Merge branch 'humble' into mergify/bp/humble/pr-742

.github/workflows/docker.yml

@@ -42,7 +42,7 @@ jobs:
             type=semver,pattern={{major}}.{{minor}}
 
       - name: Build and push Docker image
-        uses: docker/build-push-action@v2
+        uses: docker/build-push-action@v5
         with:
           context: .
           push: true
@@ -82,7 +82,7 @@ jobs:
             type=semver,pattern={{major}}.{{minor}}
 
       - name: Build and push Docker image
-        uses: docker/build-push-action@v2
+        uses: docker/build-push-action@v5
         with:
           context: .
           push: true

.github/workflows/reusable-ros-tooling-source-build.yml

@@ -36,6 +36,7 @@ jobs:
         with:
           target-ros2-distro: ${{ inputs.ros_distro }}
           # build all packages listed in the meta package
+          ref: ${{ inputs.ref }} # otherwise the default branch is used for scheduled workflows
           package-name:
             controller_interface
             controller_manager

.github/workflows/reviewer_lottery.yml

@@ -6,8 +6,9 @@ on:
 jobs:
   test:
     runs-on: ubuntu-latest
+    if: github.actor != 'dependabot[bot]' && github.actor != 'mergify[bot]'
     steps:
     - uses: actions/checkout@v4
-    - uses: uesteibar/reviewer-lottery@v2
+    - uses: uesteibar/reviewer-lottery@v3
       with:
         repo-token: ${{ secrets.GITHUB_TOKEN }}

controller_manager/CMakeLists.txt

@@ -142,6 +142,7 @@ if(BUILD_TESTING)
     controller_manager_msgs
     ros2_control_test_assets
   )
+  set_tests_properties(test_controller_manager_srvs PROPERTIES TIMEOUT 120)
   ament_add_gmock(test_controller_manager_urdf_passing
     test/test_controller_manager_urdf_passing.cpp
   )

transmission_interface/test/differential_transmission_loader_test.cpp

@@ -26,8 +26,12 @@
 #include "transmission_interface/differential_transmission_loader.hpp"
 #include "transmission_interface/transmission_loader.hpp"
 
+using testing::DoubleNear;
 using testing::SizeIs;
 
+// Floating-point value comparison threshold
+const double EPS = 1e-5;
+
 class TransmissionPluginLoader
 {
 public:
@@ -113,16 +117,16 @@ TEST(DifferentialTransmissionLoaderTest, FullSpec)
 
   const std::vector<double> & actuator_reduction =
     differential_transmission->get_actuator_reduction();
-  EXPECT_EQ(50.0, actuator_reduction[0]);
-  EXPECT_EQ(-50.0, actuator_reduction[1]);
+  EXPECT_THAT(50.0, DoubleNear(actuator_reduction[0], EPS));
+  EXPECT_THAT(-50.0, DoubleNear(actuator_reduction[1], EPS));
 
   const std::vector<double> & joint_reduction = differential_transmission->get_joint_reduction();
-  EXPECT_EQ(2.0, joint_reduction[0]);
-  EXPECT_EQ(-2.0, joint_reduction[1]);
+  EXPECT_THAT(2.0, DoubleNear(joint_reduction[0], EPS));
+  EXPECT_THAT(-2.0, DoubleNear(joint_reduction[1], EPS));
 
   const std::vector<double> & joint_offset = differential_transmission->get_joint_offset();
-  EXPECT_EQ(0.5, joint_offset[0]);
-  EXPECT_EQ(-0.5, joint_offset[1]);
+  EXPECT_THAT(0.5, DoubleNear(joint_offset[0], EPS));
+  EXPECT_THAT(-0.5, DoubleNear(joint_offset[1], EPS));
 }
 
 TEST(DifferentialTransmissionLoaderTest, only_mech_red_specified)
@@ -184,16 +188,16 @@ TEST(DifferentialTransmissionLoaderTest, only_mech_red_specified)
 
   const std::vector<double> & actuator_reduction =
     differential_transmission->get_actuator_reduction();
-  EXPECT_EQ(50.0, actuator_reduction[0]);
-  EXPECT_EQ(-50.0, actuator_reduction[1]);
+  EXPECT_THAT(50.0, DoubleNear(actuator_reduction[0], EPS));
+  EXPECT_THAT(-50.0, DoubleNear(actuator_reduction[1], EPS));
 
   const std::vector<double> & joint_reduction = differential_transmission->get_joint_reduction();
-  EXPECT_EQ(1.0, joint_reduction[0]);
-  EXPECT_EQ(1.0, joint_reduction[1]);
+  EXPECT_THAT(1.0, DoubleNear(joint_reduction[0], EPS));
+  EXPECT_THAT(1.0, DoubleNear(joint_reduction[1], EPS));
 
   const std::vector<double> & joint_offset = differential_transmission->get_joint_offset();
-  EXPECT_EQ(0.0, joint_offset[0]);
-  EXPECT_EQ(0.0, joint_offset[1]);
+  EXPECT_THAT(0.0, DoubleNear(joint_offset[0], EPS));
+  EXPECT_THAT(0.0, DoubleNear(joint_offset[1], EPS));
 }
 
 TEST(SimpleTransmissionLoaderTest, offset_and_mech_red_not_specified)
@@ -247,16 +251,16 @@ TEST(SimpleTransmissionLoaderTest, offset_and_mech_red_not_specified)
 
   const std::vector<double> & actuator_reduction =
     differential_transmission->get_actuator_reduction();
-  EXPECT_EQ(1.0, actuator_reduction[0]);
-  EXPECT_EQ(1.0, actuator_reduction[1]);
+  EXPECT_THAT(1.0, DoubleNear(actuator_reduction[0], EPS));
+  EXPECT_THAT(1.0, DoubleNear(actuator_reduction[1], EPS));
 
   const std::vector<double> & joint_reduction = differential_transmission->get_joint_reduction();
-  EXPECT_EQ(1.0, joint_reduction[0]);
-  EXPECT_EQ(1.0, joint_reduction[1]);
+  EXPECT_THAT(1.0, DoubleNear(joint_reduction[0], EPS));
+  EXPECT_THAT(1.0, DoubleNear(joint_reduction[1], EPS));
 
   const std::vector<double> & joint_offset = differential_transmission->get_joint_offset();
-  EXPECT_EQ(0.0, joint_offset[0]);
-  EXPECT_EQ(0.0, joint_offset[1]);
+  EXPECT_THAT(0.0, DoubleNear(joint_offset[0], EPS));
+  EXPECT_THAT(0.0, DoubleNear(joint_offset[1], EPS));
 }
 
 TEST(DifferentialTransmissionLoaderTest, mechanical_reduction_not_a_number)
@@ -319,16 +323,16 @@ TEST(DifferentialTransmissionLoaderTest, mechanical_reduction_not_a_number)
   // default kicks in for ill-defined values
   const std::vector<double> & actuator_reduction =
     differential_transmission->get_actuator_reduction();
-  EXPECT_EQ(1.0, actuator_reduction[0]);
-  EXPECT_EQ(1.0, actuator_reduction[1]);
+  EXPECT_THAT(1.0, DoubleNear(actuator_reduction[0], EPS));
+  EXPECT_THAT(1.0, DoubleNear(actuator_reduction[1], EPS));
 
   const std::vector<double> & joint_reduction = differential_transmission->get_joint_reduction();
-  EXPECT_EQ(1.0, joint_reduction[0]);
-  EXPECT_EQ(1.0, joint_reduction[1]);
+  EXPECT_THAT(1.0, DoubleNear(joint_reduction[0], EPS));
+  EXPECT_THAT(1.0, DoubleNear(joint_reduction[1], EPS));
 
   const std::vector<double> & joint_offset = differential_transmission->get_joint_offset();
-  EXPECT_EQ(0.0, joint_offset[0]);
-  EXPECT_EQ(0.0, joint_offset[1]);
+  EXPECT_THAT(0.0, DoubleNear(joint_offset[0], EPS));
+  EXPECT_THAT(0.0, DoubleNear(joint_offset[1], EPS));
 }
 
 TEST(DifferentialTransmissionLoaderTest, offset_ill_defined)
@@ -393,17 +397,17 @@ TEST(DifferentialTransmissionLoaderTest, offset_ill_defined)
   // default kicks in for ill-defined values
   const std::vector<double> & actuator_reduction =
     differential_transmission->get_actuator_reduction();
-  EXPECT_EQ(50.0, actuator_reduction[0]);
-  EXPECT_EQ(-50.0, actuator_reduction[1]);
+  EXPECT_THAT(50.0, DoubleNear(actuator_reduction[0], EPS));
+  EXPECT_THAT(-50.0, DoubleNear(actuator_reduction[1], EPS));
 
   const std::vector<double> & joint_reduction = differential_transmission->get_joint_reduction();
-  EXPECT_EQ(2.0, joint_reduction[0]);
-  EXPECT_EQ(-2.0, joint_reduction[1]);
+  EXPECT_THAT(2.0, DoubleNear(joint_reduction[0], EPS));
+  EXPECT_THAT(-2.0, DoubleNear(joint_reduction[1], EPS));
 
   // default kicks in for ill-defined values
   const std::vector<double> & joint_offset = differential_transmission->get_joint_offset();
-  EXPECT_EQ(0.0, joint_offset[0]);
-  EXPECT_EQ(0.0, joint_offset[1]);
+  EXPECT_THAT(0.0, DoubleNear(joint_offset[0], EPS));
+  EXPECT_THAT(0.0, DoubleNear(joint_offset[1], EPS));
 }
 
 TEST(DifferentialTransmissionLoaderTest, mech_red_invalid_value)

transmission_interface/test/differential_transmission_test.cpp

@@ -29,7 +29,7 @@ using transmission_interface::DifferentialTransmission;
 using transmission_interface::Exception;
 using transmission_interface::JointHandle;
 // Floating-point value comparison threshold
-const double EPS = 1e-6;
+const double EPS = 1e-5;
 
 TEST(PreconditionsTest, ExceptionThrowing)
 {
@@ -79,12 +79,12 @@ TEST(PreconditionsTest, AccessorValidation)
 
   EXPECT_EQ(2u, trans.num_actuators());
   EXPECT_EQ(2u, trans.num_joints());
-  EXPECT_EQ(2.0, trans.get_actuator_reduction()[0]);
-  EXPECT_EQ(-2.0, trans.get_actuator_reduction()[1]);
-  EXPECT_EQ(4.0, trans.get_joint_reduction()[0]);
-  EXPECT_EQ(-4.0, trans.get_joint_reduction()[1]);
-  EXPECT_EQ(1.0, trans.get_joint_offset()[0]);
-  EXPECT_EQ(-1.0, trans.get_joint_offset()[1]);
+  EXPECT_THAT(2.0, DoubleNear(trans.get_actuator_reduction()[0], EPS));
+  EXPECT_THAT(-2.0, DoubleNear(trans.get_actuator_reduction()[1], EPS));
+  EXPECT_THAT(4.0, DoubleNear(trans.get_joint_reduction()[0], EPS));
+  EXPECT_THAT(-4.0, DoubleNear(trans.get_joint_reduction()[1], EPS));
+  EXPECT_THAT(1.0, DoubleNear(trans.get_joint_offset()[0], EPS));
+  EXPECT_THAT(-1.0, DoubleNear(trans.get_joint_offset()[1], EPS));
 }
 
 void testConfigureWithBadHandles(std::string interface_name)

transmission_interface/test/four_bar_linkage_transmission_loader_test.cpp

@@ -26,8 +26,12 @@
 #include "transmission_interface/four_bar_linkage_transmission_loader.hpp"
 #include "transmission_interface/transmission_loader.hpp"
 
+using testing::DoubleNear;
 using testing::SizeIs;
 
+// Floating-point value comparison threshold
+const double EPS = 1e-5;
+
 class TransmissionPluginLoader
 {
 public:
@@ -113,17 +117,17 @@ TEST(FourBarLinkageTransmissionLoaderTest, FullSpec)
 
   const std::vector<double> & actuator_reduction =
     four_bar_linkage_transmission->get_actuator_reduction();
-  EXPECT_EQ(50.0, actuator_reduction[0]);
-  EXPECT_EQ(-50.0, actuator_reduction[1]);
+  EXPECT_THAT(50.0, DoubleNear(actuator_reduction[0], EPS));
+  EXPECT_THAT(-50.0, DoubleNear(actuator_reduction[1], EPS));
 
   const std::vector<double> & joint_reduction =
     four_bar_linkage_transmission->get_joint_reduction();
-  EXPECT_EQ(2.0, joint_reduction[0]);
-  EXPECT_EQ(-2.0, joint_reduction[1]);
+  EXPECT_THAT(2.0, DoubleNear(joint_reduction[0], EPS));
+  EXPECT_THAT(-2.0, DoubleNear(joint_reduction[1], EPS));
 
   const std::vector<double> & joint_offset = four_bar_linkage_transmission->get_joint_offset();
-  EXPECT_EQ(0.5, joint_offset[0]);
-  EXPECT_EQ(-0.5, joint_offset[1]);
+  EXPECT_THAT(0.5, DoubleNear(joint_offset[0], EPS));
+  EXPECT_THAT(-0.5, DoubleNear(joint_offset[1], EPS));
 }
 
 TEST(FourBarLinkageTransmissionLoaderTest, only_mech_red_specified)
@@ -185,17 +189,17 @@ TEST(FourBarLinkageTransmissionLoaderTest, only_mech_red_specified)
 
   const std::vector<double> & actuator_reduction =
     four_bar_linkage_transmission->get_actuator_reduction();
-  EXPECT_EQ(50.0, actuator_reduction[0]);
-  EXPECT_EQ(-50.0, actuator_reduction[1]);
+  EXPECT_THAT(50.0, DoubleNear(actuator_reduction[0], EPS));
+  EXPECT_THAT(-50.0, DoubleNear(actuator_reduction[1], EPS));
 
   const std::vector<double> & joint_reduction =
     four_bar_linkage_transmission->get_joint_reduction();
-  EXPECT_EQ(1.0, joint_reduction[0]);
-  EXPECT_EQ(1.0, joint_reduction[1]);
+  EXPECT_THAT(1.0, DoubleNear(joint_reduction[0], EPS));
+  EXPECT_THAT(1.0, DoubleNear(joint_reduction[1], EPS));
 
   const std::vector<double> & joint_offset = four_bar_linkage_transmission->get_joint_offset();
-  EXPECT_EQ(0.0, joint_offset[0]);
-  EXPECT_EQ(0.0, joint_offset[1]);
+  EXPECT_THAT(0.0, DoubleNear(joint_offset[0], EPS));
+  EXPECT_THAT(0.0, DoubleNear(joint_offset[1], EPS));
 }
 
 TEST(DifferentialTransmissionLoaderTest, offset_and_mech_red_not_specified)
@@ -249,17 +253,17 @@ TEST(DifferentialTransmissionLoaderTest, offset_and_mech_red_not_specified)
 
   const std::vector<double> & actuator_reduction =
     four_bar_linkage_transmission->get_actuator_reduction();
-  EXPECT_EQ(1.0, actuator_reduction[0]);
-  EXPECT_EQ(1.0, actuator_reduction[1]);
+  EXPECT_THAT(1.0, DoubleNear(actuator_reduction[0], EPS));
+  EXPECT_THAT(1.0, DoubleNear(actuator_reduction[1], EPS));
 
   const std::vector<double> & joint_reduction =
     four_bar_linkage_transmission->get_joint_reduction();
-  EXPECT_EQ(1.0, joint_reduction[0]);
-  EXPECT_EQ(1.0, joint_reduction[1]);
+  EXPECT_THAT(1.0, DoubleNear(joint_reduction[0], EPS));
+  EXPECT_THAT(1.0, DoubleNear(joint_reduction[1], EPS));
 
   const std::vector<double> & joint_offset = four_bar_linkage_transmission->get_joint_offset();
-  EXPECT_EQ(0.0, joint_offset[0]);
-  EXPECT_EQ(0.0, joint_offset[1]);
+  EXPECT_THAT(0.0, DoubleNear(joint_offset[0], EPS));
+  EXPECT_THAT(0.0, DoubleNear(joint_offset[1], EPS));
 }
 
 TEST(FourBarLinkageTransmissionLoaderTest, mechanical_reduction_not_a_number)
@@ -322,17 +326,17 @@ TEST(FourBarLinkageTransmissionLoaderTest, mechanical_reduction_not_a_number)
   // default kicks in for ill-defined values
   const std::vector<double> & actuator_reduction =
     four_bar_linkage_transmission->get_actuator_reduction();
-  EXPECT_EQ(1.0, actuator_reduction[0]);
-  EXPECT_EQ(1.0, actuator_reduction[1]);
+  EXPECT_THAT(1.0, DoubleNear(actuator_reduction[0], EPS));
+  EXPECT_THAT(1.0, DoubleNear(actuator_reduction[1], EPS));
 
   const std::vector<double> & joint_reduction =
     four_bar_linkage_transmission->get_joint_reduction();
-  EXPECT_EQ(1.0, joint_reduction[0]);
-  EXPECT_EQ(1.0, joint_reduction[1]);
+  EXPECT_THAT(1.0, DoubleNear(joint_reduction[0], EPS));
+  EXPECT_THAT(1.0, DoubleNear(joint_reduction[1], EPS));
 
   const std::vector<double> & joint_offset = four_bar_linkage_transmission->get_joint_offset();
-  EXPECT_EQ(0.0, joint_offset[0]);
-  EXPECT_EQ(0.0, joint_offset[1]);
+  EXPECT_THAT(0.0, DoubleNear(joint_offset[0], EPS));
+  EXPECT_THAT(0.0, DoubleNear(joint_offset[1], EPS));
 }
 
 TEST(FourBarLinkageTransmissionLoaderTest, offset_ill_defined)
@@ -397,18 +401,18 @@ TEST(FourBarLinkageTransmissionLoaderTest, offset_ill_defined)
   // default kicks in for ill-defined values
   const std::vector<double> & actuator_reduction =
     four_bar_linkage_transmission->get_actuator_reduction();
-  EXPECT_EQ(50.0, actuator_reduction[0]);
-  EXPECT_EQ(-50.0, actuator_reduction[1]);
+  EXPECT_THAT(50.0, DoubleNear(actuator_reduction[0], EPS));
+  EXPECT_THAT(-50.0, DoubleNear(actuator_reduction[1], EPS));
 
   const std::vector<double> & joint_reduction =
     four_bar_linkage_transmission->get_joint_reduction();
-  EXPECT_EQ(2.0, joint_reduction[0]);
-  EXPECT_EQ(-2.0, joint_reduction[1]);
+  EXPECT_THAT(2.0, DoubleNear(joint_reduction[0], EPS));
+  EXPECT_THAT(-2.0, DoubleNear(joint_reduction[1], EPS));
 
   // default kicks in for ill-defined values
   const std::vector<double> & joint_offset = four_bar_linkage_transmission->get_joint_offset();
-  EXPECT_EQ(0.0, joint_offset[0]);
-  EXPECT_EQ(0.0, joint_offset[1]);
+  EXPECT_THAT(0.0, DoubleNear(joint_offset[0], EPS));
+  EXPECT_THAT(0.0, DoubleNear(joint_offset[1], EPS));
 }
 
 TEST(FourBarLinkageTransmissionLoaderTest, mech_red_invalid_value)

transmission_interface/test/four_bar_linkage_transmission_test.cpp

@@ -33,7 +33,7 @@ using transmission_interface::FourBarLinkageTransmission;
 using transmission_interface::JointHandle;
 
 // Floating-point value comparison threshold
-const double EPS = 1e-6;
+const double EPS = 1e-5;
 
 TEST(PreconditionsTest, ExceptionThrowing)
 {
@@ -83,12 +83,12 @@ TEST(PreconditionsTest, AccessorValidation)
 
   EXPECT_EQ(2u, trans.num_actuators());
   EXPECT_EQ(2u, trans.num_joints());
-  EXPECT_EQ(2.0, trans.get_actuator_reduction()[0]);
-  EXPECT_EQ(-2.0, trans.get_actuator_reduction()[1]);
-  EXPECT_EQ(4.0, trans.get_joint_reduction()[0]);
-  EXPECT_EQ(-4.0, trans.get_joint_reduction()[1]);
-  EXPECT_EQ(1.0, trans.get_joint_offset()[0]);
-  EXPECT_EQ(-1.0, trans.get_joint_offset()[1]);
+  EXPECT_THAT(2.0, DoubleNear(trans.get_actuator_reduction()[0], EPS));
+  EXPECT_THAT(-2.0, DoubleNear(trans.get_actuator_reduction()[1], EPS));
+  EXPECT_THAT(4.0, DoubleNear(trans.get_joint_reduction()[0], EPS));
+  EXPECT_THAT(-4.0, DoubleNear(trans.get_joint_reduction()[1], EPS));
+  EXPECT_THAT(1.0, DoubleNear(trans.get_joint_offset()[0], EPS));
+  EXPECT_THAT(-1.0, DoubleNear(trans.get_joint_offset()[1], EPS));
 }
 
 void testConfigureWithBadHandles(std::string interface_name)