Merge branch 'master' into add-simple-joint-limiter

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

@@ -47,7 +47,7 @@ jobs:
           file: ros_ws/lcov/total_coverage.info
           flags: unittests
           name: codecov-umbrella
-      - uses: actions/upload-artifact@v4.1.0
+      - uses: actions/upload-artifact@v4.2.0
         with:
           name: colcon-logs-ubuntu-22.04-coverage-rolling
           path: ros_ws/log

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

@@ -1,8 +1,6 @@
 name: Humble - ABI Compatibility Check
 on:
   workflow_dispatch:
-    branches:
-      - humble
   pull_request:
     branches:
       - humble
@@ -15,6 +13,6 @@ jobs:
       - uses: ros-industrial/industrial_ci@master
         env:
           ROS_DISTRO: humble
-          ROS_REPO: main
+          ROS_REPO: testing
           ABICHECK_URL: github:${{ github.repository }}#${{ github.base_ref }}
           NOT_TEST_BUILD: true

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

@@ -1,8 +1,6 @@
 name: Iron - ABI Compatibility Check
 on:
   workflow_dispatch:
-    branches:
-      - iron
   pull_request:
     branches:
       - iron
@@ -15,6 +13,6 @@ jobs:
       - uses: ros-industrial/industrial_ci@master
         env:
           ROS_DISTRO: iron
-          ROS_REPO: main
+          ROS_REPO: testing
           ABICHECK_URL: github:${{ github.repository }}#${{ github.base_ref }}
           NOT_TEST_BUILD: true

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

@@ -50,7 +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@v4.1.0
+      - uses: actions/upload-artifact@v4.2.0
         with:
           name: colcon-logs-ubuntu-22.04
           path: ros_ws/log

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

@@ -0,0 +1,18 @@
+name: Rolling - ABI Compatibility Check
+on:
+  workflow_dispatch:
+  pull_request:
+    branches:
+      - master
+
+jobs:
+  abi_check:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - uses: ros-industrial/industrial_ci@master
+        env:
+          ROS_DISTRO: rolling
+          ROS_REPO: testing
+          ABICHECK_URL: github:${{ github.repository }}#${{ github.base_ref }}
+          NOT_TEST_BUILD: true

controller_interface/CHANGELOG.rst

@@ -2,6 +2,11 @@
 Changelog for package controller_interface
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.3.0 (2024-01-20)
+------------------
+* Issue 695: Changing 'namespace\_' variables to 'node_namespace' to make it more explicit (`#1239 <https://github.com/ros-controls/ros2_control/issues/1239>`_)
+* Contributors: bailaC
+
 4.2.0 (2023-12-12)
 ------------------
 

controller_interface/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="2">
   <name>controller_interface</name>
-  <version>4.2.0</version>
+  <version>4.3.0</version>
   <description>Description of controller_interface</description>
   <maintainer email="[email protected]">Bence Magyar</maintainer>
   <maintainer email="[email protected]">Denis Štogl</maintainer>

controller_manager/CHANGELOG.rst

@@ -2,6 +2,19 @@
 Changelog for package controller_manager
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.3.0 (2024-01-20)
+------------------
+* [CM] Better readability and maintainability: rename variables, move code to more logical places 🔧 (`#1227 <https://github.com/ros-controls/ros2_control/issues/1227>`_)
+* Initialize the controller manager services after initializing resource manager (`#1271 <https://github.com/ros-controls/ros2_control/issues/1271>`_)
+* Issue 695: Changing 'namespace\_' variables to 'node_namespace' to make it more explicit (`#1239 <https://github.com/ros-controls/ros2_control/issues/1239>`_)
+* Fix rqt controller manager crash on ros2_control restart (`#1273 <https://github.com/ros-controls/ros2_control/issues/1273>`_)
+* [docs] Remove joint_state_controller (`#1263 <https://github.com/ros-controls/ros2_control/issues/1263>`_)
+* controller_manager: Add space to string literal concatenation (`#1245 <https://github.com/ros-controls/ros2_control/issues/1245>`_)
+* Try using SCHED_FIFO on any kernel (`#1142 <https://github.com/ros-controls/ros2_control/issues/1142>`_)
+* [CM] Set chained controller interfaces 'available' for activated controllers (`#1098 <https://github.com/ros-controls/ros2_control/issues/1098>`_)
+* [CM] Increase tests timeout (`#1224 <https://github.com/ros-controls/ros2_control/issues/1224>`_)
+* Contributors: Christoph Fröhlich, Dr. Denis, Felix Exner (fexner), Sai Kishor Kothakota, Yasushi SHOJI, bailaC
+
 4.2.0 (2023-12-12)
 ------------------
 * [CM] Linting if/else statements (`#1193 <https://github.com/ros-controls/ros2_control/issues/1193>`_)

controller_manager/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="2">
   <name>controller_manager</name>
-  <version>4.2.0</version>
+  <version>4.3.0</version>
   <description>Description of controller_manager</description>
   <maintainer email="[email protected]">Bence Magyar</maintainer>
   <maintainer email="[email protected]">Denis Štogl</maintainer>

controller_manager/src/controller_manager.cpp

@@ -1336,53 +1336,22 @@ controller_interface::ControllerInterfaceBaseSharedPtr ControllerManager::add_co
   return to.back().c;
 }
 
-void ControllerManager::manage_switch()
-{
-  // Ask hardware interfaces to change mode
-  if (!resource_manager_->perform_command_mode_switch(
-        activate_command_interface_request_, deactivate_command_interface_request_))
-  {
-    RCLCPP_ERROR(get_logger(), "Error while performing mode switch.");
-  }
-
-  std::vector<ControllerSpec> & rt_controller_list =
-    rt_controllers_wrapper_.update_and_get_used_by_rt_list();
-
-  deactivate_controllers(rt_controller_list, deactivate_request_);
-
-  switch_chained_mode(to_chained_mode_request_, true);
-  switch_chained_mode(from_chained_mode_request_, false);
-
-  // activate controllers once the switch is fully complete
-  if (!switch_params_.activate_asap)
-  {
-    activate_controllers(rt_controller_list, activate_request_);
-  }
-  else
-  {
-    // activate controllers as soon as their required joints are done switching
-    activate_controllers_asap(rt_controller_list, activate_request_);
-  }
-
-  // TODO(destogl): move here "do_switch = false"
-}
-
 void ControllerManager::deactivate_controllers(
   const std::vector<ControllerSpec> & rt_controller_list,
   const std::vector<std::string> controllers_to_deactivate)
 {
   // deactivate controllers
-  for (const auto & request : controllers_to_deactivate)
+  for (const auto & controller_name : controllers_to_deactivate)
   {
     auto found_it = std::find_if(
       rt_controller_list.begin(), rt_controller_list.end(),
-      std::bind(controller_name_compare, std::placeholders::_1, request));
+      std::bind(controller_name_compare, std::placeholders::_1, controller_name));
     if (found_it == rt_controller_list.end())
     {
       RCLCPP_ERROR(
         get_logger(),
         "Got request to deactivate controller '%s' but it is not in the realtime controller list",
-        request.c_str());
+        controller_name.c_str());
       continue;
     }
     auto controller = found_it->c;
@@ -1393,13 +1362,13 @@ void ControllerManager::deactivate_controllers(
       // if it is a chainable controller, make the reference interfaces unavailable on deactivation
       if (controller->is_chainable())
       {
-        resource_manager_->make_controller_reference_interfaces_unavailable(request);
+        resource_manager_->make_controller_reference_interfaces_unavailable(controller_name);
       }
       if (new_state.id() != lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE)
       {
         RCLCPP_ERROR(
           get_logger(), "After deactivating, controller '%s' is in state '%s', expected Inactive",
-          request.c_str(), new_state.label().c_str());
+          controller_name.c_str(), new_state.label().c_str());
       }
     }
   }
@@ -1411,26 +1380,26 @@ void ControllerManager::switch_chained_mode(
   std::vector<ControllerSpec> & rt_controller_list =
     rt_controllers_wrapper_.update_and_get_used_by_rt_list();
 
-  for (const auto & request : chained_mode_switch_list)
+  for (const auto & controller_name : chained_mode_switch_list)
   {
     auto found_it = std::find_if(
       rt_controller_list.begin(), rt_controller_list.end(),
-      std::bind(controller_name_compare, std::placeholders::_1, request));
+      std::bind(controller_name_compare, std::placeholders::_1, controller_name));
     if (found_it == rt_controller_list.end())
     {
       RCLCPP_FATAL(
         get_logger(),
         "Got request to turn %s chained mode for controller '%s', but controller is not in the "
         "realtime controller list. (This should never happen!)",
-        (to_chained_mode ? "ON" : "OFF"), request.c_str());
+        (to_chained_mode ? "ON" : "OFF"), controller_name.c_str());
       continue;
     }
     auto controller = found_it->c;
     if (!is_controller_active(*controller))
     {
       // if it is a chainable controller, make the reference interfaces available on preactivation
       // (This is needed when you activate a couple of chainable controller altogether)
-      resource_manager_->make_controller_reference_interfaces_available(request);
+      resource_manager_->make_controller_reference_interfaces_available(controller_name);
       if (!controller->set_chained_mode(to_chained_mode))
       {
         RCLCPP_ERROR(
@@ -1439,7 +1408,7 @@ void ControllerManager::switch_chained_mode(
           "it! The control will probably not work as expected. Try to restart all controllers. "
           "If "
           "the error persist check controllers' individual configuration.",
-          (to_chained_mode ? "ON" : "OFF"), request.c_str());
+          (to_chained_mode ? "ON" : "OFF"), controller_name.c_str());
       }
     }
     else
@@ -1448,7 +1417,7 @@ void ControllerManager::switch_chained_mode(
         get_logger(),
         "Got request to turn %s chained mode for controller '%s', but this can not happen if "
         "controller is in '%s' state. (This should never happen!)",
-        (to_chained_mode ? "ON" : "OFF"), request.c_str(),
+        (to_chained_mode ? "ON" : "OFF"), controller_name.c_str(),
         hardware_interface::lifecycle_state_names::ACTIVE);
     }
   }
@@ -1458,21 +1427,20 @@ void ControllerManager::activate_controllers(
   const std::vector<ControllerSpec> & rt_controller_list,
   const std::vector<std::string> controllers_to_activate)
 {
-  for (const auto & request : controllers_to_activate)
+  for (const auto & controller_name : controllers_to_activate)
   {
     auto found_it = std::find_if(
       rt_controller_list.begin(), rt_controller_list.end(),
-      std::bind(controller_name_compare, std::placeholders::_1, request));
+      std::bind(controller_name_compare, std::placeholders::_1, controller_name));
     if (found_it == rt_controller_list.end())
     {
       RCLCPP_ERROR(
         get_logger(),
         "Got request to activate controller '%s' but it is not in the realtime controller list",
-        request.c_str());
+        controller_name.c_str());
       continue;
     }
     auto controller = found_it->c;
-    auto controller_name = found_it->info.name;
     // reset the next update cycle time for newly activated controllers
     *found_it->next_update_cycle_time =
       rclcpp::Time(0, 0, this->get_node_clock_interface()->get_clock()->get_clock_type());
@@ -1501,7 +1469,7 @@ void ControllerManager::activate_controllers(
         RCLCPP_ERROR(
           get_logger(),
           "Resource conflict for controller '%s'. Command interface '%s' is already claimed.",
-          request.c_str(), command_interface.c_str());
+          controller_name.c_str(), command_interface.c_str());
         assignment_successful = false;
         break;
       }
@@ -1511,7 +1479,8 @@ void ControllerManager::activate_controllers(
       }
       catch (const std::exception & e)
       {
-        RCLCPP_ERROR(get_logger(), "Can't activate controller '%s': %s", request.c_str(), e.what());
+        RCLCPP_ERROR(
+          get_logger(), "Can't activate controller '%s': %s", controller_name.c_str(), e.what());
         assignment_successful = false;
         break;
       }
@@ -1545,7 +1514,8 @@ void ControllerManager::activate_controllers(
       }
       catch (const std::exception & e)
       {
-        RCLCPP_ERROR(get_logger(), "Can't activate controller '%s': %s", request.c_str(), e.what());
+        RCLCPP_ERROR(
+          get_logger(), "Can't activate controller '%s': %s", controller_name.c_str(), e.what());
         assignment_successful = false;
         break;
       }
@@ -1571,16 +1541,14 @@ void ControllerManager::activate_controllers(
     // if it is a chainable controller, make the reference interfaces available on activation
     if (controller->is_chainable())
     {
-      resource_manager_->make_controller_reference_interfaces_available(request);
+      resource_manager_->make_controller_reference_interfaces_available(controller_name);
     }
 
     if (controller->is_async())
     {
       async_controller_threads_.at(controller_name)->activate();
     }
   }
-  // All controllers activated, switching done
-  switch_params_.do_switch = false;
 }
 
 void ControllerManager::activate_controllers_asap(
@@ -2037,6 +2005,38 @@ void ControllerManager::read(const rclcpp::Time & time, const rclcpp::Duration &
   }
 }
 
+void ControllerManager::manage_switch()
+{
+  // Ask hardware interfaces to change mode
+  if (!resource_manager_->perform_command_mode_switch(
+        activate_command_interface_request_, deactivate_command_interface_request_))
+  {
+    RCLCPP_ERROR(get_logger(), "Error while performing mode switch.");
+  }
+
+  std::vector<ControllerSpec> & rt_controller_list =
+    rt_controllers_wrapper_.update_and_get_used_by_rt_list();
+
+  deactivate_controllers(rt_controller_list, deactivate_request_);
+
+  switch_chained_mode(to_chained_mode_request_, true);
+  switch_chained_mode(from_chained_mode_request_, false);
+
+  // activate controllers once the switch is fully complete
+  if (!switch_params_.activate_asap)
+  {
+    activate_controllers(rt_controller_list, activate_request_);
+  }
+  else
+  {
+    // activate controllers as soon as their required joints are done switching
+    activate_controllers_asap(rt_controller_list, activate_request_);
+  }
+
+  // All controllers switched --> switching done
+  switch_params_.do_switch = false;
+}
+
 controller_interface::return_type ControllerManager::update(
   const rclcpp::Time & time, const rclcpp::Duration & period)
 {

controller_manager_msgs/CHANGELOG.rst

@@ -2,6 +2,9 @@
 Changelog for package controller_manager_msgs
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.3.0 (2024-01-20)
+------------------
+
 4.2.0 (2023-12-12)
 ------------------
 

controller_manager_msgs/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>controller_manager_msgs</name>
-  <version>4.2.0</version>
+  <version>4.3.0</version>
   <description>Messages and services for the controller manager.</description>
   <maintainer email="[email protected]">Bence Magyar</maintainer>
   <maintainer email="[email protected]">Denis Štogl</maintainer>

hardware_interface/CHANGELOG.rst

@@ -2,6 +2,19 @@
 Changelog for package hardware_interface
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.3.0 (2024-01-20)
+------------------
+* [RM] Fix crash for missing urdf in resource manager (`#1301 <https://github.com/ros-controls/ros2_control/issues/1301>`_)
+* Add additional checks for non existing and not available interfaces. (`#1218 <https://github.com/ros-controls/ros2_control/issues/1218>`_)
+* Adding backward compatibility for string-to-double conversion (`#1284 <https://github.com/ros-controls/ros2_control/issues/1284>`_)
+* [Doc] Make interface comments clearer in the doc strings. (`#1288 <https://github.com/ros-controls/ros2_control/issues/1288>`_)
+* Fix return of ERROR and calls of cleanup when system is unconfigured of finalized (`#1279 <https://github.com/ros-controls/ros2_control/issues/1279>`_)
+* fix the multiple definitions of lexical casts methods (`#1281 <https://github.com/ros-controls/ros2_control/issues/1281>`_)
+* [ResourceManager] adds test for uninitialized hardware (`#1243 <https://github.com/ros-controls/ros2_control/issues/1243>`_)
+* Use portable version for string-to-double conversion (`#1257 <https://github.com/ros-controls/ros2_control/issues/1257>`_)
+* Fix typo in docs (`#1219 <https://github.com/ros-controls/ros2_control/issues/1219>`_)
+* Contributors: Christoph Fröhlich, Dr. Denis, Maximilian Schik, Sai Kishor Kothakota, Stephanie Eng, bailaC
+
 4.2.0 (2023-12-12)
 ------------------