Merge branch 'master' into allow-prepare-comand-mode-switch-only-for-…

…existing-and-available-interfaces

.github/workflows/ci-coverage-build.yml

@@ -46,7 +46,7 @@ jobs:
           file: ros_ws/lcov/total_coverage.info
           flags: unittests
           name: codecov-umbrella
-      - uses: actions/upload-artifact@v3.1.3
+      - uses: actions/upload-artifact@v4.0.0
         with:
           name: colcon-logs-ubuntu-22.04-coverage-rolling
           path: ros_ws/log

.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: ${{ inputs.ref }} # otherwise the default branch is used for scheduled workflows
           package-name:
             controller_interface
             controller_manager
@@ -49,7 +50,7 @@ jobs:
             https://raw.githubusercontent.com/ros2/ros2/${{ inputs.ros2_repo_branch }}/ros2.repos
             https://raw.githubusercontent.com/${{ github.repository }}/${{ github.sha }}/ros2_control.${{ inputs.ros_distro }}.repos?token=${{ secrets.GITHUB_TOKEN }}
           colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
-      - uses: actions/upload-artifact@v3.1.3
+      - uses: actions/upload-artifact@v4.0.0
         with:
           name: colcon-logs-ubuntu-22.04
           path: ros_ws/log

.github/workflows/reviewer_lottery.yml

@@ -6,6 +6,7 @@ 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@v3

controller_manager/controller_manager/launch_utils.py

@@ -32,12 +32,12 @@ def generate_load_controller_launch_description(
     Examples # noqa: D416
     --------
       # Assuming the controller type and controller parameters are known to the controller_manager
-      generate_load_controller_launch_description('joint_state_controller')
+      generate_load_controller_launch_description('joint_state_broadcaster')
 
       # Passing controller type and controller parameter file to load
       generate_load_controller_launch_description(
-        'joint_state_controller',
-        controller_type='joint_state_controller/JointStateController',
+        'joint_state_broadcaster',
+        controller_type='joint_state_broadcaster/JointStateBroadcaster',
         controller_params_file=os.path.join(get_package_share_directory('my_pkg'),
                                             'config', 'controller_params.yaml')
         )

controller_manager/doc/userdoc.rst

@@ -11,10 +11,9 @@ Determinism
 -----------
 
 For best performance when controlling hardware you want the controller manager to have as little jitter as possible in the main control loop.
-The normal linux kernel is optimized for computational throughput and therefore is not well suited for hardware control.
-The two easiest kernel options are the `Real-time Ubuntu 22.04 LTS Beta <https://ubuntu.com/blog/real-time-ubuntu-released>`_ or `linux-image-rt-amd64 <https://packages.debian.org/bullseye/linux-image-rt-amd64>`_ on Debian Bullseye.
 
-If you have a realtime kernel installed, the main thread of Controller Manager attempts to configure ``SCHED_FIFO`` with a priority of ``50``.
+Independent of the kernel installed, the main thread of Controller Manager attempts to
+configure ``SCHED_FIFO`` with a priority of ``50``.
 By default, the user does not have permission to set such a high priority.
 To give the user such permissions, add a group named realtime and add the user controlling your robot to this group:
 
@@ -36,6 +35,16 @@ Afterwards, add the following limits to the realtime group in ``/etc/security/li
 
 The limits will be applied after you log out and in again.
 
+The normal linux kernel is optimized for computational throughput and therefore is not well suited for hardware control.
+Alternatives to the standard kernel include
+
+- `Real-time Ubuntu 22.04 LTS Beta <https://ubuntu.com/blog/real-time-ubuntu-released>`_ on Ubuntu 22.04
+- `linux-image-rt-amd64 <https://packages.debian.org/bullseye/linux-image-rt-amd64>`_ on Debian Bullseye
+- lowlatency kernel (``sudo apt install linux-lowlatency``) on any ubuntu
+
+Though installing a realtime-kernel will definitely get the best results when it comes to low
+jitter, using a lowlatency kernel can improve things a lot with being really easy to install.
+
 Parameters
 -----------
 

controller_manager/src/controller_manager.cpp

@@ -948,7 +948,7 @@ controller_interface::return_type ControllerManager::switch_controller(
     {
       RCLCPP_WARN(
         get_logger(),
-        "Controller with name '%s' is not inactive so its following"
+        "Controller with name '%s' is not inactive so its following "
         "controllers do not have to be checked, because it cannot be activated.",
         controller_it->info.name.c_str());
       status = controller_interface::return_type::ERROR;

controller_manager/src/ros2_control_node.cpp

@@ -48,16 +48,14 @@ int main(int argc, char ** argv)
   std::thread cm_thread(
     [cm]()
     {
-      if (realtime_tools::has_realtime_kernel())
+      if (!realtime_tools::configure_sched_fifo(kSchedPriority))
       {
-        if (!realtime_tools::configure_sched_fifo(kSchedPriority))
-        {
-          RCLCPP_WARN(cm->get_logger(), "Could not enable FIFO RT scheduling policy");
-        }
-      }
-      else
-      {
-        RCLCPP_INFO(cm->get_logger(), "RT kernel is recommended for better performance");
+        RCLCPP_WARN(
+          cm->get_logger(),
+          "Could not enable FIFO RT scheduling policy. Consider setting up your user to do FIFO RT "
+          "scheduling. See "
+          "[https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] "
+          "for details.");
       }
 
       // for calculating sleep time

ros2controlcli/doc/userdoc.rst

@@ -73,7 +73,7 @@ Example output:
 
     $ ros2 control list_controller_types
     diff_drive_controller/DiffDriveController                              controller_interface::ControllerInterface
-    joint_state_controller/JointStateController                            controller_interface::ControllerInterface
+    joint_state_broadcaster/JointStateBroadcaster                          controller_interface::ControllerInterface
     joint_trajectory_controller/JointTrajectoryController                  controller_interface::ControllerInterface
 
 

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)