Merge branch 'master' into set_chained_controller_interfaces_as_avail…

…able
ros-controls · Aug 26, 2023 · 888ab07 · 888ab07
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diff --git a/controller_interface/CHANGELOG.rst b/controller_interface/CHANGELOG.rst
@@ -2,6 +2,11 @@
 Changelog for package controller_interface
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.18.0 (2023-08-17)
+-------------------
+* add a broadcaster for range sensor (`#1091 <https://github.com/ros-controls/ros2_control/issues/1091>`_)
+* Contributors: flochre
+
 3.17.0 (2023-08-07)
 -------------------
 

diff --git a/controller_interface/include/semantic_components/range_sensor.hpp b/controller_interface/include/semantic_components/range_sensor.hpp
@@ -0,0 +1,60 @@
+// Copyright 2023 flochre
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef SEMANTIC_COMPONENTS__RANGE_SENSOR_HPP_
+#define SEMANTIC_COMPONENTS__RANGE_SENSOR_HPP_
+
+#include <limits>
+#include <string>
+#include <vector>
+
+#include "semantic_components/semantic_component_interface.hpp"
+#include "sensor_msgs/msg/range.hpp"
+
+namespace semantic_components
+{
+class RangeSensor : public SemanticComponentInterface<sensor_msgs::msg::Range>
+{
+public:
+  explicit RangeSensor(const std::string & name) : SemanticComponentInterface(name, 1)
+  {
+    interface_names_.emplace_back(name_ + "/" + "range");
+  }
+
+  virtual ~RangeSensor() = default;
+
+  /**
+   * Return Range reported by a sensor
+   *
+   * \return value of the range in meters
+   */
+  float get_range() { return state_interfaces_[0].get().get_value(); }
+
+  /// Return Range message with range in meters
+  /**
+   * Constructs and return a Range message from the current values.
+   * \return Range message from values;
+   */
+  bool get_values_as_message(sensor_msgs::msg::Range & message)
+  {
+    // update the message values
+    message.range = get_range();
+
+    return true;
+  }
+};
+
+}  // namespace semantic_components
+
+#endif  // SEMANTIC_COMPONENTS__RANGE_SENSOR_HPP_
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>3.17.0</version>
+  <version>3.18.0</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
@@ -2,6 +2,11 @@
 Changelog for package controller_manager
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.18.0 (2023-08-17)
+-------------------
+* Controller sorting and proper execution in a chain (Fixes `#853 <https://github.com/ros-controls/ros2_control/issues/853>`_) (`#1063 <https://github.com/ros-controls/ros2_control/issues/1063>`_)
+* Contributors: Sai Kishor Kothakota, Christoph Fröhlich, Dr Denis, Bence Magyar
+
 3.17.0 (2023-08-07)
 -------------------
 * [CM] Fixes the issue with individual controller's update rate (`#1082 <https://github.com/ros-controls/ros2_control/issues/1082>`_)

diff --git a/controller_manager/doc/controller_chaining.rst b/controller_manager/doc/controller_chaining.rst
@@ -63,48 +63,14 @@ After configuring a chainable controller, controller manager calls ``input_inter
 This is the same process as done by ``ResourceManager`` and hardware interfaces.
 Controller manager maintains "claimed" status of interface in a vector (the same as done in ``ResourceManager``).
 
+
 Activation and Deactivation Chained Controllers
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-Controller Manager has an additional parameter that describes how controllers are chained.
-In the first version, the parameter-structure would have some semantic meaning embedded into it, as follows:
-
-
-.. code-block:: yaml
-
-  controller_manager:
-    ros__parameters:
-      chained_controllers:
-
-        - parallel_group_1:
-          - controller1_1
-          - controller1_2
-
-        - parallel_group_2:
-          - controller2_1
-
-        - parallel_group_3:
-          - controller3_1
-          - controller3_2
-          - controller3_3
-
-        ...
-
-        - parallel_group_N:
-          - controllerN_1
-          - ...
-          - controllerN_M
-
-
-
-This structure is motivated by ``filter_chain`` structure from `ros/filters repository <https://github.com/ros/filters/tree/ros2>`__, see `this file for implementation <https://github.com/ros/filters/blob/ros2/include/filters/filter_chain.hpp>`__.
-
-This structure is stored internally by controller manager into an ordered map (``std::map<std::string, std::vector<std::string>>``) with group name as key.
-When a controller should be deactivated, the controller manager deactivates all the controllers in the preceding groups first.
-All other controllers from the group stay active, as well as all controllers in the following groups.
-NOTE: In the future this could be done more intelligently, i.e., deactivate only controllers in the preceding groups that actually precede the controller that should be deactivated.
-
-On the other hand, the controller should be manually activated in the reverse order, i.e., from the those closer to the hardware toward those preceding them.
+Chained controllers must be activated and deactivated together or in the proper order.
+This means you must first activate all following controllers to have the preceding one activated.
+For the deactivation there is the inverse rule - all preceding controllers have to be deactivated before the following controller is deactivated.
+One can also think of it as an actual chain, you can not add a chain link or break the chain in the middle.
 
 
 Debugging outputs

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>3.17.0</version>
+  <version>3.18.0</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
@@ -2,6 +2,9 @@
 Changelog for package controller_manager_msgs
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.18.0 (2023-08-17)
+-------------------
+
 3.17.0 (2023-08-07)
 -------------------
 

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>3.17.0</version>
+  <version>3.18.0</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
@@ -2,6 +2,9 @@
 Changelog for package hardware_interface
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.18.0 (2023-08-17)
+-------------------
+
 3.17.0 (2023-08-07)
 -------------------
 * Add checks if hardware is initialized. (`#1054 <https://github.com/ros-controls/ros2_control/issues/1054>`_)

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>3.17.0</version>
+  <version>3.18.0</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
@@ -2,6 +2,9 @@
 Changelog for package joint_limits
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.18.0 (2023-08-17)
+-------------------
+
 3.17.0 (2023-08-07)
 -------------------
 

diff --git a/joint_limits/package.xml b/joint_limits/package.xml
@@ -1,6 +1,6 @@
 <package format="3">
   <name>joint_limits</name>
-  <version>3.17.0</version>
+  <version>3.18.0</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
@@ -2,6 +2,9 @@
 Changelog for package ros2_control
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.18.0 (2023-08-17)
+-------------------
+
 3.17.0 (2023-08-07)
 -------------------
 

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>3.17.0</version>
+  <version>3.18.0</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
@@ -2,6 +2,9 @@
 Changelog for package ros2_control_test_assets
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.18.0 (2023-08-17)
+-------------------
+
 3.17.0 (2023-08-07)
 -------------------
 

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>3.17.0</version>
+  <version>3.18.0</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
@@ -2,6 +2,9 @@
 Changelog for package ros2controlcli
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.18.0 (2023-08-17)
+-------------------
+
 3.17.0 (2023-08-07)
 -------------------
 * Add info where the pdf is saved to view_controller_chains (`#1094 <https://github.com/ros-controls/ros2_control/issues/1094>`_)

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>3.17.0</version>
+  <version>3.18.0</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="3.17.0",
+    version="3.18.0",
     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
@@ -2,6 +2,9 @@
 Changelog for package rqt_controller_manager
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.18.0 (2023-08-17)
+-------------------
+
 3.17.0 (2023-08-07)
 -------------------
 

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>3.17.0</version>
+  <version>3.18.0</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="3.17.0",
+    version="3.18.0",
     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
@@ -2,6 +2,9 @@
 Changelog for package transmission_interface
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.18.0 (2023-08-17)
+-------------------
+
 3.17.0 (2023-08-07)
 -------------------
 

diff --git a/transmission_interface/package.xml b/transmission_interface/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>transmission_interface</name>
-  <version>3.17.0</version>
+  <version>3.18.0</version>
   <description>transmission_interface contains data structures for representing mechanical transmissions, methods for propagating values between actuator and joint spaces and tooling to support this.</description>
   <maintainer email="[email protected]">Bence Magyar</maintainer>
   <maintainer email="[email protected]">Denis Štogl</maintainer>