Merge branch 'master' into mimic_joints_rewrite

.github/workflows/update-pre-commit.yml

@@ -0,0 +1,12 @@
+name: Auto Update pre-commit
+# Update pre-commit config and create PR if changes are detected
+# author: Christoph Fröhlich <[email protected]>
+
+on:
+  workflow_dispatch:
+  schedule:
+    - cron: '0 0 1 * *'  # Runs at 00:00, on day 1 of the month
+
+jobs:
+  auto_update_and_create_pr:
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-update-pre-commit.yml@master

.pre-commit-config.yaml

@@ -15,7 +15,7 @@
 repos:
   # Standard hooks
   - repo: https://github.com/pre-commit/pre-commit-hooks
-    rev: v4.1.0
+    rev: v4.6.0
     hooks:
       - id: check-added-large-files
       - id: check-ast
@@ -35,7 +35,7 @@ repos:
 
   # Python hooks
   - repo: https://github.com/asottile/pyupgrade
-    rev: v2.31.1
+    rev: v3.15.2
     hooks:
     -   id: pyupgrade
         args: [--py36-plus]
@@ -51,7 +51,7 @@ repos:
       args: ["--ignore=D100,D101,D102,D103,D104,D105,D106,D107,D203,D212,D404"]
 
   - repo: https://github.com/pycqa/flake8
-    rev: 4.0.1
+    rev: 7.0.0
     hooks:
     - id: flake8
       args: ["--extend-ignore=E501"]
@@ -112,14 +112,14 @@ repos:
 
   # Docs - RestructuredText hooks
   - repo: https://github.com/PyCQA/doc8
-    rev: 0.10.1
+    rev: v1.1.1
     hooks:
       - id: doc8
         args: ['--max-line-length=100', '--ignore=D001']
         exclude: CHANGELOG\.rst$
 
   - repo: https://github.com/pre-commit/pygrep-hooks
-    rev: v1.9.0
+    rev: v1.10.0
     hooks:
       - id: rst-backticks
         exclude: CHANGELOG\.rst$
@@ -129,8 +129,18 @@ repos:
   # Spellcheck in comments and docs
   # skipping of *.svg files is not working...
   - repo: https://github.com/codespell-project/codespell
-    rev: v2.1.0
+    rev: v2.2.6
     hooks:
       - id: codespell
         args: ['--write-changes']
         exclude: CHANGELOG\.rst|\.(svg|pyc)$
+
+  - repo: https://github.com/python-jsonschema/check-jsonschema
+    rev: 0.28.1
+    hooks:
+      - id: check-github-workflows
+        args: ["--verbose"]
+      - id: check-github-actions
+        args: ["--verbose"]
+      - id: check-dependabot
+        args: ["--verbose"]

gazebo_ros2_control/src/gazebo_system.cpp

@@ -573,13 +573,13 @@ hardware_interface::return_type GazeboSystem::read(
 
   for (unsigned int j = 0; j < this->dataPtr->sim_ft_sensors_.size(); j++) {
     auto sim_ft_sensor = this->dataPtr->sim_ft_sensors_[j];
-    this->dataPtr->imu_sensor_data_[j][0] = sim_ft_sensor->Force().X();
-    this->dataPtr->imu_sensor_data_[j][1] = sim_ft_sensor->Force().Y();
-    this->dataPtr->imu_sensor_data_[j][2] = sim_ft_sensor->Force().Z();
+    this->dataPtr->ft_sensor_data_[j][0] = sim_ft_sensor->Force().X();
+    this->dataPtr->ft_sensor_data_[j][1] = sim_ft_sensor->Force().Y();
+    this->dataPtr->ft_sensor_data_[j][2] = sim_ft_sensor->Force().Z();
 
-    this->dataPtr->imu_sensor_data_[j][3] = sim_ft_sensor->Torque().X();
-    this->dataPtr->imu_sensor_data_[j][4] = sim_ft_sensor->Torque().Y();
-    this->dataPtr->imu_sensor_data_[j][5] = sim_ft_sensor->Torque().Z();
+    this->dataPtr->ft_sensor_data_[j][3] = sim_ft_sensor->Torque().X();
+    this->dataPtr->ft_sensor_data_[j][4] = sim_ft_sensor->Torque().Y();
+    this->dataPtr->ft_sensor_data_[j][5] = sim_ft_sensor->Torque().Z();
   }
   return hardware_interface::return_type::OK;
 }