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

…terface-add-return-value

.docker/README.md

@@ -3,7 +3,7 @@
 Meant to provide basic docker containers for CI or development purposes. To use them, make sure you have [Docker](https://docs.docker.com/get-docker/) installed. You then can pull the latest source or build image or build any version and run the image by following tag specific commands as described below:
 
 ## Source folder and tag
-Downloads and builds ros2_controls into a workspace for development use exactly as is found [here](https://ros-controls.github.io/control.ros.org/getting_started.html#compiling). This is primarily used for development and CI of ros2_control and related packages.
+Downloads and builds ros2_controls into a workspace for development use exactly as is found [here](https://control.ros.org/master/doc/getting_started/getting_started.html#building-from-source). This is primarily used for development and CI of ros2_control and related packages.
 
 You can pull a prebuilt image with this docker tag: `ghcr.io/ros-controls/ros2_control_source`.
 
@@ -30,7 +30,7 @@ docker run -it --mount type=volume,source=name-of-volume,destination=/root/ws_ro
 Note: this is probably the preferred solution as changes persist across rebuilds of container and doesn't require you to pull all repositories that you want to edit as they'll already be in the container.
 
 ## Release folder and tag
-Installs ros2_control in the base ros2 docker container as mentioned [here](https://ros-controls.github.io/control.ros.org/getting_started.html#getting-started). This is mainly intended for development of external packages that rely on ros2_control.
+Installs ros2_control in the base ros2 docker container as mentioned [here](https://control.ros.org/master/doc/getting_started/getting_started.html#building-from-source). This is mainly intended for development of external packages that rely on ros2_control.
 
 You can pull a prebuilt image using the following tag: `ghcr.io/ros2-controls/ros2_control_release`.
 

.github/ISSUE_TEMPLATE/good-first-issue.md

@@ -28,7 +28,7 @@ Nothing. This issue is meant to welcome you to Open Source :) We are happy to wa
 
 - [ ] 🙋 **Claim this issue**: Comment below. If someone else has claimed it, ask if they've opened a pull request already and if they're stuck -- maybe you can help them solve a problem or move it along!
 
-- [ ] 🗄️ **Create a local workspace** for making your changes and testing [following these instructions](https://docs.ros.org/en/rolling/Tutorials/Workspace/Creating-A-Workspace.html), for Step3 use "Download Source Code" section with [these instructions](https://ros-controls.github.io/control.ros.org/getting_started.html#compiling).
+- [ ] 🗄️ **Create a local workspace** for making your changes and testing [following these instructions](https://docs.ros.org/en/rolling/Tutorials/Workspace/Creating-A-Workspace.html), for Step 3 use "Download Source Code" section with [these instructions](https://control.ros.org/master/doc/getting_started/getting_started.html#building-from-source).
 
 - [ ] 🍴 **Fork the repository** using the handy button at the top of the repository page and **clone** it into `~/ws_ros2_control/src/ros-controls/ros2_control`, [here is a guide that you can follow](https://guides.github.com/activities/forking/) (You will have to remove or empty the existing `ros2_control` folder before cloning your own fork)
 
@@ -53,7 +53,7 @@ Nothing. This issue is meant to welcome you to Open Source :) We are happy to wa
 
 Don’t hesitate to ask questions or to get help if you feel like you are getting stuck. For example leave a comment below!
 Furthermore, you find helpful resources here:
-* [ROS2 Control Contribution Guide](https://ros-controls.github.io/control.ros.org/contributing.html)
+* [ROS2 Control Contribution Guide](https://control.ros.org/master/doc/contributing/contributing.html)
 * [ROS2 Tutorials](https://docs.ros.org/en/rolling/Tutorials.html)
 * [ROS Answers](https://answers.ros.org/questions/)
 

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

@@ -16,11 +16,11 @@ jobs:
     env:
       ROS_DISTRO: rolling
     steps:
-      - uses: ros-tooling/setup-ros@0.6.2
+      - uses: ros-tooling/setup-ros@0.7.0
         with:
           required-ros-distributions: ${{ env.ROS_DISTRO }}
       - uses: actions/checkout@v3
-      - uses: ros-tooling/[email protected].2
+      - uses: ros-tooling/[email protected].3
         with:
           target-ros2-distro: ${{ env.ROS_DISTRO }}
           import-token: ${{ secrets.GITHUB_TOKEN }}

.github/workflows/ci-format.yml

@@ -13,7 +13,7 @@ jobs:
     runs-on: ubuntu-latest
     steps:
     - uses: actions/checkout@v3
-    - uses: actions/setup-python@v4.6.1
+    - uses: actions/setup-python@v4.7.0
       with:
         python-version: '3.10'
     - name: Install system hooks

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

@@ -12,7 +12,7 @@ jobs:
           linter: [cppcheck, copyright, lint_cmake]
     steps:
     - uses: actions/checkout@v3
-    - uses: ros-tooling/setup-ros@0.6.2
+    - uses: ros-tooling/setup-ros@0.7.0
     - uses: ros-tooling/[email protected]
       with:
         distribution: rolling
@@ -36,7 +36,7 @@ jobs:
           linter: [cpplint]
     steps:
     - uses: actions/checkout@v3
-    - uses: ros-tooling/setup-ros@0.6.2
+    - uses: ros-tooling/setup-ros@0.7.0
     - uses: ros-tooling/[email protected]
       with:
         distribution: rolling

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

@@ -26,13 +26,13 @@ jobs:
     strategy:
       fail-fast: false
     steps:
-      - uses: ros-tooling/setup-ros@0.6.2
+      - uses: ros-tooling/setup-ros@0.7.0
         with:
           required-ros-distributions: ${{ inputs.ros_distro }}
       - uses: actions/checkout@v3
         with:
           ref: ${{ inputs.ref }}
-      - uses: ros-tooling/[email protected].2
+      - uses: ros-tooling/[email protected].3
         with:
           target-ros2-distro: ${{ inputs.ros_distro }}
           # build all packages listed in the meta package

CONTRIBUTING.md

@@ -21,7 +21,7 @@ Please try to include as much information as you can. Details like these are inc
 
 
 ## Contributing via Pull Requests
-The following guidance should be up-to-date, but the documentation as found [here](https://ros-controls.github.io/control.ros.org/contributing.html#pull-requests) should prove as the final say.
+The following guidance should be up-to-date, but the documentation as found [here](https://control.ros.org/master/doc/contributing/contributing.html#pull-requests) should prove as the final say.
 
 Contributions via pull requests are much appreciated.
 Before sending us a pull request, please ensure that:

README.md

@@ -3,7 +3,7 @@
 [![Licence](https://img.shields.io/badge/License-Apache%202.0-blue.svg)](https://opensource.org/licenses/Apache-2.0)
 
 This package is a part of the ros2_control framework.
-For more, please check the [documentation](https://ros-controls.github.io/control.ros.org/).
+For more, please check the [documentation](https://control.ros.org/).
 
 
 ## Build status

controller_interface/CHANGELOG.rst

@@ -2,6 +2,9 @@
 Changelog for package controller_interface
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.16.0 (2023-07-09)
+-------------------
+
 3.15.0 (2023-06-23)
 -------------------
 

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>3.15.0</version>
+  <version>3.16.0</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 +2,14 @@
 Changelog for package controller_manager
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.16.0 (2023-07-09)
+-------------------
+* added controller manager runner to have update cycles (`#1075 <https://github.com/ros-controls/ros2_control/issues/1075>`_)
+* [CM] Make error message after trying to active controller more informative. (`#1066 <https://github.com/ros-controls/ros2_control/issues/1066>`_)
+* Fix equal and higher controller update rate (`#1070 <https://github.com/ros-controls/ros2_control/issues/1070>`_)
+* Create doc file for chained controllers (`#985 <https://github.com/ros-controls/ros2_control/issues/985>`_)
+* Contributors: Dr. Denis, Sai Kishor Kothakota
+
 3.15.0 (2023-06-23)
 -------------------
 * Enable setting of initial state in HW compoments (`#1046 <https://github.com/ros-controls/ros2_control/issues/1046>`_)

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>3.15.0</version>
+  <version>3.16.0</version>
   <description>Description of controller_manager</description>
   <maintainer email="[email protected]">Bence Magyar</maintainer>
   <maintainer email="[email protected]">Denis Štogl</maintainer>

controller_manager/test/test_spawner_unspawner.cpp

@@ -96,6 +96,7 @@ TEST_F(TestLoadController, spawner_test_type_in_param)
 {
   cm_->set_parameter(rclcpp::Parameter("ctrl_1.type", test_controller::TEST_CONTROLLER_CLASS_NAME));
 
+  ControllerManagerRunner cm_runner(this);
   EXPECT_EQ(call_spawner("ctrl_1 -c test_controller_manager"), 0);
 
   ASSERT_EQ(cm_->get_loaded_controllers().size(), 1ul);

controller_manager_msgs/CHANGELOG.rst

@@ -2,6 +2,9 @@
 Changelog for package controller_manager_msgs
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.16.0 (2023-07-09)
+-------------------
+
 3.15.0 (2023-06-23)
 -------------------
 

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>3.15.0</version>
+  <version>3.16.0</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 +2,9 @@
 Changelog for package hardware_interface
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.16.0 (2023-07-09)
+-------------------
+
 3.15.0 (2023-06-23)
 -------------------
 * Enable setting of initial state in HW compoments (`#1046 <https://github.com/ros-controls/ros2_control/issues/1046>`_)

hardware_interface/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>hardware_interface</name>
-  <version>3.15.0</version>
+  <version>3.16.0</version>
   <description>ros2_control hardware interface</description>
   <maintainer email="[email protected]">Bence Magyar</maintainer>
   <maintainer email="[email protected]">Denis Štogl</maintainer>

hardware_interface/src/resource_manager.cpp

@@ -514,9 +514,18 @@ class ResourceStorage
     {
       check_for_duplicates(hardware_info);
       load_hardware<Actuator, ActuatorInterface>(hardware_info, actuator_loader_, container);
-      initialize_hardware(hardware_info, container.back());
-      import_state_interfaces(container.back());
-      import_command_interfaces(container.back());
+      if (initialize_hardware(hardware_info, container.back()))
+      {
+        import_state_interfaces(container.back());
+        import_command_interfaces(container.back());
+      }
+      else
+      {
+        RCUTILS_LOG_WARN_NAMED(
+          "resource_manager",
+          "Actuator hardware component '%s' from plugin '%s' failed to initialize.",
+          hardware_info.name.c_str(), hardware_info.hardware_plugin_name.c_str());
+      }
     };
 
     if (hardware_info.is_async)
@@ -535,8 +544,17 @@ class ResourceStorage
     {
       check_for_duplicates(hardware_info);
       load_hardware<Sensor, SensorInterface>(hardware_info, sensor_loader_, container);
-      initialize_hardware(hardware_info, container.back());
-      import_state_interfaces(container.back());
+      if (initialize_hardware(hardware_info, container.back()))
+      {
+        import_state_interfaces(container.back());
+      }
+      else
+      {
+        RCUTILS_LOG_WARN_NAMED(
+          "resource_manager",
+          "Sensor hardware component '%s' from plugin '%s' failed to initialize.",
+          hardware_info.name.c_str(), hardware_info.hardware_plugin_name.c_str());
+      }
     };
 
     if (hardware_info.is_async)
@@ -555,9 +573,18 @@ class ResourceStorage
     {
       check_for_duplicates(hardware_info);
       load_hardware<System, SystemInterface>(hardware_info, system_loader_, container);
-      initialize_hardware(hardware_info, container.back());
-      import_state_interfaces(container.back());
-      import_command_interfaces(container.back());
+      if (initialize_hardware(hardware_info, container.back()))
+      {
+        import_state_interfaces(container.back());
+        import_command_interfaces(container.back());
+      }
+      else
+      {
+        RCUTILS_LOG_WARN_NAMED(
+          "resource_manager",
+          "System hardware component '%s' from plugin '%s' failed to initialize.",
+          hardware_info.name.c_str(), hardware_info.hardware_plugin_name.c_str());
+      }
     };
 
     if (hardware_info.is_async)
@@ -576,9 +603,18 @@ class ResourceStorage
     auto init_actuators = [&](auto & container)
     {
       container.emplace_back(Actuator(std::move(actuator)));
-      initialize_hardware(hardware_info, container.back());
-      import_state_interfaces(container.back());
-      import_command_interfaces(container.back());
+      if (initialize_hardware(hardware_info, container.back()))
+      {
+        import_state_interfaces(container.back());
+        import_command_interfaces(container.back());
+      }
+      else
+      {
+        RCUTILS_LOG_WARN_NAMED(
+          "resource_manager",
+          "Actuator hardware component '%s' from plugin '%s' failed to initialize.",
+          hardware_info.name.c_str(), hardware_info.hardware_plugin_name.c_str());
+      }
     };
 
     if (hardware_info.is_async)
@@ -597,8 +633,17 @@ class ResourceStorage
     auto init_sensors = [&](auto & container)
     {
       container.emplace_back(Sensor(std::move(sensor)));
-      initialize_hardware(hardware_info, container.back());
-      import_state_interfaces(container.back());
+      if (initialize_hardware(hardware_info, container.back()))
+      {
+        import_state_interfaces(container.back());
+      }
+      else
+      {
+        RCUTILS_LOG_WARN_NAMED(
+          "resource_manager",
+          "Sensor hardware component '%s' from plugin '%s' failed to initialize.",
+          hardware_info.name.c_str(), hardware_info.hardware_plugin_name.c_str());
+      }
     };
 
     if (hardware_info.is_async)
@@ -617,9 +662,18 @@ class ResourceStorage
     auto init_systems = [&](auto & container)
     {
       container.emplace_back(System(std::move(system)));
-      initialize_hardware(hardware_info, container.back());
-      import_state_interfaces(container.back());
-      import_command_interfaces(container.back());
+      if (initialize_hardware(hardware_info, container.back()))
+      {
+        import_state_interfaces(container.back());
+        import_command_interfaces(container.back());
+      }
+      else
+      {
+        RCUTILS_LOG_WARN_NAMED(
+          "resource_manager",
+          "System hardware component '%s' from plugin '%s' failed to initialize.",
+          hardware_info.name.c_str(), hardware_info.hardware_plugin_name.c_str());
+      }
     };
 
     if (hardware_info.is_async)

joint_limits/CHANGELOG.rst

@@ -2,6 +2,9 @@
 Changelog for package joint_limits
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.16.0 (2023-07-09)
+-------------------
+
 3.15.0 (2023-06-23)
 -------------------
 

joint_limits/package.xml

@@ -1,6 +1,6 @@
 <package format="3">
   <name>joint_limits</name>
-  <version>3.15.0</version>
+  <version>3.16.0</version>
   <description>Interfaces for handling of joint limits for controllers or hardware.</description>
 
   <maintainer email="[email protected]">Bence Magyar</maintainer>

ros2_control/CHANGELOG.rst

@@ -2,6 +2,9 @@
 Changelog for package ros2_control
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.16.0 (2023-07-09)
+-------------------
+
 3.15.0 (2023-06-23)
 -------------------
 

ros2_control/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>ros2_control</name>
-  <version>3.15.0</version>
+  <version>3.16.0</version>
   <description>Metapackage for ROS2 control related packages</description>
   <maintainer email="[email protected]">Bence Magyar</maintainer>
   <maintainer email="[email protected]">Denis Štogl</maintainer>

ros2_control_test_assets/CHANGELOG.rst

@@ -2,6 +2,9 @@
 Changelog for package ros2_control_test_assets
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.16.0 (2023-07-09)
+-------------------
+
 3.15.0 (2023-06-23)
 -------------------
 

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>3.15.0</version>
+  <version>3.16.0</version>
   <description>The package provides shared test resources for ros2_control stack
   </description>
   <maintainer email="[email protected]">Bence Magyar</maintainer>

ros2controlcli/CHANGELOG.rst

@@ -2,6 +2,9 @@
 Changelog for package ros2controlcli
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.16.0 (2023-07-09)
+-------------------
+
 3.15.0 (2023-06-23)
 -------------------
 * Improve list hardware components output and code for better readability. (`#1060 <https://github.com/ros-controls/ros2_control/issues/1060>`_)