From 46123d1a430dfdbc607d9fa340ab700fbd483f39 Mon Sep 17 00:00:00 2001 From: bpapaspyros Date: Fri, 18 Oct 2024 15:52:53 +0200 Subject: [PATCH 1/8] fix(modulo-controllers): typo in controller descriptions --- CHANGELOG.md | 4 +++- .../modulo_controllers_controller_interface.json | 2 +- source/modulo_controllers/src/RobotControllerInterface.cpp | 4 ++++ 3 files changed, 8 insertions(+), 2 deletions(-) diff --git a/CHANGELOG.md b/CHANGELOG.md index 5ff96a2ae..6fb5a706d 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -2,6 +2,7 @@ Release Versions: +- [5.0.0](#501) - [5.0.0](#500) - [4.2.2](#422) - [4.2.1](#421) @@ -19,7 +20,8 @@ Release Versions: ## Upcoming changes - fix: default predicate value on construction (#158) - +- fix(modulo_controllers): typo in modulo controller descriptions + ## 5.0.0 ### October 9th, 2024 diff --git a/source/modulo_controllers/controller_descriptions/modulo_controllers_controller_interface.json b/source/modulo_controllers/controller_descriptions/modulo_controllers_controller_interface.json index 30055d977..d38a12963 100644 --- a/source/modulo_controllers/controller_descriptions/modulo_controllers_controller_interface.json +++ b/source/modulo_controllers/controller_descriptions/modulo_controllers_controller_interface.json @@ -45,7 +45,7 @@ { "display_name": "Input validity period", "description": "The maximum age of an input state before discarding it as expired", - "parameter_name": "input_validity_period_", + "parameter_name": "input_validity_period", "parameter_type": "double", "default_value": "1.0" }, diff --git a/source/modulo_controllers/src/RobotControllerInterface.cpp b/source/modulo_controllers/src/RobotControllerInterface.cpp index e3b23dcde..ca6ed411d 100644 --- a/source/modulo_controllers/src/RobotControllerInterface.cpp +++ b/source/modulo_controllers/src/RobotControllerInterface.cpp @@ -292,6 +292,7 @@ const JointState& RobotControllerInterface::get_joint_state() { const CartesianState& RobotControllerInterface::get_cartesian_state() { // TODO check if recompute is necessary? compute_cartesian_state(); +RCLCPP_WARN(get_node()->get_logger(), "ok11"); return cartesian_state_; } @@ -301,10 +302,13 @@ const CartesianWrench& RobotControllerInterface::get_ft_sensor() { void RobotControllerInterface::compute_cartesian_state() { if (robot_ != nullptr) { +RCLCPP_WARN_STREAM(get_node()->get_logger(), "ok8 " << std::boolalpha << joint_state_.is_empty()); cartesian_state_ = robot_->forward_kinematics(joint_state_, task_space_frame_); cartesian_state_.set_twist(robot_->forward_velocity(joint_state_, task_space_frame_).get_twist()); +RCLCPP_WARN(get_node()->get_logger(), "ok9"); if (!ft_sensor_.is_empty() && (ft_sensor_.get_reference_frame() == cartesian_state_.get_name())) { +RCLCPP_WARN(get_node()->get_logger(), "ok10"); auto ft_sensor_in_robot_frame = cartesian_state_ * ft_sensor_; cartesian_state_.set_wrench(ft_sensor_in_robot_frame.get_wrench()); } From 24693bacdfb47e25c2e98e92ad28b6e21d2732dd Mon Sep 17 00:00:00 2001 From: bpapaspyros Date: Fri, 18 Oct 2024 15:58:42 +0200 Subject: [PATCH 2/8] fix: revert local changes --- source/modulo_controllers/src/RobotControllerInterface.cpp | 4 ---- 1 file changed, 4 deletions(-) diff --git a/source/modulo_controllers/src/RobotControllerInterface.cpp b/source/modulo_controllers/src/RobotControllerInterface.cpp index ca6ed411d..e3b23dcde 100644 --- a/source/modulo_controllers/src/RobotControllerInterface.cpp +++ b/source/modulo_controllers/src/RobotControllerInterface.cpp @@ -292,7 +292,6 @@ const JointState& RobotControllerInterface::get_joint_state() { const CartesianState& RobotControllerInterface::get_cartesian_state() { // TODO check if recompute is necessary? compute_cartesian_state(); -RCLCPP_WARN(get_node()->get_logger(), "ok11"); return cartesian_state_; } @@ -302,13 +301,10 @@ const CartesianWrench& RobotControllerInterface::get_ft_sensor() { void RobotControllerInterface::compute_cartesian_state() { if (robot_ != nullptr) { -RCLCPP_WARN_STREAM(get_node()->get_logger(), "ok8 " << std::boolalpha << joint_state_.is_empty()); cartesian_state_ = robot_->forward_kinematics(joint_state_, task_space_frame_); cartesian_state_.set_twist(robot_->forward_velocity(joint_state_, task_space_frame_).get_twist()); -RCLCPP_WARN(get_node()->get_logger(), "ok9"); if (!ft_sensor_.is_empty() && (ft_sensor_.get_reference_frame() == cartesian_state_.get_name())) { -RCLCPP_WARN(get_node()->get_logger(), "ok10"); auto ft_sensor_in_robot_frame = cartesian_state_ * ft_sensor_; cartesian_state_.set_wrench(ft_sensor_in_robot_frame.get_wrench()); } From 3daa50815af7f8022281285d74042b0f6f561f32 Mon Sep 17 00:00:00 2001 From: bpapaspyros Date: Fri, 18 Oct 2024 16:02:02 +0200 Subject: [PATCH 3/8] docs: update CHANGELOG.md --- CHANGELOG.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/CHANGELOG.md b/CHANGELOG.md index 6fb5a706d..5d014444c 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -2,7 +2,7 @@ Release Versions: -- [5.0.0](#501) +- [5.0.1](#501) - [5.0.0](#500) - [4.2.2](#422) - [4.2.1](#421) From 8ef2cd2177ad0ea441cc07187c2b89021fbdbeb2 Mon Sep 17 00:00:00 2001 From: bpapaspyros Date: Fri, 18 Oct 2024 16:06:20 +0200 Subject: [PATCH 4/8] docs: update versions in toml and package.xml --- aica-package.toml | 2 +- source/modulo_controllers/package.xml | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/aica-package.toml b/aica-package.toml index 94a40c8b0..81dc82482 100644 --- a/aica-package.toml +++ b/aica-package.toml @@ -1,7 +1,7 @@ #syntax=ghcr.io/aica-technology/package-builder:v1.1.1 [metadata] -version = "5.0.0" +version = "5.0.1" description = "Modular ROS 2 extension library for dynamic composition of components and controllers with the AICA robotics framework" [metadata.collection] diff --git a/source/modulo_controllers/package.xml b/source/modulo_controllers/package.xml index 47de6104c..42c1749e8 100644 --- a/source/modulo_controllers/package.xml +++ b/source/modulo_controllers/package.xml @@ -1,7 +1,7 @@ modulo_controllers - 5.0.0 + 5.0.1 Interface class for modulo controllers Enrico Eberhard Dominic Reber From 7ea00918d1240eca3d9614face63fb906e9094e6 Mon Sep 17 00:00:00 2001 From: bpapaspyros Date: Fri, 18 Oct 2024 16:07:25 +0200 Subject: [PATCH 5/8] docs: typo in CHANGELOG.md --- CHANGELOG.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/CHANGELOG.md b/CHANGELOG.md index 5d014444c..0cb1e1f9d 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -17,7 +17,7 @@ Release Versions: - [2.1.1](#211) - [2.1.0](#210) -## Upcoming changes +## Upcoming changes (in development) - fix: default predicate value on construction (#158) - fix(modulo_controllers): typo in modulo controller descriptions From 29f3c6bda28b194100d1b79cb562fb75a1d9a6b9 Mon Sep 17 00:00:00 2001 From: bpapaspyros Date: Mon, 21 Oct 2024 08:13:09 +0200 Subject: [PATCH 6/8] docs: correction in CHANGELOG.md --- CHANGELOG.md | 1 - 1 file changed, 1 deletion(-) diff --git a/CHANGELOG.md b/CHANGELOG.md index 0cb1e1f9d..c00ade6ed 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -2,7 +2,6 @@ Release Versions: -- [5.0.1](#501) - [5.0.0](#500) - [4.2.2](#422) - [4.2.1](#421) From 98e0b89ef0d8d17788d62c5c6d1c364e33e1652b Mon Sep 17 00:00:00 2001 From: bpapaspyros Date: Mon, 21 Oct 2024 08:14:04 +0200 Subject: [PATCH 7/8] revert: version changes --- aica-package.toml | 2 +- source/modulo_controllers/package.xml | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/aica-package.toml b/aica-package.toml index 81dc82482..94a40c8b0 100644 --- a/aica-package.toml +++ b/aica-package.toml @@ -1,7 +1,7 @@ #syntax=ghcr.io/aica-technology/package-builder:v1.1.1 [metadata] -version = "5.0.1" +version = "5.0.0" description = "Modular ROS 2 extension library for dynamic composition of components and controllers with the AICA robotics framework" [metadata.collection] diff --git a/source/modulo_controllers/package.xml b/source/modulo_controllers/package.xml index 42c1749e8..47de6104c 100644 --- a/source/modulo_controllers/package.xml +++ b/source/modulo_controllers/package.xml @@ -1,7 +1,7 @@ modulo_controllers - 5.0.1 + 5.0.0 Interface class for modulo controllers Enrico Eberhard Dominic Reber From 040000ecc90a6f10cfc0f23a30ad1b3b02ac1346 Mon Sep 17 00:00:00 2001 From: bpapaspyros Date: Mon, 21 Oct 2024 08:15:23 +0200 Subject: [PATCH 8/8] docs: update CHANGELOG.md --- CHANGELOG.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/CHANGELOG.md b/CHANGELOG.md index c00ade6ed..784f033a1 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -19,7 +19,7 @@ Release Versions: ## Upcoming changes (in development) - fix: default predicate value on construction (#158) -- fix(modulo_controllers): typo in modulo controller descriptions +- fix(modulo_controllers): typo in modulo controller descriptions (#160) ## 5.0.0