);
+    EXPECT_EQ(reference_interfaces[i]->get_prefix_name(), controller_->get_node()->get_name());
+    EXPECT_EQ(reference_interfaces[i]->get_interface_name(), joint_reference_interfaces_[i]);
   }
 }
 

diff --git a/ackermann_steering_controller/test/test_ackermann_steering_controller_preceeding.cpp b/ackermann_steering_controller/test/test_ackermann_steering_controller_preceeding.cpp
@@ -91,9 +91,9 @@ TEST_F(AckermannSteeringControllerTest, check_exported_interfaces)
   {
     const std::string ref_itf_name =
       std::string(controller_->get_node()->get_name()) + "/" + joint_reference_interfaces_[i];
-    EXPECT_EQ(reference_interfaces[i].get_name(), ref_itf_name);
-    EXPECT_EQ(reference_interfaces[i].get_prefix_name(), controller_->get_node()->get_name());
-    EXPECT_EQ(reference_interfaces[i].get_interface_name(), joint_reference_interfaces_[i]);
+    EXPECT_EQ(reference_interfaces[i]->get_name(), ref_itf_name);
+    EXPECT_EQ(reference_interfaces[i]->get_prefix_name(), controller_->get_node()->get_name());
+    EXPECT_EQ(reference_interfaces[i]->get_interface_name(), joint_reference_interfaces_[i]);
   }
 }
 

diff --git a/admittance_controller/CHANGELOG.rst b/admittance_controller/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package admittance_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.15.0 (2024-10-07)
+-------------------
+
 4.14.0 (2024-09-11)
 -------------------
 

diff --git a/admittance_controller/package.xml b/admittance_controller/package.xml
@@ -2,7 +2,7 @@
 <?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>4.14.0</version>
+  <version>4.15.0</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>

diff --git a/bicycle_steering_controller/CHANGELOG.rst b/bicycle_steering_controller/CHANGELOG.rst
@@ -2,6 +2,11 @@
 Changelog for package bicycle_steering_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+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>`_)
+* Contributors: Manuel Muth
+
 4.14.0 (2024-09-11)
 -------------------
 

diff --git a/bicycle_steering_controller/package.xml b/bicycle_steering_controller/package.xml
@@ -2,7 +2,7 @@
 <?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>4.14.0</version>
+  <version>4.15.0</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>

diff --git a/bicycle_steering_controller/test/test_bicycle_steering_controller.cpp b/bicycle_steering_controller/test/test_bicycle_steering_controller.cpp
@@ -73,9 +73,9 @@ TEST_F(BicycleSteeringControllerTest, check_exported_interfaces)
   {
     const std::string ref_itf_name =
       std::string(controller_->get_node()->get_name()) + "/" + joint_reference_interfaces_[i];
-    EXPECT_EQ(reference_interfaces[i].get_name(), ref_itf_name);
-    EXPECT_EQ(reference_interfaces[i].get_prefix_name(), controller_->get_node()->get_name());
-    EXPECT_EQ(reference_interfaces[i].get_interface_name(), joint_reference_interfaces_[i]);
+    EXPECT_EQ(reference_interfaces[i]->get_name(), ref_itf_name);
+    EXPECT_EQ(reference_interfaces[i]->get_prefix_name(), controller_->get_node()->get_name());
+    EXPECT_EQ(reference_interfaces[i]->get_interface_name(), joint_reference_interfaces_[i]);
   }
 }
 

diff --git a/bicycle_steering_controller/test/test_bicycle_steering_controller_preceeding.cpp b/bicycle_steering_controller/test/test_bicycle_steering_controller_preceeding.cpp
@@ -77,9 +77,9 @@ TEST_F(BicycleSteeringControllerTest, check_exported_interfaces)
   {
     const std::string ref_itf_name =
       std::string(controller_->get_node()->get_name()) + "/" + joint_reference_interfaces_[i];
-    EXPECT_EQ(reference_interfaces[i].get_name(), ref_itf_name);
-    EXPECT_EQ(reference_interfaces[i].get_prefix_name(), controller_->get_node()->get_name());
-    EXPECT_EQ(reference_interfaces[i].get_interface_name(), joint_reference_interfaces_[i]);
+    EXPECT_EQ(reference_interfaces[i]->get_name(), ref_itf_name);
+    EXPECT_EQ(reference_interfaces[i]->get_prefix_name(), controller_->get_node()->get_name());
+    EXPECT_EQ(reference_interfaces[i]->get_interface_name(), joint_reference_interfaces_[i]);
   }
 }
 

diff --git a/diff_drive_controller/CHANGELOG.rst b/diff_drive_controller/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package diff_drive_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.15.0 (2024-10-07)
+-------------------
+
 4.14.0 (2024-09-11)
 -------------------
 * rename get/set_state to get/set_lifecylce_state (`#1250 <https://github.com/ros-controls/ros2_controllers/issues/1250>`_)

diff --git a/diff_drive_controller/package.xml b/diff_drive_controller/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>diff_drive_controller</name>
-  <version>4.14.0</version>
+  <version>4.15.0</version>
   <description>Controller for a differential drive mobile base.</description>
   <maintainer email="[email protected]">Bence Magyar</maintainer>
   <maintainer email="[email protected]">Jordan Palacios</maintainer>

diff --git a/doc/controllers_index.rst b/doc/controllers_index.rst
@@ -71,6 +71,7 @@ In the sense of ros2_control, broadcasters are still controllers using the same
    IMU Sensor Broadcaster <../imu_sensor_broadcaster/doc/userdoc.rst>
    Joint State Broadcaster <../joint_state_broadcaster/doc/userdoc.rst>
    Range Sensor Broadcaster <../range_sensor_broadcaster/doc/userdoc.rst>
+   Pose Broadcaster <../pose_broadcaster/doc/userdoc.rst>
 
 
 Common Controller Parameters

diff --git a/doc/release_notes.rst b/doc/release_notes.rst
@@ -48,6 +48,8 @@ joint_trajectory_controller
      * -1 - The tolerance is "erased".  If there was a default, the joint will be
             allowed to move without restriction.
 
+* Add the boolean parameter ``set_last_command_interface_value_as_state_on_activation``. When set to ``true``, the last command interface value is used as both the current state and the last commanded state upon activation. When set to ``false``, the current state is used for both (`#1231 <https://github.com/ros-controls/ros2_controllers/pull/1231>`_).
+
 pid_controller
 ************************
 * 🚀 The PID controller was added 🎉 (`#434 <https://github.com/ros-controls/ros2_controllers/pull/434>`_).
@@ -56,6 +58,7 @@ steering_controllers_library
 ********************************
 * Changing default int values to double in steering controller's yaml file. The controllers should now initialize successfully without specifying these parameters (`#927 <https://github.com/ros-controls/ros2_controllers/pull/927>`_).
 * A fix for Ackermann steering odometry was added (`#921 <https://github.com/ros-controls/ros2_controllers/pull/921>`_).
+* Do not reset the steering wheels to ``0.0`` on timeout (`#1289 <https://github.com/ros-controls/ros2_controllers/pull/1289>`_).
 
 tricycle_controller
 ************************

diff --git a/effort_controllers/CHANGELOG.rst b/effort_controllers/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package effort_controllers
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.15.0 (2024-10-07)
+-------------------
+
 4.14.0 (2024-09-11)
 -------------------
 

diff --git a/effort_controllers/package.xml b/effort_controllers/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>effort_controllers</name>
-  <version>4.14.0</version>
+  <version>4.15.0</version>
   <description>Generic controller for forwarding commands.</description>
   <maintainer email="[email protected]">Bence Magyar</maintainer>
   <maintainer email="[email protected]">Jordan Palacios</maintainer>

diff --git a/force_torque_sensor_broadcaster/CHANGELOG.rst b/force_torque_sensor_broadcaster/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package force_torque_sensor_broadcaster
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.15.0 (2024-10-07)
+-------------------
+
 4.14.0 (2024-09-11)
 -------------------
 

diff --git a/force_torque_sensor_broadcaster/package.xml b/force_torque_sensor_broadcaster/package.xml
@@ -2,7 +2,7 @@
 <?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>4.14.0</version>
+  <version>4.15.0</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>

diff --git a/forward_command_controller/CHANGELOG.rst b/forward_command_controller/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package forward_command_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.15.0 (2024-10-07)
+-------------------
+
 4.14.0 (2024-09-11)
 -------------------
 

diff --git a/forward_command_controller/package.xml b/forward_command_controller/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>forward_command_controller</name>
-  <version>4.14.0</version>
+  <version>4.15.0</version>
   <description>Generic controller for forwarding commands.</description>
   <maintainer email="[email protected]">Bence Magyar</maintainer>
   <maintainer email="[email protected]">Jordan Palacios</maintainer>

diff --git a/gripper_controllers/CHANGELOG.rst b/gripper_controllers/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package gripper_controllers
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.15.0 (2024-10-07)
+-------------------
+
 4.14.0 (2024-09-11)
 -------------------
 

diff --git a/gripper_controllers/package.xml b/gripper_controllers/package.xml
@@ -4,7 +4,7 @@
   schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>gripper_controllers</name>
-  <version>4.14.0</version>
+  <version>4.15.0</version>
   <description>The gripper_controllers package</description>
   <maintainer email="[email protected]">Bence Magyar</maintainer>
 

diff --git a/imu_sensor_broadcaster/CHANGELOG.rst b/imu_sensor_broadcaster/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package imu_sensor_broadcaster
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.15.0 (2024-10-07)
+-------------------
+
 4.14.0 (2024-09-11)
 -------------------
 

diff --git a/imu_sensor_broadcaster/package.xml b/imu_sensor_broadcaster/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>imu_sensor_broadcaster</name>
-  <version>4.14.0</version>
+  <version>4.15.0</version>
   <description>Controller to publish readings of IMU sensors.</description>
   <maintainer email="[email protected]">Bence Magyar</maintainer>
   <maintainer email="[email protected]">Denis Štogl</maintainer>

diff --git a/joint_state_broadcaster/CHANGELOG.rst b/joint_state_broadcaster/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package joint_state_broadcaster
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.15.0 (2024-10-07)
+-------------------
+
 4.14.0 (2024-09-11)
 -------------------
 * [JSB] Move the initialize of urdf::Model from on_activate to on_configure to improve real-time performance (`#1269 <https://github.com/ros-controls/ros2_controllers/issues/1269>`_)

diff --git a/joint_state_broadcaster/package.xml b/joint_state_broadcaster/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>joint_state_broadcaster</name>
-  <version>4.14.0</version>
+  <version>4.15.0</version>
   <description>Broadcaster to publish joint state</description>
   <maintainer email="[email protected]">Bence Magyar</maintainer>
   <maintainer email="[email protected]">Denis Stogl</maintainer>

diff --git a/joint_trajectory_controller/CHANGELOG.rst b/joint_trajectory_controller/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package joint_trajectory_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.15.0 (2024-10-07)
+-------------------
+
 4.14.0 (2024-09-11)
 -------------------
 * rename get/set_state to get/set_lifecylce_state (`#1250 <https://github.com/ros-controls/ros2_controllers/issues/1250>`_)

diff --git a/joint_trajectory_controller/package.xml b/joint_trajectory_controller/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>joint_trajectory_controller</name>
-  <version>4.14.0</version>
+  <version>4.15.0</version>
   <description>Controller for executing joint-space trajectories on a group of joints</description>
   <maintainer email="[email protected]">Bence Magyar</maintainer>
   <maintainer email="[email protected]">Dr. Denis Štogl</maintainer>

diff --git a/joint_trajectory_controller/src/joint_trajectory_controller.cpp b/joint_trajectory_controller/src/joint_trajectory_controller.cpp
@@ -924,7 +924,9 @@ controller_interface::CallbackReturn JointTrajectoryController::on_activate(
   // running already)
   trajectory_msgs::msg::JointTrajectoryPoint state;
   resize_joint_trajectory_point(state, dof_);
-  if (read_state_from_command_interfaces(state))
+  if (
+    params_.set_last_command_interface_value_as_state_on_activation &&
+    read_state_from_command_interfaces(state))
   {
     state_current_ = state;
     last_commanded_state_ = state;

diff --git a/joint_trajectory_controller/src/joint_trajectory_controller_parameters.yaml b/joint_trajectory_controller/src/joint_trajectory_controller_parameters.yaml
@@ -64,6 +64,11 @@ joint_trajectory_controller:
     default_value: false,
     description: "Allow integration in goal trajectories to accept goals without position or velocity specified",
   }
+  set_last_command_interface_value_as_state_on_activation: {
+    type: bool,
+    default_value: true,
+    description: "When set to true, the last command interface value is used as both the current state and the last commanded state upon activation. When set to false, the current state is used for both.",
+  }
   action_monitor_rate: {
     type: double,
     default_value: 20.0,

diff --git a/parallel_gripper_controller/CHANGELOG.rst b/parallel_gripper_controller/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package parallel_gripper_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.15.0 (2024-10-07)
+-------------------
+
 4.14.0 (2024-09-11)
 -------------------
 

diff --git a/parallel_gripper_controller/package.xml b/parallel_gripper_controller/package.xml
@@ -4,7 +4,7 @@
   schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>parallel_gripper_controller</name>
-  <version>4.14.0</version>
+  <version>4.15.0</version>
   <description>The parallel_gripper_controller package</description>
   <maintainer email="[email protected]">Bence Magyar</maintainer>
 

diff --git a/pid_controller/CHANGELOG.rst b/pid_controller/CHANGELOG.rst
@@ -2,6 +2,11 @@
 Changelog for package pid_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+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>`_)
+* Contributors: Manuel Muth
+
 4.14.0 (2024-09-11)
 -------------------
 * [PID Controller] Export state interfaces for easier chaining with other controllers (`#1214 <https://github.com/ros-controls/ros2_controllers/issues/1214>`_)

diff --git a/pid_controller/package.xml b/pid_controller/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>pid_controller</name>
-  <version>4.14.0</version>
+  <version>4.15.0</version>
   <description>Controller based on PID implememenation from control_toolbox package.</description>
   <maintainer email="[email protected]">Bence Magyar</maintainer>
   <maintainer email="[email protected]">Denis Štogl</maintainer>

diff --git a/pid_controller/test/test_pid_controller.cpp b/pid_controller/test/test_pid_controller.cpp
@@ -97,9 +97,9 @@ TEST_F(PidControllerTest, check_exported_interfaces)
     {
       const std::string ref_itf_name =
         std::string(controller_->get_node()->get_name()) + "/" + dof_name + "/" + interface;
-      EXPECT_EQ(ref_if_conf[ri_index].get_name(), ref_itf_name);
-      EXPECT_EQ(ref_if_conf[ri_index].get_prefix_name(), controller_->get_node()->get_name());
-      EXPECT_EQ(ref_if_conf[ri_index].get_interface_name(), dof_name + "/" + interface);
+      EXPECT_EQ(ref_if_conf[ri_index]->get_name(), ref_itf_name);
+      EXPECT_EQ(ref_if_conf[ri_index]->get_prefix_name(), controller_->get_node()->get_name());
+      EXPECT_EQ(ref_if_conf[ri_index]->get_interface_name(), dof_name + "/" + interface);
       ++ri_index;
     }
   }