Port motion control handles and simulation to Iron

fzi-forschungszentrum-informatik · Sep 21, 2023 · 0c84c9c · 0c84c9c
1 parent 02fc845
commit 0c84c9c
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Showing 6 changed files with 18 additions and 18 deletions.
diff --git a/cartesian_controller_handles/include/cartesian_controller_handles/motion_control_handle.h b/cartesian_controller_handles/include/cartesian_controller_handles/motion_control_handle.h
@@ -75,7 +75,7 @@ class MotionControlHandle : public controller_interface::ControllerInterface
     MotionControlHandle();
     ~MotionControlHandle();
 
-#if defined CARTESIAN_CONTROLLERS_GALACTIC || defined CARTESIAN_CONTROLLERS_HUMBLE
+#if defined CARTESIAN_CONTROLLERS_GALACTIC || defined CARTESIAN_CONTROLLERS_HUMBLE || defined CARTESIAN_CONTROLLERS_IRON
     virtual LifecycleNodeInterface::CallbackReturn on_init() override;
 #elif defined CARTESIAN_CONTROLLERS_FOXY
     virtual controller_interface::return_type init(const std::string & controller_name) override;
@@ -93,7 +93,7 @@ class MotionControlHandle : public controller_interface::ControllerInterface
     controller_interface::InterfaceConfiguration command_interface_configuration() const override;
     controller_interface::InterfaceConfiguration state_interface_configuration() const override;
 
-#if defined CARTESIAN_CONTROLLERS_GALACTIC || defined CARTESIAN_CONTROLLERS_HUMBLE
+#if defined CARTESIAN_CONTROLLERS_GALACTIC || defined CARTESIAN_CONTROLLERS_HUMBLE || defined CARTESIAN_CONTROLLERS_IRON
     controller_interface::return_type update(const rclcpp::Time & time, const rclcpp::Duration & period) override;
 #elif defined CARTESIAN_CONTROLLERS_FOXY
     controller_interface::return_type update() override;

diff --git a/cartesian_controller_handles/src/motion_control_handle.cpp b/cartesian_controller_handles/src/motion_control_handle.cpp
@@ -83,7 +83,7 @@ MotionControlHandle::on_deactivate(const rclcpp_lifecycle::State& previous_state
   return rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn::SUCCESS;
 }
 
-#if defined CARTESIAN_CONTROLLERS_GALACTIC || defined CARTESIAN_CONTROLLERS_HUMBLE
+#if defined CARTESIAN_CONTROLLERS_GALACTIC || defined CARTESIAN_CONTROLLERS_HUMBLE || defined CARTESIAN_CONTROLLERS_IRON
 controller_interface::return_type MotionControlHandle::update(const rclcpp::Time& time,
                                                               const rclcpp::Duration& period)
 #elif defined CARTESIAN_CONTROLLERS_FOXY
@@ -121,7 +121,7 @@ MotionControlHandle::state_interface_configuration() const
 }
 
 
-#if defined CARTESIAN_CONTROLLERS_GALACTIC || defined CARTESIAN_CONTROLLERS_HUMBLE
+#if defined CARTESIAN_CONTROLLERS_GALACTIC || defined CARTESIAN_CONTROLLERS_HUMBLE || defined CARTESIAN_CONTROLLERS_IRON
 rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
 MotionControlHandle::on_init()
 {
@@ -141,7 +141,7 @@ controller_interface::return_type MotionControlHandle::init(const std::string& c
   auto_declare<std::string>("end_effector_link", "");
   auto_declare<std::vector<std::string> >("joints", std::vector<std::string>());
 
-#if defined CARTESIAN_CONTROLLERS_GALACTIC || defined CARTESIAN_CONTROLLERS_HUMBLE
+#if defined CARTESIAN_CONTROLLERS_GALACTIC || defined CARTESIAN_CONTROLLERS_HUMBLE || defined CARTESIAN_CONTROLLERS_IRON
   return rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn::SUCCESS;
 #elif defined CARTESIAN_CONTROLLERS_FOXY
   return controller_interface::return_type::OK;

diff --git a/cartesian_controller_simulation/include/cartesian_controller_simulation/system_interface.h b/cartesian_controller_simulation/include/cartesian_controller_simulation/system_interface.h
@@ -71,7 +71,7 @@ constexpr char HW_IF_DAMPING[]   = "damping";
  * controller_manager coordinated library.
  *
  */
-#if defined CARTESIAN_CONTROLLERS_GALACTIC || defined CARTESIAN_CONTROLLERS_HUMBLE
+#if defined CARTESIAN_CONTROLLERS_GALACTIC || defined CARTESIAN_CONTROLLERS_HUMBLE || defined CARTESIAN_CONTROLLERS_IRON
 class Simulator : public hardware_interface::SystemInterface
 #elif defined CARTESIAN_CONTROLLERS_FOXY
 class Simulator : public hardware_interface::BaseInterface<hardware_interface::SystemInterface>
@@ -83,7 +83,7 @@ class Simulator : public hardware_interface::BaseInterface<hardware_interface::S
 
   RCLCPP_SHARED_PTR_DEFINITIONS(Simulator)
 
-#if defined CARTESIAN_CONTROLLERS_GALACTIC || defined CARTESIAN_CONTROLLERS_HUMBLE
+#if defined CARTESIAN_CONTROLLERS_GALACTIC || defined CARTESIAN_CONTROLLERS_HUMBLE || defined CARTESIAN_CONTROLLERS_IRON
   CallbackReturn on_init(const hardware_interface::HardwareInfo& info) override;
 #elif defined CARTESIAN_CONTROLLERS_FOXY
   return_type configure(const hardware_interface::HardwareInfo& info) override;
@@ -97,7 +97,7 @@ class Simulator : public hardware_interface::BaseInterface<hardware_interface::S
                                           const std::vector<std::string>& stop_interfaces) override;
 
 
-#if defined CARTESIAN_CONTROLLERS_HUMBLE
+#if defined CARTESIAN_CONTROLLERS_HUMBLE || defined CARTESIAN_CONTROLLERS_IRON
   return_type read(const rclcpp::Time& time, const rclcpp::Duration& period) override;
   return_type write(const rclcpp::Time& time, const rclcpp::Duration& period) override;
 

diff --git a/cartesian_controller_simulation/launch/simulation.launch.py b/cartesian_controller_simulation/launch/simulation.launch.py
@@ -45,7 +45,7 @@
 
 import os
 distro = os.environ['ROS_DISTRO']
-if distro == 'humble' or distro == 'galactic':
+if distro == 'iron' or distro == 'humble' or distro == 'galactic':
     spawner = "spawner"
 else:  # foxy
     spawner = "spawner.py"

diff --git a/cartesian_controller_simulation/src/system_interface.cpp b/cartesian_controller_simulation/src/system_interface.cpp
@@ -57,7 +57,7 @@
 
 namespace cartesian_controller_simulation {
 
-#if defined CARTESIAN_CONTROLLERS_GALACTIC || defined CARTESIAN_CONTROLLERS_HUMBLE
+#if defined CARTESIAN_CONTROLLERS_GALACTIC || defined CARTESIAN_CONTROLLERS_HUMBLE || defined CARTESIAN_CONTROLLERS_IRON
 Simulator::CallbackReturn Simulator::on_init(const hardware_interface::HardwareInfo& info)
 {
   // Keep an internal copy of the given configuration
@@ -105,7 +105,7 @@ Simulator::return_type Simulator::configure(const hardware_interface::HardwareIn
       RCLCPP_ERROR(rclcpp::get_logger("Simulator"),
                    "Joint '%s' needs two possible command interfaces.",
                    joint.name.c_str());
-#if defined CARTESIAN_CONTROLLERS_GALACTIC || defined CARTESIAN_CONTROLLERS_HUMBLE
+#if defined CARTESIAN_CONTROLLERS_GALACTIC || defined CARTESIAN_CONTROLLERS_HUMBLE || defined CARTESIAN_CONTROLLERS_IRON
       return Simulator::CallbackReturn::ERROR;
 #elif defined CARTESIAN_CONTROLLERS_FOXY
       return Simulator::return_type::ERROR;
@@ -120,7 +120,7 @@ Simulator::return_type Simulator::configure(const hardware_interface::HardwareIn
                    joint.name.c_str(),
                    hardware_interface::HW_IF_POSITION,
                    hardware_interface::HW_IF_VELOCITY);
-#if defined CARTESIAN_CONTROLLERS_GALACTIC || defined CARTESIAN_CONTROLLERS_HUMBLE
+#if defined CARTESIAN_CONTROLLERS_GALACTIC || defined CARTESIAN_CONTROLLERS_HUMBLE || defined CARTESIAN_CONTROLLERS_IRON
       return Simulator::CallbackReturn::ERROR;
 #elif defined CARTESIAN_CONTROLLERS_FOXY
       return Simulator::return_type::ERROR;
@@ -132,7 +132,7 @@ Simulator::return_type Simulator::configure(const hardware_interface::HardwareIn
       RCLCPP_ERROR(rclcpp::get_logger("Simulator"),
                    "Joint '%s' needs 3 state interfaces.",
                    joint.name.c_str());
-#if defined CARTESIAN_CONTROLLERS_GALACTIC || defined CARTESIAN_CONTROLLERS_HUMBLE
+#if defined CARTESIAN_CONTROLLERS_GALACTIC || defined CARTESIAN_CONTROLLERS_HUMBLE || defined CARTESIAN_CONTROLLERS_IRON
       return Simulator::CallbackReturn::ERROR;
 #elif defined CARTESIAN_CONTROLLERS_FOXY
       return Simulator::return_type::ERROR;
@@ -149,15 +149,15 @@ Simulator::return_type Simulator::configure(const hardware_interface::HardwareIn
                    hardware_interface::HW_IF_POSITION,
                    hardware_interface::HW_IF_VELOCITY,
                    hardware_interface::HW_IF_EFFORT);
-#if defined CARTESIAN_CONTROLLERS_GALACTIC || defined CARTESIAN_CONTROLLERS_HUMBLE
+#if defined CARTESIAN_CONTROLLERS_GALACTIC || defined CARTESIAN_CONTROLLERS_HUMBLE || defined CARTESIAN_CONTROLLERS_IRON
       return Simulator::CallbackReturn::ERROR;
 #elif defined CARTESIAN_CONTROLLERS_FOXY
       return Simulator::return_type::ERROR;
 #endif
     }
   }
 
-#if defined CARTESIAN_CONTROLLERS_GALACTIC || defined CARTESIAN_CONTROLLERS_HUMBLE
+#if defined CARTESIAN_CONTROLLERS_GALACTIC || defined CARTESIAN_CONTROLLERS_HUMBLE || defined CARTESIAN_CONTROLLERS_IRON
   return Simulator::CallbackReturn::SUCCESS;
 #elif defined CARTESIAN_CONTROLLERS_FOXY
   return Simulator::return_type::OK;
@@ -222,7 +222,7 @@ Simulator::return_type Simulator::stop()
 #endif
 
 
-#if defined CARTESIAN_CONTROLLERS_HUMBLE
+#if defined CARTESIAN_CONTROLLERS_HUMBLE || defined CARTESIAN_CONTROLLERS_IRON
 Simulator::return_type Simulator::read([[maybe_unused]] const rclcpp::Time& time,
                                        [[maybe_unused]] const rclcpp::Duration& period)
 #elif defined CARTESIAN_CONTROLLERS_GALACTIC || defined CARTESIAN_CONTROLLERS_FOXY
@@ -249,7 +249,7 @@ Simulator::return_type Simulator::read()
   return return_type::OK;
 }
 
-#if defined CARTESIAN_CONTROLLERS_HUMBLE
+#if defined CARTESIAN_CONTROLLERS_HUMBLE || defined CARTESIAN_CONTROLLERS_IRON
 Simulator::return_type Simulator::write([[maybe_unused]] const rclcpp::Time& time,
                                         [[maybe_unused]] const rclcpp::Duration& period)
 #elif defined CARTESIAN_CONTROLLERS_GALACTIC || defined CARTESIAN_CONTROLLERS_FOXY

diff --git a/cartesian_controller_tests/integration_tests/integration_tests.py b/cartesian_controller_tests/integration_tests/integration_tests.py
@@ -96,7 +96,7 @@ def test_invalid_controller_initialization(self):
         controller manager contains our controllers and if they have the
         expected state.
         """
-        if os.environ['ROS_DISTRO'] == 'humble':
+        if os.environ['ROS_DISTRO'] == 'humble' or os.environ['ROS_DISTRO'] == 'iron':
             expected_state = 'unconfigured'
         else:  # galactic, foxy
             expected_state = 'finalized'