Merge branch 'ros-controls:master' into feature/issue-815-hardware-in…

…terface-add-return-value

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

@@ -3,6 +3,9 @@ on:
   workflow_dispatch:
     branches:
       - master
+  push:
+    branches:
+      - master
   pull_request:
     branches:
       - master
@@ -19,7 +22,7 @@ jobs:
       - uses: ros-tooling/[email protected]
         with:
           required-ros-distributions: ${{ env.ROS_DISTRO }}
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
       - uses: ros-tooling/[email protected]
         with:
           target-ros2-distro: ${{ env.ROS_DISTRO }}
@@ -49,7 +52,7 @@ jobs:
           file: ros_ws/lcov/total_coverage.info
           flags: unittests
           name: codecov-umbrella
-      - uses: actions/[email protected].2
+      - uses: actions/[email protected].3
         with:
           name: colcon-logs-ubuntu-22.04-coverage-rolling
           path: ros_ws/log

.github/workflows/ci-format.yml

@@ -12,7 +12,7 @@ jobs:
     name: Format
     runs-on: ubuntu-latest
     steps:
-    - uses: actions/checkout@v3
+    - uses: actions/checkout@v4
     - uses: actions/[email protected]
       with:
         python-version: '3.10'

.github/workflows/ci-ros-lint.yml

@@ -13,7 +13,7 @@ jobs:
     env:
       AMENT_CPPCHECK_ALLOW_SLOW_VERSIONS: true
     steps:
-    - uses: actions/checkout@v3
+    - uses: actions/checkout@v4
     - uses: ros-tooling/[email protected]
     - uses: ros-tooling/[email protected]
       with:
@@ -37,7 +37,7 @@ jobs:
       matrix:
           linter: [cpplint]
     steps:
-    - uses: actions/checkout@v3
+    - uses: actions/checkout@v4
     - uses: ros-tooling/[email protected]
     - uses: ros-tooling/[email protected]
       with:

.github/workflows/docker.yml

@@ -19,21 +19,21 @@ jobs:
 
     steps:
       - name: Set up Docker Buildx
-        uses: docker/setup-buildx-action@v2
+        uses: docker/setup-buildx-action@v3
 
       - name: Checkout repository
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
 
       - name: Log in to the Container registry
-        uses: docker/login-action@v2
+        uses: docker/login-action@v3
         with:
           registry: ${{ env.REGISTRY }}
           username: ${{ github.actor }}
           password: ${{ secrets.GITHUB_TOKEN }}
 
       - name: Docker meta
         id: meta
-        uses: docker/metadata-action@v4
+        uses: docker/metadata-action@v5
         with:
           images: ${{ env.REGISTRY }}/${{ env.IMAGE_NAME }}_release
           tags: |
@@ -42,7 +42,7 @@ jobs:
             type=semver,pattern={{major}}.{{minor}}
 
       - name: Build and push Docker image
-        uses: docker/build-push-action@v4
+        uses: docker/build-push-action@v5
         with:
           context: .
           push: true
@@ -59,21 +59,21 @@ jobs:
 
     steps:
       - name: Set up Docker Buildx
-        uses: docker/setup-buildx-action@v2
+        uses: docker/setup-buildx-action@v3
 
       - name: Checkout repository
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
 
       - name: Log in to the Container registry
-        uses: docker/login-action@v2
+        uses: docker/login-action@v3
         with:
           registry: ${{ env.REGISTRY }}
           username: ${{ github.actor }}
           password: ${{ secrets.GITHUB_TOKEN }}
 
       - name: Docker meta
         id: meta
-        uses: docker/metadata-action@v4
+        uses: docker/metadata-action@v5
         with:
           images: ${{ env.REGISTRY }}/${{ env.IMAGE_NAME }}_source
           tags: |
@@ -82,7 +82,7 @@ jobs:
             type=semver,pattern={{major}}.{{minor}}
 
       - name: Build and push Docker image
-        uses: docker/build-push-action@v4
+        uses: docker/build-push-action@v5
         with:
           context: .
           push: true

.github/workflows/humble-abi-compatibility.yml

@@ -11,7 +11,7 @@ jobs:
   abi_check:
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
       - uses: ros-industrial/industrial_ci@master
         env:
           ROS_DISTRO: humble

.github/workflows/humble-rhel-binary-build.yml

@@ -21,7 +21,7 @@ jobs:
       ROS_DISTRO: humble
     container: ghcr.io/ros-controls/ros:humble-rhel
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
         with:
           path: src/ros2_control
       - run: |

.github/workflows/iron-abi-compatibility.yml

@@ -11,7 +11,7 @@ jobs:
   abi_check:
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
       - uses: ros-industrial/industrial_ci@master
         env:
           ROS_DISTRO: iron

.github/workflows/iron-rhel-binary-build.yml

@@ -21,7 +21,7 @@ jobs:
       ROS_DISTRO: iron
     container: ghcr.io/ros-controls/ros:iron-rhel
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
         with:
           path: src/ros2_control
       - run: |

.github/workflows/prerelease-check.yml

@@ -26,7 +26,7 @@ jobs:
   pre_release:
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
         with:
           ref: ${{ github.event.inputs.branch }}
       - name: industrial_ci

.github/workflows/reusable-industrial-ci-with-cache.yml

@@ -58,10 +58,10 @@ jobs:
     steps:
       - name: Checkout ${{ inputs.ref }} when build is not scheduled
         if: ${{ github.event_name != 'schedule' }}
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
       - name: Checkout ${{ inputs.ref }} on scheduled build
         if: ${{ github.event_name == 'schedule' }}
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
         with:
           ref: ${{ inputs.ref_for_scheduled_build }}
       - name: cache target_ws

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

@@ -29,7 +29,7 @@ jobs:
       - uses: ros-tooling/[email protected]
         with:
           required-ros-distributions: ${{ inputs.ros_distro }}
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
         with:
           ref: ${{ inputs.ref }}
       - uses: ros-tooling/[email protected]
@@ -49,7 +49,7 @@ jobs:
             https://raw.githubusercontent.com/ros2/ros2/${{ 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/[email protected].2
+      - uses: actions/[email protected].3
         with:
           name: colcon-logs-ubuntu-22.04
           path: ros_ws/log

.github/workflows/reviewer_lottery.yml

@@ -7,7 +7,7 @@ jobs:
   test:
     runs-on: ubuntu-latest
     steps:
-    - uses: actions/checkout@v3
+    - uses: actions/checkout@v4
     - uses: uesteibar/reviewer-lottery@v3
       with:
         repo-token: ${{ secrets.GITHUB_TOKEN }}

.github/workflows/rolling-rhel-binary-build.yml

@@ -17,7 +17,7 @@ jobs:
       ROS_DISTRO: rolling
     container: ghcr.io/ros-controls/ros:rolling-rhel
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
         with:
           path: src/ros2_control
       - run: |

controller_interface/include/controller_interface/controller_interface_base.hpp

@@ -115,7 +115,7 @@ class ControllerInterfaceBase : public rclcpp_lifecycle::node_interfaces::Lifecy
   CONTROLLER_INTERFACE_PUBLIC
   virtual return_type init(
     const std::string & controller_name, const std::string & namespace_ = "",
-    const rclcpp::NodeOptions & node_options = rclcpp::NodeOptions());
+    const rclcpp::NodeOptions & node_options = rclcpp::NodeOptions().enable_logger_service(true));
 
   /// Custom configure method to read additional parameters for controller-nodes
   /*

controller_manager/src/controller_manager.cpp

@@ -1639,11 +1639,17 @@ void ControllerManager::list_controllers_srv_cb(
         }
       }
       // check reference interfaces only if controller is inactive or active
-      auto references = controllers[i].c->export_reference_interfaces();
-      controller_state.reference_interfaces.reserve(references.size());
-      for (const auto & reference : references)
+      if (controllers[i].c->is_chainable())
       {
-        controller_state.reference_interfaces.push_back(reference.get_interface_name());
+        auto references =
+          resource_manager_->get_controller_reference_interface_names(controllers[i].info.name);
+        controller_state.reference_interfaces.reserve(references.size());
+        for (const auto & reference : references)
+        {
+          const std::string prefix_name = controllers[i].c->get_node()->get_name();
+          const std::string interface_name = reference.substr(prefix_name.size() + 1);
+          controller_state.reference_interfaces.push_back(interface_name);
+        }
       }
     }
     response->controller.push_back(controller_state);

controller_manager/test/test_controller_manager_srvs.cpp

@@ -269,7 +269,9 @@ TEST_F(TestControllerManagerSrvs, list_chained_controllers_srv)
   ASSERT_EQ(result->controller[0].is_chainable, true);
   ASSERT_EQ(result->controller[0].is_chained, false);
   ASSERT_EQ(result->controller[0].reference_interfaces.size(), 2u);
-  ;
+  ASSERT_EQ("joint1/position", result->controller[0].reference_interfaces[0]);
+  ASSERT_EQ("joint1/velocity", result->controller[0].reference_interfaces[1]);
+
   ASSERT_EQ(result->controller[0].chain_connections.size(), 0u);
   // check test controller
   ASSERT_EQ(result->controller[1].state, "inactive");
@@ -300,6 +302,7 @@ TEST_F(TestControllerManagerSrvs, list_chained_controllers_srv)
     test_chainable_controller::TEST_CONTROLLER_NAME,
     result->controller[0].chain_connections[0].name);
   ASSERT_EQ(2u, result->controller[0].chain_connections[0].reference_interfaces.size());
+  ASSERT_EQ("test_chainable_controller_name", result->controller[0].chain_connections[0].name);
   ASSERT_EQ("joint1/position", result->controller[0].chain_connections[0].reference_interfaces[0]);
   ASSERT_EQ("joint1/velocity", result->controller[0].chain_connections[0].reference_interfaces[1]);
 }

hardware_interface/doc/hardware_components_userdoc.rst

@@ -14,20 +14,21 @@ Guidelines and Best Practices
 .. toctree::
    :titlesonly:
 
-   Writing a Hardware Interface <writing_new_hardware_interface.rst>
+   Hardware Interface Types <hardware_interface_types_userdoc.rst>
+   Writing a Hardware Component <writing_new_hardware_component.rst>
 
 
 Handling of errors that happen during read() and write() calls
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-If ``hardware_interface::return_type::ERROR`` is returned from ``read()`` or ``write()`` methods of a hardware interface, ``on_error(previous_state)`` method will be called to handle any error that happened.
+If ``hardware_interface::return_type::ERROR`` is returned from ``read()`` or ``write()`` methods of a hardware_interface class, ``on_error(previous_state)`` method will be called to handle any error that happened.
 
 Error handling follows the `node lifecycle <https://design.ros2.org/articles/node_lifecycle.html>`_.
 If successful ``CallbackReturn::SUCCESS`` is returned and hardware is again in ``UNCONFIGURED``  state, if any ``ERROR`` or ``FAILURE`` happens the hardware ends in ``FINALIZED`` state and can not be recovered.
 The only option is to reload the complete plugin, but there is currently no service for this in the Controller Manager.
 
-Migration from Foxy to Galactic
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Migration from Foxy to newer versions
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 Between Foxy and Galactic we made substantial changes to the interface of hardware components to enable management of their lifecycle.
 The following list shows a set of quick changes to port existing hardware components to Galactic:
@@ -36,20 +37,29 @@ The following list shows a set of quick changes to port existing hardware compon
 
 2. If using BaseInterface as base class then you should remove it. Specifically, change:
 
-hardware_interface::BaseInterface<hardware_interface::[Actuator|Sensor|System]Interface> to hardware_interface::[Actuator|Sensor|System]Interface
+  .. code-block:: c++
+
+    hardware_interface::BaseInterface<hardware_interface::[Actuator|Sensor|System]Interface>
+
+  to
+
+  .. code-block:: c++
+
+    hardware_interface::[Actuator|Sensor|System]Interface
 
 3. Remove include of headers ``base_interface.hpp`` and ``hardware_interface_status_values.hpp``
 
 4. Add include of header ``rclcpp_lifecycle/state.hpp`` although this may not be strictly necessary
 
-5. replace first three lines in ``on_init`` to:
+5. replace first three lines in ``on_init`` to
+
+  .. code-block:: c++
 
-.. code-block:: c++
+    if (hardware_interface::[Actuator|Sensor|System]Interface::on_init(info) != CallbackReturn::SUCCESS)
+    {
+      return CallbackReturn::ERROR;
+    }
 
-   if (hardware_interface::[Actuator|Sensor|System]Interface::on_init(info) != CallbackReturn::SUCCESS)
-   {
-     return CallbackReturn::ERROR;
-   }
 
 6. Change last return of ``on_init`` to ``return CallbackReturn::SUCCESS;``