Sync with the last functional state.

ros-controls · Jun 15, 2023 · 83fb83d · 83fb83d
1 parent 65f7a54
commit 83fb83d
Show file tree

Hide file tree

Showing 24 changed files with 20 additions and 192 deletions.
diff --git a/controller_interface/CHANGELOG.rst b/controller_interface/CHANGELOG.rst
@@ -2,12 +2,6 @@
 Changelog for package controller_interface
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-3.14.0 (2023-06-14)
--------------------
-* Add -Wconversion flag to protect future developments (`#1053 <https://github.com/ros-controls/ros2_control/issues/1053>`_)
-* enable ReflowComments to also use ColumnLimit on comments (`#1037 <https://github.com/ros-controls/ros2_control/issues/1037>`_)
-* Contributors: Sai Kishor Kothakota, gwalck
-
 3.13.0 (2023-05-18)
 -------------------
 

diff --git a/controller_interface/package.xml b/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>3.14.0</version>
+  <version>3.13.0</version>
   <description>Description of controller_interface</description>
   <maintainer email="[email protected]">Bence Magyar</maintainer>
   <maintainer email="[email protected]">Denis Štogl</maintainer>

diff --git a/controller_manager/CHANGELOG.rst b/controller_manager/CHANGELOG.rst
@@ -2,15 +2,6 @@
 Changelog for package controller_manager
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-3.14.0 (2023-06-14)
--------------------
-* Add -Wconversion flag to protect future developments (`#1053 <https://github.com/ros-controls/ros2_control/issues/1053>`_)
-* [CM] Use `robot_description` topic instead of parameter and don't crash on empty URDF 🦿 (`#940 <https://github.com/ros-controls/ros2_control/issues/940>`_)
-* enable ReflowComments to also use ColumnLimit on comments (`#1037 <https://github.com/ros-controls/ros2_control/issues/1037>`_)
-* Docs: Use branch name substitution for all links (`#1031 <https://github.com/ros-controls/ros2_control/issues/1031>`_)
-* Add text to assertions references (`#1023 <https://github.com/ros-controls/ros2_control/issues/1023>`_)
-* Contributors: Christoph Fröhlich, Felix Exner (fexner), Manuel Muth, Sai Kishor Kothakota, gwalck
-
 3.13.0 (2023-05-18)
 -------------------
 * Add class for thread management of async hw interfaces (`#981 <https://github.com/ros-controls/ros2_control/issues/981>`_)

diff --git a/controller_manager/package.xml b/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>3.14.0</version>
+  <version>3.13.0</version>
   <description>Description of controller_manager</description>
   <maintainer email="[email protected]">Bence Magyar</maintainer>
   <maintainer email="[email protected]">Denis Štogl</maintainer>

diff --git a/controller_manager_msgs/CHANGELOG.rst b/controller_manager_msgs/CHANGELOG.rst
@@ -2,9 +2,6 @@
 Changelog for package controller_manager_msgs
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-3.14.0 (2023-06-14)
--------------------
-
 3.13.0 (2023-05-18)
 -------------------
 

diff --git a/controller_manager_msgs/package.xml b/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>3.14.0</version>
+  <version>3.13.0</version>
   <description>Messages and services for the controller manager.</description>
   <maintainer email="[email protected]">Bence Magyar</maintainer>
   <maintainer email="[email protected]">Denis Štogl</maintainer>

diff --git a/hardware_interface/CHANGELOG.rst b/hardware_interface/CHANGELOG.rst
@@ -2,17 +2,6 @@
 Changelog for package hardware_interface
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-3.14.0 (2023-06-14)
--------------------
-* Add -Wconversion flag to protect future developments (`#1053 <https://github.com/ros-controls/ros2_control/issues/1053>`_)
-* [CM] Use `robot_description` topic instead of parameter and don't crash on empty URDF 🦿 (`#940 <https://github.com/ros-controls/ros2_control/issues/940>`_)
-* [MockHardware] Enable disabling of command to simulate HW failures. (`#1027 <https://github.com/ros-controls/ros2_control/issues/1027>`_)
-* enable ReflowComments to also use ColumnLimit on comments (`#1037 <https://github.com/ros-controls/ros2_control/issues/1037>`_)
-* Docs: Use branch name substitution for all links (`#1031 <https://github.com/ros-controls/ros2_control/issues/1031>`_)
-* [URDF Parser] Allow empty urdf tag, e.g., parameter (`#1017 <https://github.com/ros-controls/ros2_control/issues/1017>`_)
-* Use consequently 'mock' instead of 'fake'. (`#1026 <https://github.com/ros-controls/ros2_control/issues/1026>`_)
-* Contributors: Christoph Fröhlich, Dr. Denis, Felix Exner (fexner), Manuel Muth, Sai Kishor Kothakota, gwalck
-
 3.13.0 (2023-05-18)
 -------------------
 * Add class for thread management of async hw interfaces (`#981 <https://github.com/ros-controls/ros2_control/issues/981>`_)

diff --git a/hardware_interface/include/fake_components/generic_system.hpp b/hardware_interface/include/fake_components/generic_system.hpp
@@ -17,130 +17,13 @@
 #ifndef FAKE_COMPONENTS__GENERIC_SYSTEM_HPP_
 #define FAKE_COMPONENTS__GENERIC_SYSTEM_HPP_
 
-#include <chrono>
-#include <string>
-#include <vector>
-
-#include "hardware_interface/base_interface.hpp"
-#include "hardware_interface/handle.hpp"
-#include "hardware_interface/hardware_info.hpp"
-#include "hardware_interface/system_interface.hpp"
-#include "hardware_interface/types/hardware_interface_return_values.hpp"
-#include "hardware_interface/types/hardware_interface_status_values.hpp"
-#include "hardware_interface/types/hardware_interface_type_values.hpp"
-
-using hardware_interface::return_type;
+#include "mock_components/generic_system.hpp"
 
 namespace fake_components
 {
-enum StoppingInterface
-{
-  NONE,
-  STOP_POSITION,
-  STOP_VELOCITY
-};
-
-class HARDWARE_INTERFACE_PUBLIC GenericSystem
-: public hardware_interface::BaseInterface<hardware_interface::SystemInterface>
-{
-public:
-  return_type configure(const hardware_interface::HardwareInfo & info) override;
-
-  std::vector<hardware_interface::StateInterface> export_state_interfaces() override;
-
-  std::vector<hardware_interface::CommandInterface> export_command_interfaces() override;
-
-  return_type start() override
-  {
-    status_ = hardware_interface::status::STARTED;
-    return return_type::OK;
-  }
-
-  return_type stop() override
-  {
-    status_ = hardware_interface::status::STOPPED;
-    return return_type::OK;
-  }
-
-  return_type read() override;
-
-  return_type write() override { return return_type::OK; }
-
-  return_type prepare_command_mode_switch(
-    const std::vector<std::string> & start_interfaces,
-    const std::vector<std::string> & stop_interfaces) override;
-
-  return_type perform_command_mode_switch(
-    const std::vector<std::string> & start_interfaces,
-    const std::vector<std::string> & stop_interfaces) override;
-
-protected:
-  /// Use standard interfaces for joints because they are relevant for dynamic behaviour
-  /**
-   * By splitting the standard interfaces from other type, the users are able to inherit this
-   * class and simply create small "simulation" with desired dynamic behaviour.
-   * The advantage over using Gazebo is that enables "quick & dirty" tests of robot's URDF and
-   * controllers.
-   */
-  const std::vector<std::string> standard_interfaces_ = {
-    hardware_interface::HW_IF_POSITION, hardware_interface::HW_IF_VELOCITY,
-    hardware_interface::HW_IF_ACCELERATION, hardware_interface::HW_IF_EFFORT};
-
-  const size_t POSITION_INTERFACE_INDEX = 0;
-  const size_t VELOCITY_INTERFACE_INDEX = 1;
-
-  struct MimicJoint
-  {
-    std::size_t joint_index;
-    std::size_t mimicked_joint_index;
-    double multiplier = 1.0;
-  };
-  std::vector<MimicJoint> mimic_joints_;
-
-  /// The size of this vector is (standard_interfaces_.size() x nr_joints)
-  std::vector<std::vector<double>> joint_commands_;
-  std::vector<std::vector<double>> joint_states_;
-
-  std::vector<std::string> other_interfaces_;
-  /// The size of this vector is (other_interfaces_.size() x nr_joints)
-  std::vector<std::vector<double>> other_commands_;
-  std::vector<std::vector<double>> other_states_;
-
-  std::vector<std::string> sensor_interfaces_;
-  /// The size of this vector is (other_interfaces_.size() x nr_joints)
-  std::vector<std::vector<double>> sensor_fake_commands_;
-  std::vector<std::vector<double>> sensor_states_;
-
-private:
-  template <typename HandleType>
-  bool get_interface(
-    const std::string & name, const std::vector<std::string> & interface_list,
-    const std::string & interface_name, const size_t vector_index,
-    std::vector<std::vector<double>> & values, std::vector<HandleType> & interfaces);
-
-  void initialize_storage_vectors(
-    std::vector<std::vector<double>> & commands, std::vector<std::vector<double>> & states,
-    const std::vector<std::string> & interfaces);
-
-  bool fake_sensor_command_interfaces_;
-  double position_state_following_offset_;
-  std::string custom_interface_with_following_offset_;
-  size_t index_custom_interface_with_following_offset_;
-  bool command_propagation_disabled_;
-
-  // resources switching aux vars
-  std::vector<uint> stop_modes_;
-  std::vector<std::string> start_modes_;
-  bool position_controller_running_;
-  bool velocity_controller_running_;
-  std::chrono::system_clock::time_point begin;
-  // for velocity control, store last position command
-  std::vector<double> joint_pos_commands_old_;
-  double period_;
-};
-
-typedef GenericSystem GenericRobot;
+using GenericSystem [[deprecated]] = mock_components::GenericSystem;
 
+using GenericSystem [[deprecated]] = mock_components::GenericRobot;
 }  // namespace fake_components
 
 #endif  // FAKE_COMPONENTS__GENERIC_SYSTEM_HPP_
diff --git a/hardware_interface/include/mock_components/generic_system.hpp b/hardware_interface/include/mock_components/generic_system.hpp
@@ -91,12 +91,12 @@ class HARDWARE_INTERFACE_PUBLIC GenericSystem : public hardware_interface::Syste
 
   std::vector<std::string> sensor_interfaces_;
   /// The size of this vector is (sensor_interfaces_.size() x nr_joints)
-  std::vector<std::vector<double>> sensor_fake_commands_;
+  std::vector<std::vector<double>> sensor_mock_commands_;
   std::vector<std::vector<double>> sensor_states_;
 
   std::vector<std::string> gpio_interfaces_;
   /// The size of this vector is (gpio_interfaces_.size() x nr_joints)
-  std::vector<std::vector<double>> gpio_fake_commands_;
+  std::vector<std::vector<double>> gpio_mock_commands_;
   std::vector<std::vector<double>> gpio_commands_;
   std::vector<std::vector<double>> gpio_states_;
 
@@ -118,7 +118,7 @@ class HARDWARE_INTERFACE_PUBLIC GenericSystem : public hardware_interface::Syste
     std::vector<std::string> & interfaces, std::vector<std::vector<double>> & storage,
     std::vector<InterfaceType> & target_interfaces, bool using_state_interfaces);
 
-  bool use_fake_gpio_command_interfaces_;
+  bool use_mock_gpio_command_interfaces_;
   bool use_mock_sensor_command_interfaces_;
 
   double position_state_following_offset_;
@@ -127,6 +127,8 @@ class HARDWARE_INTERFACE_PUBLIC GenericSystem : public hardware_interface::Syste
 
   bool calculate_dynamics_;
   std::vector<size_t> joint_control_mode_;
+
+  bool command_propagation_disabled_;
 };
 
 typedef GenericSystem GenericRobot;

diff --git a/hardware_interface/package.xml b/hardware_interface/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>hardware_interface</name>
-  <version>3.14.0</version>
+  <version>3.13.0</version>
   <description>ros2_control hardware interface</description>
   <maintainer email="[email protected]">Bence Magyar</maintainer>
   <maintainer email="[email protected]">Denis Štogl</maintainer>

diff --git a/joint_limits/CHANGELOG.rst b/joint_limits/CHANGELOG.rst
@@ -2,12 +2,6 @@
 Changelog for package joint_limits
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-3.14.0 (2023-06-14)
--------------------
-* Add -Wconversion flag to protect future developments (`#1053 <https://github.com/ros-controls/ros2_control/issues/1053>`_)
-* enable ReflowComments to also use ColumnLimit on comments (`#1037 <https://github.com/ros-controls/ros2_control/issues/1037>`_)
-* Contributors: Sai Kishor Kothakota, gwalck
-
 3.13.0 (2023-05-18)
 -------------------
 

diff --git a/joint_limits/package.xml b/joint_limits/package.xml
@@ -1,6 +1,6 @@
 <package format="3">
   <name>joint_limits</name>
-  <version>3.14.0</version>
+  <version>3.13.0</version>
   <description>Interfaces for handling of joint limits for controllers or hardware.</description>
 
   <maintainer email="[email protected]">Bence Magyar</maintainer>

diff --git a/ros2_control/CHANGELOG.rst b/ros2_control/CHANGELOG.rst
@@ -2,9 +2,6 @@
 Changelog for package ros2_control
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-3.14.0 (2023-06-14)
--------------------
-
 3.13.0 (2023-05-18)
 -------------------
 

diff --git a/ros2_control/package.xml b/ros2_control/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>ros2_control</name>
-  <version>3.14.0</version>
+  <version>3.13.0</version>
   <description>Metapackage for ROS2 control related packages</description>
   <maintainer email="[email protected]">Bence Magyar</maintainer>
   <maintainer email="[email protected]">Denis Štogl</maintainer>

diff --git a/ros2_control_test_assets/CHANGELOG.rst b/ros2_control_test_assets/CHANGELOG.rst
@@ -2,11 +2,6 @@
 Changelog for package ros2_control_test_assets
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-3.14.0 (2023-06-14)
--------------------
-* [URDF Parser] Allow empty urdf tag, e.g., parameter (`#1017 <https://github.com/ros-controls/ros2_control/issues/1017>`_)
-* Contributors: Felix Exner (fexner)
-
 3.13.0 (2023-05-18)
 -------------------
 

diff --git a/ros2_control_test_assets/package.xml b/ros2_control_test_assets/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>ros2_control_test_assets</name>
-  <version>3.14.0</version>
+  <version>3.13.0</version>
   <description>The package provides shared test resources for ros2_control stack
   </description>
   <maintainer email="[email protected]">Bence Magyar</maintainer>

diff --git a/ros2controlcli/CHANGELOG.rst b/ros2controlcli/CHANGELOG.rst
@@ -2,11 +2,6 @@
 Changelog for package ros2controlcli
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-3.14.0 (2023-06-14)
--------------------
-* Docs: Use branch name substitution for all links (`#1031 <https://github.com/ros-controls/ros2_control/issues/1031>`_)
-* Contributors: Christoph Fröhlich
-
 3.13.0 (2023-05-18)
 -------------------
 * Fix github links on control.ros.org (`#1019 <https://github.com/ros-controls/ros2_control/issues/1019>`_)

diff --git a/ros2controlcli/package.xml b/ros2controlcli/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>ros2controlcli</name>
-  <version>3.14.0</version>
+  <version>3.13.0</version>
   <description>
     The ROS 2 command line tools for ROS2 Control.
   </description>

diff --git a/ros2controlcli/setup.py b/ros2controlcli/setup.py
@@ -19,7 +19,7 @@
 
 setup(
     name=package_name,
-    version="3.14.0",
+    version="3.13.0",
     packages=find_packages(exclude=["test"]),
     data_files=[
         ("share/" + package_name, ["package.xml"]),

diff --git a/rqt_controller_manager/CHANGELOG.rst b/rqt_controller_manager/CHANGELOG.rst
@@ -2,9 +2,6 @@
 Changelog for package rqt_controller_manager
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-3.14.0 (2023-06-14)
--------------------
-
 3.13.0 (2023-05-18)
 -------------------
 

diff --git a/rqt_controller_manager/package.xml b/rqt_controller_manager/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>rqt_controller_manager</name>
-  <version>3.14.0</version>
+  <version>3.13.0</version>
   <description>Graphical frontend for interacting with the controller manager.</description>
   <maintainer email="[email protected]">Bence Magyar</maintainer>
   <maintainer email="[email protected]">Denis Štogl</maintainer>

diff --git a/rqt_controller_manager/setup.py b/rqt_controller_manager/setup.py
@@ -6,7 +6,7 @@
 
 setup(
     name=package_name,
-    version="3.14.0",
+    version="3.13.0",
     packages=[package_name],
     data_files=[
         ("share/ament_index/resource_index/packages", ["resource/" + package_name]),

diff --git a/transmission_interface/CHANGELOG.rst b/transmission_interface/CHANGELOG.rst
@@ -2,12 +2,6 @@
 Changelog for package transmission_interface
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-3.14.0 (2023-06-14)
--------------------
-* Add -Wconversion flag to protect future developments (`#1053 <https://github.com/ros-controls/ros2_control/issues/1053>`_)
-* enable ReflowComments to also use ColumnLimit on comments (`#1037 <https://github.com/ros-controls/ros2_control/issues/1037>`_)
-* Contributors: Sai Kishor Kothakota, gwalck
-
 3.13.0 (2023-05-18)
 -------------------