diff --git a/gz_ros2_control/CHANGELOG.rst b/gz_ros2_control/CHANGELOG.rst index cd346156..1574e2c8 100644 --- a/gz_ros2_control/CHANGELOG.rst +++ b/gz_ros2_control/CHANGELOG.rst @@ -2,6 +2,15 @@ Changelog for package ign_ros2_control ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +1.2.2 (2024-03-21) +------------------ +* Fix typo (`#253 `_) +* Fix `#247 `_ (`#248 `_) +* Reset Gazebo with initial joint positions and velocities (`#241 `_) +* Use portable versio for usleep (`#237 `_) +* Fix crashing due to an invalid parameter in the initial value (`#233 `_) +* Contributors: Alejandro Hernández Cordero, Graziato Davide, Ruddick Lawrence, Stephanie Eng + 1.2.1 (2024-01-24) ------------------ * Load the URDF to the resource_manager before parsing it to CM (`#222 `_) diff --git a/gz_ros2_control/package.xml b/gz_ros2_control/package.xml index 52be054c..ac82b023 100644 --- a/gz_ros2_control/package.xml +++ b/gz_ros2_control/package.xml @@ -1,7 +1,7 @@ gz_ros2_control - 1.2.1 + 1.2.2 Gazebo ros2_control package allows to control simulated robots using ros2_control framework. Alejandro Hernández Bence Magyar diff --git a/gz_ros2_control/src/gz_ros2_control_plugin.cpp b/gz_ros2_control/src/gz_ros2_control_plugin.cpp index 48d1896b..b4769175 100644 --- a/gz_ros2_control/src/gz_ros2_control_plugin.cpp +++ b/gz_ros2_control/src/gz_ros2_control_plugin.cpp @@ -504,7 +504,7 @@ void GazeboSimROS2ControlPlugin::Configure( std::chrono::duration_cast( std::chrono::duration(1.0 / static_cast(this->dataPtr->update_rate)))); - // Force setting of use_sime_time parameter + // Force setting of use_sim_time parameter this->dataPtr->controller_manager_->set_parameter( rclcpp::Parameter("use_sim_time", rclcpp::ParameterValue(true))); diff --git a/gz_ros2_control/src/gz_system.cpp b/gz_ros2_control/src/gz_system.cpp index a60a4eb3..519dfefa 100644 --- a/gz_ros2_control/src/gz_system.cpp +++ b/gz_ros2_control/src/gz_system.cpp @@ -234,16 +234,20 @@ bool GazeboSimSystem::initSim( this->dataPtr->joints_.resize(this->dataPtr->n_dof_); constexpr double default_gain = 0.1; - if (!this->nh_->get_parameter_or( - "position_proportional_gain", - this->dataPtr->position_proportional_gain_, default_gain)) - { - RCLCPP_WARN_STREAM( - this->nh_->get_logger(), - "The position_proportional_gain parameter was not defined, defaulting to: " << - default_gain); + + try { + this->dataPtr->position_proportional_gain_ = this->nh_->declare_parameter( + "position_proportional_gain", default_gain); + } catch (rclcpp::exceptions::ParameterAlreadyDeclaredException & ex) { + this->nh_->get_parameter( + "position_proportional_gain", this->dataPtr->position_proportional_gain_); } + RCLCPP_INFO_STREAM( + this->nh_->get_logger(), + "The position_proportional_gain has been set to: " << + this->dataPtr->position_proportional_gain_); + if (this->dataPtr->n_dof_ == 0) { RCLCPP_ERROR_STREAM(this->nh_->get_logger(), "There is no joint available"); return false; diff --git a/gz_ros2_control_demos/CHANGELOG.rst b/gz_ros2_control_demos/CHANGELOG.rst index f97417d6..a8897bd1 100644 --- a/gz_ros2_control_demos/CHANGELOG.rst +++ b/gz_ros2_control_demos/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package ign_ros2_control_demos ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +1.2.2 (2024-03-21) +------------------ +* Add dep (`#256 `_) +* Contributors: Christoph Fröhlich + 1.2.1 (2024-01-24) ------------------ * Use parameters with ros_gz_sim::Create (`#211 `_) diff --git a/gz_ros2_control_demos/package.xml b/gz_ros2_control_demos/package.xml index b5ff5714..4d78438d 100644 --- a/gz_ros2_control_demos/package.xml +++ b/gz_ros2_control_demos/package.xml @@ -1,7 +1,7 @@ gz_ros2_control_demos - 1.2.1 + 1.2.2 gz_ros2_control_demos Alejandro Hernandez @@ -28,6 +28,7 @@ geometry_msgs hardware_interface gz_ros2_control + ros_gz_bridge imu_sensor_broadcaster joint_state_broadcaster joint_trajectory_controller diff --git a/gz_ros2_control_tests/CHANGELOG.rst b/gz_ros2_control_tests/CHANGELOG.rst index da1a3eb7..5b4fb1ee 100644 --- a/gz_ros2_control_tests/CHANGELOG.rst +++ b/gz_ros2_control_tests/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package gz_ros2_control_tests ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +1.2.2 (2024-03-21) +------------------ + 1.2.1 (2024-01-24) ------------------ * Include testing packages on CI (`#223 `_) diff --git a/gz_ros2_control_tests/package.xml b/gz_ros2_control_tests/package.xml index 8894cfc0..100459c7 100644 --- a/gz_ros2_control_tests/package.xml +++ b/gz_ros2_control_tests/package.xml @@ -2,7 +2,7 @@ gz_ros2_control_tests - 1.2.1 + 1.2.2 Gazebo ros2 control tests Alejandro Hernández Apache License 2.0