Merge branch 'ros2' into feature/reconfigure_cart_compliance_controller

fzi-forschungszentrum-informatik · Oct 13, 2023 · e210648 · e210648
2 parents bd548c1 + 03057bd
commit e210648
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diff --git a/.github/workflows/industrial_ci_foxy_action.yml b/.github/workflows/industrial_ci_foxy_action.yml
@@ -11,7 +11,6 @@ jobs:
       fail-fast: false
       matrix:
         env:
-          - {ROS_DISTRO: foxy, ROS_REPO: testing}
           - {ROS_DISTRO: foxy, ROS_REPO: main}
     runs-on: ubuntu-latest
     steps:

diff --git a/.github/workflows/industrial_ci_galactic_action.yml b/.github/workflows/industrial_ci_galactic_action.yml
@@ -11,7 +11,6 @@ jobs:
       fail-fast: false
       matrix:
         env:
-          - {ROS_DISTRO: galactic, ROS_REPO: testing}
           - {ROS_DISTRO: galactic, ROS_REPO: main}
     runs-on: ubuntu-latest
     steps:

diff --git a/.github/workflows/industrial_ci_iron_action.yml b/.github/workflows/industrial_ci_iron_action.yml
@@ -0,0 +1,20 @@
+name: Iron
+
+on: [push, pull_request]
+
+
+jobs:
+  industrial_ci:
+    env:
+      BEFORE_BUILD_TARGET_WORKSPACE: '.github/script/install_mujoco.sh'
+    strategy:
+      fail-fast: false
+      matrix:
+        env:
+          - {ROS_DISTRO: iron, ROS_REPO: testing}
+          - {ROS_DISTRO: iron, ROS_REPO: main}
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v1
+      - uses: 'ros-industrial/industrial_ci@master'
+        env: ${{matrix.env}}
diff --git a/README.md b/README.md
@@ -1,6 +1,7 @@
 ![build badge](https://github.com/fzi-forschungszentrum-informatik/cartesian_controllers/actions/workflows/industrial_ci_foxy_action.yml/badge.svg)
 ![build badge](https://github.com/fzi-forschungszentrum-informatik/cartesian_controllers/actions/workflows/industrial_ci_galactic_action.yml/badge.svg)
 ![build badge](https://github.com/fzi-forschungszentrum-informatik/cartesian_controllers/actions/workflows/industrial_ci_humble_action.yml/badge.svg)
+![build badge](https://github.com/fzi-forschungszentrum-informatik/cartesian_controllers/actions/workflows/industrial_ci_iron_action.yml/badge.svg)
 [![License](https://img.shields.io/badge/License-BSD_3--Clause-blue.svg)](https://opensource.org/licenses/BSD-3-Clause)
 
 ---
@@ -64,6 +65,7 @@ and try things. Here are some quick tutorials with further details:
 - [Cartesian compliance controller](cartesian_compliance_controller/README.md)
 - [Cartesian controller handles](cartesian_controller_handles/README.md)
 - [Teleoperation](cartesian_controller_utilities/README.md)
+- [Example on Universal Robots](https://github.com/stefanscherzinger/cartesian_controllers_universal_robots/tree/ros2)
 
 ## Citation and further reading
 If you use the *cartesian_controllers* in your research projects, please

diff --git a/...ance_controller/include/cartesian_compliance_controller/cartesian_compliance_controller.h b/...ance_controller/include/cartesian_compliance_controller/cartesian_compliance_controller.h
@@ -76,7 +76,7 @@ class CartesianComplianceController
   public:
     CartesianComplianceController();
 
-#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;
@@ -91,7 +91,7 @@ class CartesianComplianceController
     rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn on_deactivate(
         const rclcpp_lifecycle::State & previous_state) 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_compliance_controller/package.xml b/cartesian_compliance_controller/package.xml
@@ -5,7 +5,7 @@
   <version>0.0.0</version>
   <description>Control your robot through Cartesian target poses and target wrenches</description>
   <maintainer email="[email protected]">scherzin</maintainer>
-  <license>BSD</license>
+  <license>BSD-3-Clause</license>
   <url type="repository">https://github.com/fzi-forschungszentrum-informatik/cartesian_controllers</url> 
   <author email="[email protected]">Stefan Scherzinger</author> 
 

diff --git a/cartesian_compliance_controller/src/cartesian_compliance_controller.cpp b/cartesian_compliance_controller/src/cartesian_compliance_controller.cpp
@@ -53,7 +53,7 @@ CartesianComplianceController::CartesianComplianceController()
 {
 }
 
-#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 CartesianComplianceController::on_init()
 {
   using TYPE = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn;
@@ -142,7 +142,7 @@ rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn Cartes
   return TYPE::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 CartesianComplianceController::update(const rclcpp::Time& time,
                                                                    const rclcpp::Duration& period)
 #elif defined CARTESIAN_CONTROLLERS_FOXY

diff --git a/cartesian_controller_base/CMakeLists.txt b/cartesian_controller_base/CMakeLists.txt
@@ -7,15 +7,17 @@ set(ADDITIONAL_COMPILE_OPTIONS -Wall -Wextra -Wpedantic -Wno-unused-parameter)
 add_compile_options(${ADDITIONAL_COMPILE_OPTIONS})
 
 # Use CMake to pass the current ROS_DISTRO via variables into a preprocessor template.
-# We then include this file and switch between the API for foxy and galactic.
-if($ENV{ROS_DISTRO} STREQUAL "humble")
+# We then include this file and switch between the different APIs.
+if($ENV{ROS_DISTRO} STREQUAL "iron")
+        set(CARTESIAN_CONTROLLERS_IRON TRUE)
+elseif($ENV{ROS_DISTRO} STREQUAL "humble")
         set(CARTESIAN_CONTROLLERS_HUMBLE TRUE)
 elseif($ENV{ROS_DISTRO} STREQUAL "galactic")
         set(CARTESIAN_CONTROLLERS_GALACTIC TRUE)
 elseif($ENV{ROS_DISTRO} STREQUAL "foxy")
         set(CARTESIAN_CONTROLLERS_FOXY TRUE)
 else()
-        message(WARNING "ROS2 version must be {foxy|galactic|humble}")
+        message(WARNING "ROS2 version must be {iron|humble|galactic|foxy}")
 endif()
 configure_file(include/cartesian_controller_base/ROS2VersionConfig.h.in ROS2VersionConfig.h)
 

diff --git a/cartesian_controller_base/include/cartesian_controller_base/DampedLeastSquaresSolver.h b/cartesian_controller_base/include/cartesian_controller_base/DampedLeastSquaresSolver.h
@@ -92,7 +92,7 @@ class DampedLeastSquaresSolver : public IKSolver
      *
      * \return True, if everything went well
      */
-#if defined CARTESIAN_CONTROLLERS_HUMBLE
+#if defined CARTESIAN_CONTROLLERS_HUMBLE || defined CARTESIAN_CONTROLLERS_IRON
     bool init(std::shared_ptr<rclcpp_lifecycle::LifecycleNode> nh,
 #else
     bool init(std::shared_ptr<rclcpp::Node> nh,

diff --git a/cartesian_controller_base/include/cartesian_controller_base/ForwardDynamicsSolver.h b/cartesian_controller_base/include/cartesian_controller_base/ForwardDynamicsSolver.h
@@ -103,7 +103,7 @@ class ForwardDynamicsSolver : public IKSolver
      *
      * @return True, if everything went well
      */
-#if defined CARTESIAN_CONTROLLERS_HUMBLE
+#if defined CARTESIAN_CONTROLLERS_HUMBLE || defined CARTESIAN_CONTROLLERS_IRON
     bool init(std::shared_ptr<rclcpp_lifecycle::LifecycleNode> nh,
 #else
     bool init(std::shared_ptr<rclcpp::Node> nh,

diff --git a/cartesian_controller_base/include/cartesian_controller_base/IKSolver.h b/cartesian_controller_base/include/cartesian_controller_base/IKSolver.h
@@ -146,7 +146,7 @@ class IKSolver
      *
      * @return True, if everything went well
      */
-#if defined CARTESIAN_CONTROLLERS_HUMBLE
+#if defined CARTESIAN_CONTROLLERS_HUMBLE || defined CARTESIAN_CONTROLLERS_IRON
     virtual bool init(std::shared_ptr<rclcpp_lifecycle::LifecycleNode> nh,
 #else
     virtual bool init(std::shared_ptr<rclcpp::Node> nh,

diff --git a/cartesian_controller_base/include/cartesian_controller_base/JacobianTransposeSolver.h b/cartesian_controller_base/include/cartesian_controller_base/JacobianTransposeSolver.h
@@ -87,7 +87,7 @@ class JacobianTransposeSolver : public IKSolver
      *
      * \return True, if everything went well
      */
-#if defined CARTESIAN_CONTROLLERS_HUMBLE
+#if defined CARTESIAN_CONTROLLERS_HUMBLE || defined CARTESIAN_CONTROLLERS_IRON
     bool init(std::shared_ptr<rclcpp_lifecycle::LifecycleNode> /*nh*/,
 #else
     bool init(std::shared_ptr<rclcpp::Node> /*nh*/,

diff --git a/cartesian_controller_base/include/cartesian_controller_base/PDController.h b/cartesian_controller_base/include/cartesian_controller_base/PDController.h
@@ -64,7 +64,7 @@ class PDController
     PDController();
     ~PDController();
 
-#if defined CARTESIAN_CONTROLLERS_HUMBLE
+#if defined CARTESIAN_CONTROLLERS_HUMBLE || defined CARTESIAN_CONTROLLERS_IRON
     void init(const std::string& params, std::shared_ptr<rclcpp_lifecycle::LifecycleNode> handle);
 #else
     void init(const std::string& params, std::shared_ptr<rclcpp::Node> handle);
@@ -73,7 +73,7 @@ class PDController
     double operator()(const double& error, const rclcpp::Duration& period);
 
   private:
-#if defined CARTESIAN_CONTROLLERS_HUMBLE
+#if defined CARTESIAN_CONTROLLERS_HUMBLE || defined CARTESIAN_CONTROLLERS_IRON
     std::shared_ptr<rclcpp_lifecycle::LifecycleNode> m_handle;
 #else
     std::shared_ptr<rclcpp::Node> m_handle; ///< handle for dynamic parameter interaction

diff --git a/cartesian_controller_base/include/cartesian_controller_base/ROS2VersionConfig.h.in b/cartesian_controller_base/include/cartesian_controller_base/ROS2VersionConfig.h.in
@@ -4,3 +4,4 @@
 #cmakedefine CARTESIAN_CONTROLLERS_FOXY
 #cmakedefine CARTESIAN_CONTROLLERS_GALACTIC
 #cmakedefine CARTESIAN_CONTROLLERS_HUMBLE
+#cmakedefine CARTESIAN_CONTROLLERS_IRON
diff --git a/...n_controller_base/include/cartesian_controller_base/SelectivelyDampedLeastSquaresSolver.h b/...n_controller_base/include/cartesian_controller_base/SelectivelyDampedLeastSquaresSolver.h
@@ -91,7 +91,7 @@ class SelectivelyDampedLeastSquaresSolver : public IKSolver
      *
      * \return True, if everything went well
      */
-#if defined CARTESIAN_CONTROLLERS_HUMBLE
+#if defined CARTESIAN_CONTROLLERS_HUMBLE || defined CARTESIAN_CONTROLLERS_IRON
     bool init(std::shared_ptr<rclcpp_lifecycle::LifecycleNode> nh,
 #else
     bool init(std::shared_ptr<rclcpp::Node> nh,

diff --git a/cartesian_controller_base/include/cartesian_controller_base/SpatialPDController.h b/cartesian_controller_base/include/cartesian_controller_base/SpatialPDController.h
@@ -58,7 +58,7 @@ class SpatialPDController
   public:
     SpatialPDController();
 
-#if defined CARTESIAN_CONTROLLERS_HUMBLE
+#if defined CARTESIAN_CONTROLLERS_HUMBLE || defined CARTESIAN_CONTROLLERS_IRON
     bool init(std::shared_ptr<rclcpp_lifecycle::LifecycleNode> params);
 #else
     bool init(std::shared_ptr<rclcpp::Node> params);

diff --git a/cartesian_controller_base/include/cartesian_controller_base/cartesian_controller_base.h b/cartesian_controller_base/include/cartesian_controller_base/cartesian_controller_base.h
@@ -84,7 +84,7 @@ class CartesianControllerBase : public controller_interface::ControllerInterface
 
     virtual 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
     virtual LifecycleNodeInterface::CallbackReturn on_init() override;
 #elif defined CARTESIAN_CONTROLLERS_FOXY
     virtual controller_interface::return_type init(const std::string & controller_name) override;

diff --git a/cartesian_controller_base/package.xml b/cartesian_controller_base/package.xml
@@ -5,7 +5,7 @@
   <version>0.0.0</version>
   <description>The cartesian_controller_base package</description>
   <maintainer email="[email protected]">scherzin</maintainer>
-  <license>BSD</license>
+  <license>BSD-3-Clause</license>
   <url type="repository">https://github.com/fzi-forschungszentrum-informatik/cartesian_controllers</url> 
   <author email="[email protected]">Stefan Scherzinger</author> 
 

diff --git a/cartesian_controller_base/src/DampedLeastSquaresSolver.cpp b/cartesian_controller_base/src/DampedLeastSquaresSolver.cpp
@@ -116,7 +116,7 @@ namespace cartesian_controller_base{
     return control_cmd;
   }
 
-#if defined CARTESIAN_CONTROLLERS_HUMBLE
+#if defined CARTESIAN_CONTROLLERS_HUMBLE || defined CARTESIAN_CONTROLLERS_IRON
   bool DampedLeastSquaresSolver::init(std::shared_ptr<rclcpp_lifecycle::LifecycleNode> nh,
 #else
   bool DampedLeastSquaresSolver::init(std::shared_ptr<rclcpp::Node> nh,

diff --git a/cartesian_controller_base/src/ForwardDynamicsSolver.cpp b/cartesian_controller_base/src/ForwardDynamicsSolver.cpp
@@ -123,7 +123,7 @@ namespace cartesian_controller_base{
   }
 
 
-#if defined CARTESIAN_CONTROLLERS_HUMBLE
+#if defined CARTESIAN_CONTROLLERS_HUMBLE || defined CARTESIAN_CONTROLLERS_IRON
   bool ForwardDynamicsSolver::init(std::shared_ptr<rclcpp_lifecycle::LifecycleNode> nh,
 #else
   bool ForwardDynamicsSolver::init(std::shared_ptr<rclcpp::Node> nh,

diff --git a/cartesian_controller_base/src/IKSolver.cpp b/cartesian_controller_base/src/IKSolver.cpp
@@ -115,7 +115,7 @@ namespace cartesian_controller_base{
   }
 
 
-#if defined CARTESIAN_CONTROLLERS_HUMBLE
+#if defined CARTESIAN_CONTROLLERS_HUMBLE || defined CARTESIAN_CONTROLLERS_IRON
   bool IKSolver::init(std::shared_ptr<rclcpp_lifecycle::LifecycleNode> /*nh*/,
 #else
   bool IKSolver::init(std::shared_ptr<rclcpp::Node> /*nh*/,

diff --git a/cartesian_controller_base/src/JacobianTransposeSolver.cpp b/cartesian_controller_base/src/JacobianTransposeSolver.cpp
@@ -106,7 +106,7 @@ namespace cartesian_controller_base{
     return control_cmd;
   }
 
-#if defined CARTESIAN_CONTROLLERS_HUMBLE
+#if defined CARTESIAN_CONTROLLERS_HUMBLE || defined CARTESIAN_CONTROLLERS_IRON
   bool JacobianTransposeSolver::init(std::shared_ptr<rclcpp_lifecycle::LifecycleNode> nh,
 #else
   bool JacobianTransposeSolver::init(std::shared_ptr<rclcpp::Node> nh,

diff --git a/cartesian_controller_base/src/PDController.cpp b/cartesian_controller_base/src/PDController.cpp
@@ -54,7 +54,7 @@ PDController::~PDController()
 }
 
 
-#if defined CARTESIAN_CONTROLLERS_HUMBLE
+#if defined CARTESIAN_CONTROLLERS_HUMBLE || defined CARTESIAN_CONTROLLERS_IRON
 void PDController::init(const std::string& params, std::shared_ptr<rclcpp_lifecycle::LifecycleNode> handle)
 #else
 void PDController::init(const std::string& params, std::shared_ptr<rclcpp::Node> handle)

diff --git a/cartesian_controller_base/src/SelectivelyDampedLeastSquaresSolver.cpp b/cartesian_controller_base/src/SelectivelyDampedLeastSquaresSolver.cpp
@@ -139,7 +139,7 @@ namespace cartesian_controller_base{
     return control_cmd;
   }
 
-#if defined CARTESIAN_CONTROLLERS_HUMBLE
+#if defined CARTESIAN_CONTROLLERS_HUMBLE || defined CARTESIAN_CONTROLLERS_IRON
   bool SelectivelyDampedLeastSquaresSolver::init(std::shared_ptr<rclcpp_lifecycle::LifecycleNode> nh,
 #else
   bool SelectivelyDampedLeastSquaresSolver::init(std::shared_ptr<rclcpp::Node> nh,

diff --git a/cartesian_controller_base/src/SpatialPDController.cpp b/cartesian_controller_base/src/SpatialPDController.cpp
@@ -57,7 +57,7 @@ ctrl::Vector6D SpatialPDController::operator()(const ctrl::Vector6D& error, cons
   return m_cmd;
 }
 
-#if defined CARTESIAN_CONTROLLERS_HUMBLE
+#if defined CARTESIAN_CONTROLLERS_HUMBLE || defined CARTESIAN_CONTROLLERS_IRON
 bool SpatialPDController::init(std::shared_ptr<rclcpp_lifecycle::LifecycleNode> handle)
 #else
 bool SpatialPDController::init(std::shared_ptr<rclcpp::Node> handle)

diff --git a/cartesian_controller_base/src/cartesian_controller_base.cpp b/cartesian_controller_base/src/cartesian_controller_base.cpp
@@ -85,7 +85,7 @@ controller_interface::InterfaceConfiguration CartesianControllerBase::state_inte
   return conf;
 }
 
-#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 CartesianControllerBase::on_init()
 {
   if (!m_initialized)
@@ -390,7 +390,7 @@ void CartesianControllerBase::writeJointControlCmds()
     RCLCPP_ERROR(get_node()->get_logger(),
                  "NaN detected in internal model. It's unlikely to recover from this. Shutting down.");
 
-#if defined CARTESIAN_CONTROLLERS_HUMBLE
+#if defined CARTESIAN_CONTROLLERS_HUMBLE || defined CARTESIAN_CONTROLLERS_IRON
     get_node()->shutdown();
 #elif defined CARTESIAN_CONTROLLERS_FOXY || defined CARTESIAN_CONTROLLERS_GALACTIC
     this->shutdown();

diff --git a/cartesian_controller_examples/package.xml b/cartesian_controller_examples/package.xml
@@ -11,8 +11,7 @@
 
   <!-- One license tag required, multiple allowed, one license per tag -->
   <!-- Commonly used license strings: -->
-  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
-  <license>BSD</license>
+  <license>BSD-3-Clause</license>
 
 
   <!-- Url tags are optional, but multiple are allowed, one per tag -->

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/package.xml b/cartesian_controller_handles/package.xml
@@ -5,7 +5,7 @@
   <version>0.0.0</version>
   <description>The cartesian_controller_handles package</description>
   <maintainer email="[email protected]">scherzin</maintainer>
-  <license>BSD</license>
+  <license>BSD-3-Clause</license>
   <url type="repository">https://github.com/fzi-forschungszentrum-informatik/cartesian_controllers</url> 
   <author email="[email protected]">Stefan Scherzinger</author> 
 

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;