From 256bd84a62415832b1dc74c451cd2770d6a40697 Mon Sep 17 00:00:00 2001 From: Tony Najjar Date: Thu, 9 Nov 2023 17:10:23 +0100 Subject: [PATCH] fixes --- .github/workflows/iron-binary-build-main.yml | 2 +- .../workflows/iron-binary-build-testing.yml | 2 +- .github/workflows/iron-rhel-binary-build.yml | 2 +- .../workflows/iron-semi-binary-build-main.yml | 2 +- .../iron-semi-binary-build-testing.yml | 2 +- .github/workflows/iron-source-build.yml | 2 +- joint_trajectory_controller/doc/userdoc.rst | 1 - .../joint_trajectory_controller.hpp | 4 +- .../src/joint_trajectory_controller.cpp | 2 +- .../test/test_trajectory_controller.cpp | 6 +-- .../test/test_trajectory_controller_utils.hpp | 37 +------------------ 11 files changed, 12 insertions(+), 50 deletions(-) diff --git a/.github/workflows/iron-binary-build-main.yml b/.github/workflows/iron-binary-build-main.yml index 671f85956a..ef35397855 100644 --- a/.github/workflows/iron-binary-build-main.yml +++ b/.github/workflows/iron-binary-build-main.yml @@ -18,7 +18,7 @@ on: - iron schedule: # Run every morning to detect flakiness and broken dependencies - - cron: '03 2 * * *' + - cron: '03 1 * * *' jobs: binary: diff --git a/.github/workflows/iron-binary-build-testing.yml b/.github/workflows/iron-binary-build-testing.yml index aa8590af28..25a693dc23 100644 --- a/.github/workflows/iron-binary-build-testing.yml +++ b/.github/workflows/iron-binary-build-testing.yml @@ -18,7 +18,7 @@ on: - iron schedule: # Run every morning to detect flakiness and broken dependencies - - cron: '03 2 * * *' + - cron: '03 1 * * *' jobs: binary: diff --git a/.github/workflows/iron-rhel-binary-build.yml b/.github/workflows/iron-rhel-binary-build.yml index b7757f0564..5664d61768 100644 --- a/.github/workflows/iron-rhel-binary-build.yml +++ b/.github/workflows/iron-rhel-binary-build.yml @@ -6,7 +6,7 @@ on: - iron schedule: # Run every day to detect flakiness and broken dependencies - - cron: '03 2 * * *' + - cron: '03 1 * * *' jobs: diff --git a/.github/workflows/iron-semi-binary-build-main.yml b/.github/workflows/iron-semi-binary-build-main.yml index 31413e55df..2224a59f0e 100644 --- a/.github/workflows/iron-semi-binary-build-main.yml +++ b/.github/workflows/iron-semi-binary-build-main.yml @@ -17,7 +17,7 @@ on: - iron schedule: # Run every morning to detect flakiness and broken dependencies - - cron: '33 2 * * *' + - cron: '33 1 * * *' jobs: semi_binary: diff --git a/.github/workflows/iron-semi-binary-build-testing.yml b/.github/workflows/iron-semi-binary-build-testing.yml index dead165541..c5ff430c89 100644 --- a/.github/workflows/iron-semi-binary-build-testing.yml +++ b/.github/workflows/iron-semi-binary-build-testing.yml @@ -17,7 +17,7 @@ on: - iron schedule: # Run every morning to detect flakiness and broken dependencies - - cron: '33 2 * * *' + - cron: '33 1 * * *' jobs: semi_binary: diff --git a/.github/workflows/iron-source-build.yml b/.github/workflows/iron-source-build.yml index 696ba42564..1e9d865c49 100644 --- a/.github/workflows/iron-source-build.yml +++ b/.github/workflows/iron-source-build.yml @@ -8,7 +8,7 @@ on: - iron schedule: # Run every day to detect flakiness and broken dependencies - - cron: '03 4 * * *' + - cron: '03 3 * * *' jobs: source: diff --git a/joint_trajectory_controller/doc/userdoc.rst b/joint_trajectory_controller/doc/userdoc.rst index 3e62315b37..58ba734b45 100644 --- a/joint_trajectory_controller/doc/userdoc.rst +++ b/joint_trajectory_controller/doc/userdoc.rst @@ -185,7 +185,6 @@ Services Further information -------------------------------------------------------------- -(TBD in ...) .. toctree:: :titlesonly: diff --git a/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller.hpp b/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller.hpp index 5904e82345..462ea6db72 100644 --- a/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller.hpp +++ b/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller.hpp @@ -194,8 +194,6 @@ class JointTrajectoryController : public controller_interface::ControllerInterfa using ControllerStateMsg = control_msgs::msg::JointTrajectoryControllerState; using StatePublisher = realtime_tools::RealtimePublisher; using StatePublisherPtr = std::unique_ptr; - rclcpp::Publisher::SharedPtr publisher_legacy_; - StatePublisherPtr state_publisher_legacy_; rclcpp::Publisher::SharedPtr publisher_; StatePublisherPtr state_publisher_; @@ -285,4 +283,4 @@ class JointTrajectoryController : public controller_interface::ControllerInterfa } // namespace joint_trajectory_controller -#endif // JOINT_TRAJECTORY_CONTROLLER__JOINT_TRAJECTORY_CONTROLLER_HPP_ +#endif // JOINT_TRAJECTORY_CONTROLLER__JOINT_TRAJECTORY_CONTROLLER_HPP_ \ No newline at end of file diff --git a/joint_trajectory_controller/src/joint_trajectory_controller.cpp b/joint_trajectory_controller/src/joint_trajectory_controller.cpp index e9634f29cd..9e0b4823f3 100644 --- a/joint_trajectory_controller/src/joint_trajectory_controller.cpp +++ b/joint_trajectory_controller/src/joint_trajectory_controller.cpp @@ -1574,4 +1574,4 @@ void JointTrajectoryController::init_hold_position_msg() #include "pluginlib/class_list_macros.hpp" PLUGINLIB_EXPORT_CLASS( - joint_trajectory_controller::JointTrajectoryController, controller_interface::ControllerInterface) \ No newline at end of file + joint_trajectory_controller::JointTrajectoryController, controller_interface::ControllerInterface) diff --git a/joint_trajectory_controller/test/test_trajectory_controller.cpp b/joint_trajectory_controller/test/test_trajectory_controller.cpp index 5fa08fbfa3..56ec3936ab 100644 --- a/joint_trajectory_controller/test/test_trajectory_controller.cpp +++ b/joint_trajectory_controller/test/test_trajectory_controller.cpp @@ -317,7 +317,7 @@ TEST_P(TrajectoryControllerTestParameterized, correct_initialization_using_param executor.cancel(); } -TEST_P(TrajectoryControllerTestParameterized, state_topic_legacy_consistency) +TEST_P(TrajectoryControllerTestParameterized, state_topic_consistency) { rclcpp::executors::SingleThreadedExecutor executor; SetUpAndActivateTrajectoryController(executor, {}); @@ -326,7 +326,7 @@ TEST_P(TrajectoryControllerTestParameterized, state_topic_legacy_consistency) // Spin to receive latest state executor.spin_some(); - auto state = getStateLegacy(); + auto state = getState(); size_t n_joints = joint_names_.size(); @@ -1959,4 +1959,4 @@ INSTANTIATE_TEST_SUITE_P( // set_parameter_and_check_result(); // state_interface_types_ = {"velocity"}; // set_parameter_and_check_result(); -// } +// } \ No newline at end of file diff --git a/joint_trajectory_controller/test/test_trajectory_controller_utils.hpp b/joint_trajectory_controller/test/test_trajectory_controller_utils.hpp index 3179f5e593..23403c6ca3 100644 --- a/joint_trajectory_controller/test/test_trajectory_controller_utils.hpp +++ b/joint_trajectory_controller/test/test_trajectory_controller_utils.hpp @@ -144,10 +144,6 @@ class TestableJointTrajectoryController double get_cmd_timeout() { return cmd_timeout_; } - bool use_closed_loop_pid_adapter() { return use_closed_loop_pid_adapter_; } - - bool is_open_loop() { return params_.open_loop_control; } - rclcpp::WaitSet joint_cmd_sub_wait_set_; }; @@ -299,28 +295,6 @@ class TrajectoryControllerTest : public ::testing::Test static void TearDownTestCase() { rclcpp::shutdown(); } - void subscribeToStateLegacy() - { - auto traj_lifecycle_node = traj_controller_->get_node(); - traj_lifecycle_node->set_parameter( - rclcpp::Parameter("state_publish_rate", static_cast(100))); - - using control_msgs::msg::JointTrajectoryControllerState; - - auto qos = rclcpp::SensorDataQoS(); - // Needed, otherwise spin_some() returns only the oldest message in the queue - // I do not understand why spin_some provides only one message - qos.keep_last(1); - state_legacy_subscriber_ = - traj_lifecycle_node->create_subscription( - controller_name_ + "/state", qos, - [&](std::shared_ptr msg) - { - std::lock_guard guard(state_legacy_mutex_); - state_legacy_msg_ = msg; - }); - } - void subscribeToState() { auto traj_lifecycle_node = traj_controller_->get_node(); @@ -462,11 +436,6 @@ class TrajectoryControllerTest : public ::testing::Test } } - std::shared_ptr getStateLegacy() const - { - std::lock_guard guard(state_legacy_mutex_); - return state_legacy_msg_; - } std::shared_ptr getState() const { std::lock_guard guard(state_mutex_); @@ -590,10 +559,6 @@ class TrajectoryControllerTest : public ::testing::Test state_subscriber_; mutable std::mutex state_mutex_; std::shared_ptr state_msg_; - rclcpp::Subscription::SharedPtr - state_legacy_subscriber_; - mutable std::mutex state_legacy_mutex_; - std::shared_ptr state_legacy_msg_; std::vector joint_pos_; std::vector joint_vel_; @@ -630,4 +595,4 @@ class TrajectoryControllerTestParameterized } // namespace test_trajectory_controllers -#endif // TEST_TRAJECTORY_CONTROLLER_UTILS_HPP_ +#endif // TEST_TRAJECTORY_CONTROLLER_UTILS_HPP_ \ No newline at end of file