diff --git a/controller_interface/CHANGELOG.rst b/controller_interface/CHANGELOG.rst index d938aa82341..29f69150d25 100644 --- 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 `_) -* enable ReflowComments to also use ColumnLimit on comments (`#1037 `_) -* Contributors: Sai Kishor Kothakota, gwalck - 3.13.0 (2023-05-18) ------------------- diff --git a/controller_interface/package.xml b/controller_interface/package.xml index aedd5cf2f5a..f20eccd9ebc 100644 --- a/controller_interface/package.xml +++ b/controller_interface/package.xml @@ -2,7 +2,7 @@ controller_interface - 3.14.0 + 3.13.0 Description of controller_interface Bence Magyar Denis Štogl diff --git a/controller_manager/CHANGELOG.rst b/controller_manager/CHANGELOG.rst index 3a3447e908f..d663cd3b32d 100644 --- 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 `_) -* [CM] Use `robot_description` topic instead of parameter and don't crash on empty URDF 🦿 (`#940 `_) -* enable ReflowComments to also use ColumnLimit on comments (`#1037 `_) -* Docs: Use branch name substitution for all links (`#1031 `_) -* Add text to assertions references (`#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 `_) diff --git a/controller_manager/package.xml b/controller_manager/package.xml index c08f12cb16a..c9dd319577e 100644 --- a/controller_manager/package.xml +++ b/controller_manager/package.xml @@ -2,7 +2,7 @@ controller_manager - 3.14.0 + 3.13.0 Description of controller_manager Bence Magyar Denis Štogl diff --git a/controller_manager_msgs/CHANGELOG.rst b/controller_manager_msgs/CHANGELOG.rst index d0dd4d62334..66c0285a448 100644 --- 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 index 186ecab6c42..38b24b6b269 100644 --- a/controller_manager_msgs/package.xml +++ b/controller_manager_msgs/package.xml @@ -2,7 +2,7 @@ controller_manager_msgs - 3.14.0 + 3.13.0 Messages and services for the controller manager. Bence Magyar Denis Štogl diff --git a/hardware_interface/CHANGELOG.rst b/hardware_interface/CHANGELOG.rst index 8acb46a46e9..245ae211e50 100644 --- 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 `_) -* [CM] Use `robot_description` topic instead of parameter and don't crash on empty URDF 🦿 (`#940 `_) -* [MockHardware] Enable disabling of command to simulate HW failures. (`#1027 `_) -* enable ReflowComments to also use ColumnLimit on comments (`#1037 `_) -* Docs: Use branch name substitution for all links (`#1031 `_) -* [URDF Parser] Allow empty urdf tag, e.g., parameter (`#1017 `_) -* Use consequently 'mock' instead of 'fake'. (`#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 `_) diff --git a/hardware_interface/include/fake_components/generic_system.hpp b/hardware_interface/include/fake_components/generic_system.hpp index 1540ffd6fd5..3dfb2b9b703 100644 --- 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 -#include -#include - -#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 -{ -public: - return_type configure(const hardware_interface::HardwareInfo & info) override; - - std::vector export_state_interfaces() override; - - std::vector 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 & start_interfaces, - const std::vector & stop_interfaces) override; - - return_type perform_command_mode_switch( - const std::vector & start_interfaces, - const std::vector & 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 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 mimic_joints_; - - /// The size of this vector is (standard_interfaces_.size() x nr_joints) - std::vector> joint_commands_; - std::vector> joint_states_; - - std::vector other_interfaces_; - /// The size of this vector is (other_interfaces_.size() x nr_joints) - std::vector> other_commands_; - std::vector> other_states_; - - std::vector sensor_interfaces_; - /// The size of this vector is (other_interfaces_.size() x nr_joints) - std::vector> sensor_fake_commands_; - std::vector> sensor_states_; - -private: - template - bool get_interface( - const std::string & name, const std::vector & interface_list, - const std::string & interface_name, const size_t vector_index, - std::vector> & values, std::vector & interfaces); - - void initialize_storage_vectors( - std::vector> & commands, std::vector> & states, - const std::vector & 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 stop_modes_; - std::vector 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 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 index dacf71c4619..e9b38de65dc 100644 --- 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 sensor_interfaces_; /// The size of this vector is (sensor_interfaces_.size() x nr_joints) - std::vector> sensor_fake_commands_; + std::vector> sensor_mock_commands_; std::vector> sensor_states_; std::vector gpio_interfaces_; /// The size of this vector is (gpio_interfaces_.size() x nr_joints) - std::vector> gpio_fake_commands_; + std::vector> gpio_mock_commands_; std::vector> gpio_commands_; std::vector> gpio_states_; @@ -118,7 +118,7 @@ class HARDWARE_INTERFACE_PUBLIC GenericSystem : public hardware_interface::Syste std::vector & interfaces, std::vector> & storage, std::vector & 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 joint_control_mode_; + + bool command_propagation_disabled_; }; typedef GenericSystem GenericRobot; diff --git a/hardware_interface/package.xml b/hardware_interface/package.xml index 54618f05c9f..a024ad4a274 100644 --- a/hardware_interface/package.xml +++ b/hardware_interface/package.xml @@ -1,7 +1,7 @@ hardware_interface - 3.14.0 + 3.13.0 ros2_control hardware interface Bence Magyar Denis Štogl diff --git a/joint_limits/CHANGELOG.rst b/joint_limits/CHANGELOG.rst index c0e9c1cc43f..211828a28b2 100644 --- 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 `_) -* enable ReflowComments to also use ColumnLimit on comments (`#1037 `_) -* Contributors: Sai Kishor Kothakota, gwalck - 3.13.0 (2023-05-18) ------------------- diff --git a/joint_limits/package.xml b/joint_limits/package.xml index 0a4990667e7..7bcf465d244 100644 --- a/joint_limits/package.xml +++ b/joint_limits/package.xml @@ -1,6 +1,6 @@ joint_limits - 3.14.0 + 3.13.0 Interfaces for handling of joint limits for controllers or hardware. Bence Magyar diff --git a/ros2_control/CHANGELOG.rst b/ros2_control/CHANGELOG.rst index fd2b295eb9d..d6e3effbb07 100644 --- 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 index a45fbc7c992..ddc9ae5edd1 100644 --- a/ros2_control/package.xml +++ b/ros2_control/package.xml @@ -1,7 +1,7 @@ ros2_control - 3.14.0 + 3.13.0 Metapackage for ROS2 control related packages Bence Magyar Denis Štogl diff --git a/ros2_control_test_assets/CHANGELOG.rst b/ros2_control_test_assets/CHANGELOG.rst index 1ae3a3c626e..e5b824a921b 100644 --- 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 `_) -* 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 index 8a3c6abf225..00c489b6a28 100644 --- a/ros2_control_test_assets/package.xml +++ b/ros2_control_test_assets/package.xml @@ -2,7 +2,7 @@ ros2_control_test_assets - 3.14.0 + 3.13.0 The package provides shared test resources for ros2_control stack Bence Magyar diff --git a/ros2controlcli/CHANGELOG.rst b/ros2controlcli/CHANGELOG.rst index 6724a9b175e..0af749a91a8 100644 --- 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 `_) -* Contributors: Christoph Fröhlich - 3.13.0 (2023-05-18) ------------------- * Fix github links on control.ros.org (`#1019 `_) diff --git a/ros2controlcli/package.xml b/ros2controlcli/package.xml index f8b8caa6150..ca01cbe271f 100644 --- a/ros2controlcli/package.xml +++ b/ros2controlcli/package.xml @@ -2,7 +2,7 @@ ros2controlcli - 3.14.0 + 3.13.0 The ROS 2 command line tools for ROS2 Control. diff --git a/ros2controlcli/setup.py b/ros2controlcli/setup.py index 6f6a49199ab..b916f1a2af7 100644 --- 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 index 30df32e8fd1..f57aa7fcbd7 100644 --- 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 index 0bb93f08385..acd6496e8d4 100644 --- a/rqt_controller_manager/package.xml +++ b/rqt_controller_manager/package.xml @@ -2,7 +2,7 @@ rqt_controller_manager - 3.14.0 + 3.13.0 Graphical frontend for interacting with the controller manager. Bence Magyar Denis Štogl diff --git a/rqt_controller_manager/setup.py b/rqt_controller_manager/setup.py index 1dd0977c7a8..7d12c68e1fd 100644 --- 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 index cdc7b978013..7dded27cc1f 100644 --- 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 `_) -* enable ReflowComments to also use ColumnLimit on comments (`#1037 `_) -* Contributors: Sai Kishor Kothakota, gwalck - 3.13.0 (2023-05-18) ------------------- diff --git a/transmission_interface/package.xml b/transmission_interface/package.xml index bce59f3a4a3..99d864bf6a5 100644 --- a/transmission_interface/package.xml +++ b/transmission_interface/package.xml @@ -2,7 +2,7 @@ transmission_interface - 3.14.0 + 3.13.0 transmission_interface contains data structures for representing mechanical transmissions, methods for propagating values between actuator and joint spaces and tooling to support this. Bence Magyar Denis Štogl