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add thread_priority option to the ros2_control_node (#1820)
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(cherry picked from commit 832602d)

# Conflicts:
#	controller_manager/src/ros2_control_node.cpp
#	doc/release_notes.rst
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@saikishor @mergify
saikishor authored and mergify[bot] committed Oct 30, 2024
1 parent 7ca9d7f commit 4d63c1f
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10 changes: 9 additions & 1 deletion controller_manager/src/ros2_control_node.cpp
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Expand Up @@ -45,11 +45,19 @@ int main(int argc, char ** argv)
auto cm = std::make_shared<controller_manager::ControllerManager>(executor, manager_node_name);

RCLCPP_INFO(cm->get_logger(), "update rate is %d Hz", cm->get_update_rate());
const int thread_priority = cm->get_parameter_or<int>("thread_priority", kSchedPriority);
RCLCPP_INFO(
cm->get_logger(), "Spawning %s RT thread with scheduler priority: %d", cm->get_name(),
thread_priority);

std::thread cm_thread(
[cm]()
[cm, thread_priority]()
{
<<<<<<< HEAD
if (realtime_tools::has_realtime_kernel())
=======
if (!realtime_tools::configure_sched_fifo(thread_priority))
>>>>>>> 832602d (add thread_priority option to the ros2_control_node (#1820))
{
if (!realtime_tools::configure_sched_fifo(kSchedPriority))
{
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121 changes: 121 additions & 0 deletions doc/release_notes.rst
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Expand Up @@ -13,3 +13,124 @@ controller_interface
For details see the controller_manager section.

* The new ``PoseSensor`` semantic component provides a standard interface for hardware providing cartesian poses (`#1775 <https://github.com/ros-controls/ros2_control/pull/1775>`_)
<<<<<<< HEAD
=======
* The controllers now support the fallback controllers (a list of controllers that will be activated, when the spawned controllers fails by throwing an exception or returning ``return_type::ERROR`` during the ``update`` cycle) (`#1789 <https://github.com/ros-controls/ros2_control/pull/1789>`_)

controller_manager
******************
* URDF is now passed to controllers on init (`#1088 <https://github.com/ros-controls/ros2_control/pull/1088>`_)
This should help avoiding extra legwork in controllers to get access to the ``/robot_description``.
* Pass controller manager update rate on the init of the controller interface (`#1141 <https://github.com/ros-controls/ros2_control/pull/1141>`_)
* Report inactive controllers as a diagnostics ok instead of an error (`#1184 <https://github.com/ros-controls/ros2_control/pull/1184>`_)
* Set chained controller interfaces 'available' for activated controllers (`#1098 <https://github.com/ros-controls/ros2_control/pull/1098>`_)

* Configured chainable controller: Listed exported interfaces are unavailable and unclaimed
* Active chainable controller (not in chained mode): Listed exported interfaces are available but unclaimed
* Active chainable controller (in chained mode): Listed exported interfaces are available and claimed
* Try using SCHED_FIFO on any kernel (`#1142 <https://github.com/ros-controls/ros2_control/pull/1142>`_)
* A method to get node options to setup the controller node was added (`#1169 <https://github.com/ros-controls/ros2_control/pull/1169>`_): ``get_node_options`` can be overridden by controllers, this would make it easy for other controllers to be able to setup their own custom node options
* CM now subscribes to ``robot_description`` topic instead of ``~/robot_description`` (`#1410 <https://github.com/ros-controls/ros2_control/pull/1410>`_).
* Change the controller sorting with an approach similar to directed acyclic graphs (`#1384 <https://github.com/ros-controls/ros2_control/pull/1384>`_)
* Changes from `(PR #1256) <https://github.com/ros-controls/ros2_control/pull/1256>`__

* All ``joints`` defined in the ``<ros2_control>``-tag have to be present in the URDF received :ref:`by the controller manager <doc/ros2_control/controller_manager/doc/userdoc:subscribers>`, otherwise the following error is shown:

The published robot description file (URDF) seems not to be genuine. The following error was caught: <unknown_joint> not found in URDF.

This is to ensure that the URDF and the ``<ros2_control>``-tag are consistent. E.g., for configuration ports use ``gpio`` interface types instead.

* The syntax for mimic joints is changed to the `official URDF specification <https://wiki.ros.org/urdf/XML/joint>`__.

.. code-block:: xml
<joint name="right_finger_joint" type="prismatic">
<axis xyz="0 1 0"/>
<origin xyz="0.0 -0.48 1" rpy="0.0 0.0 0.0"/>
<parent link="base"/>
<child link="finger_right"/>
<limit effort="1000.0" lower="0" upper="0.38" velocity="10"/>
</joint>
<joint name="left_finger_joint" type="prismatic">
<mimic joint="right_finger_joint" multiplier="1" offset="0"/>
<axis xyz="0 1 0"/>
<origin xyz="0.0 0.48 1" rpy="0.0 0.0 3.1415926535"/>
<parent link="base"/>
<child link="finger_left"/>
<limit effort="1000.0" lower="0" upper="0.38" velocity="10"/>
</joint>
The parameters within the ``ros2_control`` tag are not supported any more.
* The support for the ``description`` parameter for loading the URDF was removed (`#1358 <https://github.com/ros-controls/ros2_control/pull/1358>`_).
* The ``--controller-type`` or ``-t`` spawner arg is removed. Now the controller type is defined in the controller configuration file with ``type`` field (`#1639 <https://github.com/ros-controls/ros2_control/pull/1639>`_).
* The ``--namespace`` or ``-n`` spawner arg is deprecated. Now the spawner namespace can be defined using the ROS 2 standard way (`#1640 <https://github.com/ros-controls/ros2_control/pull/1640>`_).
* Added support for the wildcard entries for the controller configuration files (`#1724 <https://github.com/ros-controls/ros2_control/pull/1724>`_).
* The ``ros2_control_node`` node now accepts the ``thread_priority`` parameter to set the scheduler priority of the controller_manager's RT thread (`#1820 <https://github.com/ros-controls/ros2_control/pull/1820>`_).

hardware_interface
******************
* A portable version for string-to-double conversion was added: ``hardware_interface::stod`` (`#1257 <https://github.com/ros-controls/ros2_control/pull/1257>`_)
* ``test_components`` was moved to its own package (`#1325 <https://github.com/ros-controls/ros2_control/pull/1325>`_)
* The ``ros2_control`` tag now supports parsing of the limits from the URDF into the ``HardwareInfo`` structure. More conservative limits can be defined using the ``min`` and ``max`` attributes per interface (`#1472 <https://github.com/ros-controls/ros2_control/pull/1472>`_)

.. code:: xml
<ros2_control name="RRBotSystemMutipleGPIOs" type="system">
<hardware>
<plugin>ros2_control_demo_hardware/RRBotSystemPositionOnlyHardware</plugin>
<param name="example_param_hw_start_duration_sec">2.0</param>
<param name="example_param_hw_stop_duration_sec">3.0</param>
<param name="example_param_hw_slowdown">2.0</param>
</hardware>
<joint name="joint1">
<command_interface name="position">
<param name="min">-1</param>
<param name="max">1</param>
</command_interface>
<command_interface name="velocity">
<limits enable="false"/>
</command_interface>
<state_interface name="position"/>
</joint>
</ros2_control>
* Soft limits are also parsed from the URDF into the ``HardwareInfo`` structure for the defined joints (`#1488 <https://github.com/ros-controls/ros2_control/pull/1488>`_)
* Access to logger and clock through ``get_logger`` and ``get_clock`` methods in ResourceManager and HardwareComponents ``Actuator``, ``Sensor`` and ``System`` (`#1585 <https://github.com/ros-controls/ros2_control/pull/1585>`_)
* Added ``get_hardware_info`` method to the hardware components interface to access the ``HardwareInfo`` instead of accessing the variable ``info_`` directly (`#1643 <https://github.com/ros-controls/ros2_control/pull/1643>`_)
* With (`#1683 <https://github.com/ros-controls/ros2_control/pull/1683>`_) the ``rclcpp_lifecycle::State & get_state()`` and ``void set_state(const rclcpp_lifecycle::State & new_state)`` are replaced by ``rclcpp_lifecycle::State & get_lifecycle_state()`` and ``void set_lifecycle_state(const rclcpp_lifecycle::State & new_state)``. This change affects controllers and hardware. This is related to (`#1240 <https://github.com/ros-controls/ros2_control/pull/1240>`_) as variant support introduces ``get_state`` and ``set_state`` methods for setting/getting state of handles.
* With (`#1421 <https://github.com/ros-controls/ros2_control/pull/1421>`_) a key-value storage is added to InterfaceInfo. This allows to define extra params with per Command-/StateInterface in the ``.ros2_control.xacro`` file.

joint_limits
************
* Add header to import limits from standard URDF definition (`#1298 <https://github.com/ros-controls/ros2_control/pull/1298>`_)

Adaption of Command-/StateInterfaces
***************************************
Changes from `(PR #1688) <https://github.com/ros-controls/ros2_control/pull/1688>`_ for an overview of related changes and discussion refer to `(PR #1240) <https://github.com/ros-controls/ros2_control/pull/1240>`_.

* ``Command-/StateInterfaces`` are now created and exported automatically by the framework via the ``on_export_command_interfaces()`` or ``on_export_state_interfaces()`` methods based on the interfaces defined in the ``ros2_control`` XML-tag, which gets parsed and the ``InterfaceDescription`` is created accordingly (check the `hardware_info.hpp <https://github.com/ros-controls/ros2_control/tree/{REPOS_FILE_BRANCH}/hardware_interface/include/hardware_interface/hardware_info.hpp>`__).
* The memory for storing the value of a ``Command-/StateInterfaces`` is no longer allocated in the hardware but instead in the ``Command-/StateInterfaces`` itself.
* To access the automatically created ``Command-/StateInterfaces`` we provide the ``std::unordered_map<std::string, InterfaceDescription>``, where the string is the fully qualified name of the interface and the ``InterfaceDescription`` is the configuration of the interface. The ``std::unordered_map<>`` are divided into ``type_state_interfaces_`` and ``type_command_interfaces_`` where type can be: ``joint``, ``sensor``, ``gpio`` and ``unlisted``. E.g. the ``CommandInterfaces`` for all joints can be found in the ``joint_command_interfaces_`` map. The ``unlisted`` includes all interfaces not listed in the ``ros2_control`` XML-tag but were created by overriding the ``export_unlisted_command_interfaces()`` or ``export_unlisted_state_interfaces()`` function by creating some custom ``Command-/StateInterfaces``.


ros2controlcli
**************
* Spawner colours were added to ``list_controllers`` depending upon active or inactive (`#1409 <https://github.com/ros-controls/ros2_control/pull/1409>`_)
* The ``set_hardware_component_state`` verb was added (`#1248 <https://github.com/ros-controls/ros2_control/pull/1248>`_). Use the following command to set the state of a hardware component

.. code-block:: bash
ros2 control set_hardware_component_state <hardware_component_name> <state>
* The ``load_controller`` now supports parsing of the params file (`#1703 <https://github.com/ros-controls/ros2_control/pull/1703>`_).

.. code-block:: bash
ros2 control load_controller <controller_name> <realtive_or_absolute_file_path>
* All the ros2controlcli verbs now support the namespacing through the ROS 2 standard way (`#1703 <https://github.com/ros-controls/ros2_control/pull/1703>`_).

.. code-block:: bash
ros2 control <verb> <arguments> --ros-args -r __ns:=<namespace>
>>>>>>> 832602d (add thread_priority option to the ros2_control_node (#1820))

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