From 09c6da4a170f56c39f57e22cf59d2d0927eeb6f3 Mon Sep 17 00:00:00 2001 From: Sai Kishor Kothakota Date: Fri, 7 Jul 2023 07:42:46 +0200 Subject: [PATCH 1/8] added controller manager runner to have update cycles (#1075) --- controller_manager/test/test_spawner_unspawner.cpp | 1 + 1 file changed, 1 insertion(+) diff --git a/controller_manager/test/test_spawner_unspawner.cpp b/controller_manager/test/test_spawner_unspawner.cpp index c9ba0e6355..d67ae8a7d1 100644 --- a/controller_manager/test/test_spawner_unspawner.cpp +++ b/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); From c7df155882494e382852c1468f0c13b26a3748fa Mon Sep 17 00:00:00 2001 From: Bence Magyar Date: Sun, 9 Jul 2023 21:27:54 +0100 Subject: [PATCH 2/8] Update changelogs --- controller_interface/CHANGELOG.rst | 3 +++ controller_manager/CHANGELOG.rst | 8 ++++++++ controller_manager_msgs/CHANGELOG.rst | 3 +++ hardware_interface/CHANGELOG.rst | 3 +++ joint_limits/CHANGELOG.rst | 3 +++ ros2_control/CHANGELOG.rst | 3 +++ ros2_control_test_assets/CHANGELOG.rst | 3 +++ ros2controlcli/CHANGELOG.rst | 3 +++ rqt_controller_manager/CHANGELOG.rst | 3 +++ transmission_interface/CHANGELOG.rst | 3 +++ 10 files changed, 35 insertions(+) diff --git a/controller_interface/CHANGELOG.rst b/controller_interface/CHANGELOG.rst index 475ecc1b32..cd33e9924d 100644 --- a/controller_interface/CHANGELOG.rst +++ b/controller_interface/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package controller_interface ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 3.15.0 (2023-06-23) ------------------- diff --git a/controller_manager/CHANGELOG.rst b/controller_manager/CHANGELOG.rst index 31bec20a0c..ad4ecd285f 100644 --- a/controller_manager/CHANGELOG.rst +++ b/controller_manager/CHANGELOG.rst @@ -2,6 +2,14 @@ Changelog for package controller_manager ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* added controller manager runner to have update cycles (`#1075 `_) +* [CM] Make error message after trying to active controller more informative. (`#1066 `_) +* Fix equal and higher controller update rate (`#1070 `_) +* Create doc file for chained controllers (`#985 `_) +* Contributors: Dr. Denis, Sai Kishor Kothakota + 3.15.0 (2023-06-23) ------------------- * Enable setting of initial state in HW compoments (`#1046 `_) diff --git a/controller_manager_msgs/CHANGELOG.rst b/controller_manager_msgs/CHANGELOG.rst index 7299338c57..7d59153f73 100644 --- a/controller_manager_msgs/CHANGELOG.rst +++ b/controller_manager_msgs/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package controller_manager_msgs ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 3.15.0 (2023-06-23) ------------------- diff --git a/hardware_interface/CHANGELOG.rst b/hardware_interface/CHANGELOG.rst index 1a2d480216..210bf8ec43 100644 --- a/hardware_interface/CHANGELOG.rst +++ b/hardware_interface/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package hardware_interface ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 3.15.0 (2023-06-23) ------------------- * Enable setting of initial state in HW compoments (`#1046 `_) diff --git a/joint_limits/CHANGELOG.rst b/joint_limits/CHANGELOG.rst index 00f6f6f868..e63dff0077 100644 --- a/joint_limits/CHANGELOG.rst +++ b/joint_limits/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package joint_limits ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 3.15.0 (2023-06-23) ------------------- diff --git a/ros2_control/CHANGELOG.rst b/ros2_control/CHANGELOG.rst index e31c44e4eb..5d8a6ee37e 100644 --- a/ros2_control/CHANGELOG.rst +++ b/ros2_control/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package ros2_control ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 3.15.0 (2023-06-23) ------------------- diff --git a/ros2_control_test_assets/CHANGELOG.rst b/ros2_control_test_assets/CHANGELOG.rst index d5ae3c2304..5a136fe913 100644 --- 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 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 3.15.0 (2023-06-23) ------------------- diff --git a/ros2controlcli/CHANGELOG.rst b/ros2controlcli/CHANGELOG.rst index 06dd3441d7..563176978e 100644 --- a/ros2controlcli/CHANGELOG.rst +++ b/ros2controlcli/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package ros2controlcli ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 3.15.0 (2023-06-23) ------------------- * Improve list hardware components output and code for better readability. (`#1060 `_) diff --git a/rqt_controller_manager/CHANGELOG.rst b/rqt_controller_manager/CHANGELOG.rst index cdf03f67f7..1feeb20dec 100644 --- a/rqt_controller_manager/CHANGELOG.rst +++ b/rqt_controller_manager/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package rqt_controller_manager ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 3.15.0 (2023-06-23) ------------------- diff --git a/transmission_interface/CHANGELOG.rst b/transmission_interface/CHANGELOG.rst index ec7e028687..87710f8070 100644 --- a/transmission_interface/CHANGELOG.rst +++ b/transmission_interface/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package transmission_interface ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 3.15.0 (2023-06-23) ------------------- From e4aa23842e42f57f5a186a335095c3ba8d2b6972 Mon Sep 17 00:00:00 2001 From: Bence Magyar Date: Sun, 9 Jul 2023 21:29:00 +0100 Subject: [PATCH 3/8] 3.16.0 --- controller_interface/CHANGELOG.rst | 4 ++-- controller_interface/package.xml | 2 +- controller_manager/CHANGELOG.rst | 4 ++-- controller_manager/package.xml | 2 +- controller_manager_msgs/CHANGELOG.rst | 4 ++-- controller_manager_msgs/package.xml | 2 +- hardware_interface/CHANGELOG.rst | 4 ++-- hardware_interface/package.xml | 2 +- joint_limits/CHANGELOG.rst | 4 ++-- joint_limits/package.xml | 2 +- ros2_control/CHANGELOG.rst | 4 ++-- ros2_control/package.xml | 2 +- ros2_control_test_assets/CHANGELOG.rst | 4 ++-- ros2_control_test_assets/package.xml | 2 +- ros2controlcli/CHANGELOG.rst | 4 ++-- ros2controlcli/package.xml | 2 +- ros2controlcli/setup.py | 2 +- rqt_controller_manager/CHANGELOG.rst | 4 ++-- rqt_controller_manager/package.xml | 2 +- rqt_controller_manager/setup.py | 2 +- transmission_interface/CHANGELOG.rst | 4 ++-- transmission_interface/package.xml | 2 +- 22 files changed, 32 insertions(+), 32 deletions(-) diff --git a/controller_interface/CHANGELOG.rst b/controller_interface/CHANGELOG.rst index cd33e9924d..c0325027a4 100644 --- a/controller_interface/CHANGELOG.rst +++ b/controller_interface/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package controller_interface ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +3.16.0 (2023-07-09) +------------------- 3.15.0 (2023-06-23) ------------------- diff --git a/controller_interface/package.xml b/controller_interface/package.xml index 9f6d3c5cb6..a060a01054 100644 --- a/controller_interface/package.xml +++ b/controller_interface/package.xml @@ -2,7 +2,7 @@ controller_interface - 3.15.0 + 3.16.0 Description of controller_interface Bence Magyar Denis Štogl diff --git a/controller_manager/CHANGELOG.rst b/controller_manager/CHANGELOG.rst index ad4ecd285f..d78eaec6a7 100644 --- a/controller_manager/CHANGELOG.rst +++ b/controller_manager/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package controller_manager ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +3.16.0 (2023-07-09) +------------------- * added controller manager runner to have update cycles (`#1075 `_) * [CM] Make error message after trying to active controller more informative. (`#1066 `_) * Fix equal and higher controller update rate (`#1070 `_) diff --git a/controller_manager/package.xml b/controller_manager/package.xml index 4e885f59cf..33255fc700 100644 --- a/controller_manager/package.xml +++ b/controller_manager/package.xml @@ -2,7 +2,7 @@ controller_manager - 3.15.0 + 3.16.0 Description of controller_manager Bence Magyar Denis Štogl diff --git a/controller_manager_msgs/CHANGELOG.rst b/controller_manager_msgs/CHANGELOG.rst index 7d59153f73..3c481827d2 100644 --- a/controller_manager_msgs/CHANGELOG.rst +++ b/controller_manager_msgs/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package controller_manager_msgs ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +3.16.0 (2023-07-09) +------------------- 3.15.0 (2023-06-23) ------------------- diff --git a/controller_manager_msgs/package.xml b/controller_manager_msgs/package.xml index 2de7f5ee2f..93af7dc706 100644 --- a/controller_manager_msgs/package.xml +++ b/controller_manager_msgs/package.xml @@ -2,7 +2,7 @@ controller_manager_msgs - 3.15.0 + 3.16.0 Messages and services for the controller manager. Bence Magyar Denis Štogl diff --git a/hardware_interface/CHANGELOG.rst b/hardware_interface/CHANGELOG.rst index 210bf8ec43..14dc8b8744 100644 --- a/hardware_interface/CHANGELOG.rst +++ b/hardware_interface/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package hardware_interface ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +3.16.0 (2023-07-09) +------------------- 3.15.0 (2023-06-23) ------------------- diff --git a/hardware_interface/package.xml b/hardware_interface/package.xml index 16d86dc985..a329215218 100644 --- a/hardware_interface/package.xml +++ b/hardware_interface/package.xml @@ -1,7 +1,7 @@ hardware_interface - 3.15.0 + 3.16.0 ros2_control hardware interface Bence Magyar Denis Štogl diff --git a/joint_limits/CHANGELOG.rst b/joint_limits/CHANGELOG.rst index e63dff0077..d89b2981e9 100644 --- a/joint_limits/CHANGELOG.rst +++ b/joint_limits/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package joint_limits ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +3.16.0 (2023-07-09) +------------------- 3.15.0 (2023-06-23) ------------------- diff --git a/joint_limits/package.xml b/joint_limits/package.xml index a532d59fb4..d72273844a 100644 --- a/joint_limits/package.xml +++ b/joint_limits/package.xml @@ -1,6 +1,6 @@ joint_limits - 3.15.0 + 3.16.0 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 5d8a6ee37e..7befead368 100644 --- a/ros2_control/CHANGELOG.rst +++ b/ros2_control/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package ros2_control ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +3.16.0 (2023-07-09) +------------------- 3.15.0 (2023-06-23) ------------------- diff --git a/ros2_control/package.xml b/ros2_control/package.xml index 9f7b7f8e4e..a445ed27ff 100644 --- a/ros2_control/package.xml +++ b/ros2_control/package.xml @@ -1,7 +1,7 @@ ros2_control - 3.15.0 + 3.16.0 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 5a136fe913..bcd91a1b55 100644 --- a/ros2_control_test_assets/CHANGELOG.rst +++ b/ros2_control_test_assets/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package ros2_control_test_assets ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +3.16.0 (2023-07-09) +------------------- 3.15.0 (2023-06-23) ------------------- diff --git a/ros2_control_test_assets/package.xml b/ros2_control_test_assets/package.xml index 67e7be2e53..8c8edff772 100644 --- a/ros2_control_test_assets/package.xml +++ b/ros2_control_test_assets/package.xml @@ -2,7 +2,7 @@ ros2_control_test_assets - 3.15.0 + 3.16.0 The package provides shared test resources for ros2_control stack Bence Magyar diff --git a/ros2controlcli/CHANGELOG.rst b/ros2controlcli/CHANGELOG.rst index 563176978e..bbb52f9821 100644 --- a/ros2controlcli/CHANGELOG.rst +++ b/ros2controlcli/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package ros2controlcli ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +3.16.0 (2023-07-09) +------------------- 3.15.0 (2023-06-23) ------------------- diff --git a/ros2controlcli/package.xml b/ros2controlcli/package.xml index 8fe8ddfa90..c72388c597 100644 --- a/ros2controlcli/package.xml +++ b/ros2controlcli/package.xml @@ -2,7 +2,7 @@ ros2controlcli - 3.15.0 + 3.16.0 The ROS 2 command line tools for ROS2 Control. diff --git a/ros2controlcli/setup.py b/ros2controlcli/setup.py index d003a71365..5eb29039cc 100644 --- a/ros2controlcli/setup.py +++ b/ros2controlcli/setup.py @@ -19,7 +19,7 @@ setup( name=package_name, - version="3.15.0", + version="3.16.0", 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 1feeb20dec..660dedfeb0 100644 --- a/rqt_controller_manager/CHANGELOG.rst +++ b/rqt_controller_manager/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package rqt_controller_manager ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +3.16.0 (2023-07-09) +------------------- 3.15.0 (2023-06-23) ------------------- diff --git a/rqt_controller_manager/package.xml b/rqt_controller_manager/package.xml index b5e82f3a99..3dac59a834 100644 --- a/rqt_controller_manager/package.xml +++ b/rqt_controller_manager/package.xml @@ -2,7 +2,7 @@ rqt_controller_manager - 3.15.0 + 3.16.0 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 7096280cd0..30117e7fe2 100644 --- a/rqt_controller_manager/setup.py +++ b/rqt_controller_manager/setup.py @@ -6,7 +6,7 @@ setup( name=package_name, - version="3.15.0", + version="3.16.0", 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 87710f8070..a124333b85 100644 --- a/transmission_interface/CHANGELOG.rst +++ b/transmission_interface/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package transmission_interface ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +3.16.0 (2023-07-09) +------------------- 3.15.0 (2023-06-23) ------------------- diff --git a/transmission_interface/package.xml b/transmission_interface/package.xml index ac00e7afd5..9d2839198c 100644 --- a/transmission_interface/package.xml +++ b/transmission_interface/package.xml @@ -2,7 +2,7 @@ transmission_interface - 3.15.0 + 3.16.0 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 From aea4efee3744a14290cdd37da2b71e1fa031fde9 Mon Sep 17 00:00:00 2001 From: "dependabot[bot]" <49699333+dependabot[bot]@users.noreply.github.com> Date: Mon, 17 Jul 2023 17:41:33 +0200 Subject: [PATCH 4/8] Bump actions/setup-python from 4.6.1 to 4.7.0 (#1077) Bumps [actions/setup-python](https://github.com/actions/setup-python) from 4.6.1 to 4.7.0. - [Release notes](https://github.com/actions/setup-python/releases) - [Commits](https://github.com/actions/setup-python/compare/v4.6.1...v4.7.0) --- updated-dependencies: - dependency-name: actions/setup-python dependency-type: direct:production update-type: version-update:semver-minor ... Signed-off-by: dependabot[bot] Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com> --- .github/workflows/ci-format.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/ci-format.yml b/.github/workflows/ci-format.yml index 4cf7330f56..9b91657851 100644 --- a/.github/workflows/ci-format.yml +++ b/.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 From 6cd8191550b59fcf940227583168dab9674adb13 Mon Sep 17 00:00:00 2001 From: "Dr. Denis" Date: Tue, 18 Jul 2023 17:39:53 +0200 Subject: [PATCH 5/8] Add checks if hardware is initialized. (#1054) --- hardware_interface/src/resource_manager.cpp | 86 +++++++++++++++++---- 1 file changed, 70 insertions(+), 16 deletions(-) diff --git a/hardware_interface/src/resource_manager.cpp b/hardware_interface/src/resource_manager.cpp index 96c87f5806..73daddd23d 100644 --- a/hardware_interface/src/resource_manager.cpp +++ b/hardware_interface/src/resource_manager.cpp @@ -514,9 +514,18 @@ class ResourceStorage { check_for_duplicates(hardware_info); load_hardware(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(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(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) From 6dec7e9cb765a7b777ecd9034783f415c8d92695 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Christoph=20Fr=C3=B6hlich?= Date: Mon, 24 Jul 2023 19:18:36 +0200 Subject: [PATCH 6/8] Fix links to control.ros.org (#1083) --- .docker/README.md | 4 ++-- .github/ISSUE_TEMPLATE/good-first-issue.md | 4 ++-- CONTRIBUTING.md | 2 +- README.md | 2 +- 4 files changed, 6 insertions(+), 6 deletions(-) diff --git a/.docker/README.md b/.docker/README.md index b79ca69449..238e261b7b 100644 --- a/.docker/README.md +++ b/.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`. diff --git a/.github/ISSUE_TEMPLATE/good-first-issue.md b/.github/ISSUE_TEMPLATE/good-first-issue.md index 5ff89fff5a..57779881d2 100644 --- a/.github/ISSUE_TEMPLATE/good-first-issue.md +++ b/.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/) diff --git a/CONTRIBUTING.md b/CONTRIBUTING.md index 9cb5781b56..d9cdc27041 100644 --- a/CONTRIBUTING.md +++ b/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: diff --git a/README.md b/README.md index 7981031a13..b68c11705c 100644 --- a/README.md +++ b/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 From 04ed2c292d000a5d737148a912bd665d2f26b8b6 Mon Sep 17 00:00:00 2001 From: "dependabot[bot]" <49699333+dependabot[bot]@users.noreply.github.com> Date: Mon, 24 Jul 2023 18:18:55 +0100 Subject: [PATCH 7/8] Bump ros-tooling/action-ros-ci from 0.3.2 to 0.3.3 (#1086) --- .github/workflows/ci-coverage-build.yml | 2 +- .github/workflows/reusable-ros-tooling-source-build.yml | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/.github/workflows/ci-coverage-build.yml b/.github/workflows/ci-coverage-build.yml index 97f5b4373b..9a549fdaf3 100644 --- a/.github/workflows/ci-coverage-build.yml +++ b/.github/workflows/ci-coverage-build.yml @@ -20,7 +20,7 @@ jobs: with: required-ros-distributions: ${{ env.ROS_DISTRO }} - uses: actions/checkout@v3 - - uses: ros-tooling/action-ros-ci@0.3.2 + - uses: ros-tooling/action-ros-ci@0.3.3 with: target-ros2-distro: ${{ env.ROS_DISTRO }} import-token: ${{ secrets.GITHUB_TOKEN }} diff --git a/.github/workflows/reusable-ros-tooling-source-build.yml b/.github/workflows/reusable-ros-tooling-source-build.yml index faadc4e9d9..ffe1cb1c3d 100644 --- a/.github/workflows/reusable-ros-tooling-source-build.yml +++ b/.github/workflows/reusable-ros-tooling-source-build.yml @@ -32,7 +32,7 @@ jobs: - uses: actions/checkout@v3 with: ref: ${{ inputs.ref }} - - uses: ros-tooling/action-ros-ci@0.3.2 + - uses: ros-tooling/action-ros-ci@0.3.3 with: target-ros2-distro: ${{ inputs.ros_distro }} # build all packages listed in the meta package From 757ccd45b7a70d226e902e2dcbba0ff96f31ace2 Mon Sep 17 00:00:00 2001 From: "dependabot[bot]" <49699333+dependabot[bot]@users.noreply.github.com> Date: Mon, 24 Jul 2023 18:20:10 +0100 Subject: [PATCH 8/8] Bump ros-tooling/setup-ros from 0.6.2 to 0.7.0 (#1085) --- .github/workflows/ci-coverage-build.yml | 2 +- .github/workflows/ci-ros-lint.yml | 4 ++-- .github/workflows/reusable-ros-tooling-source-build.yml | 2 +- 3 files changed, 4 insertions(+), 4 deletions(-) diff --git a/.github/workflows/ci-coverage-build.yml b/.github/workflows/ci-coverage-build.yml index 9a549fdaf3..b339b45e66 100644 --- a/.github/workflows/ci-coverage-build.yml +++ b/.github/workflows/ci-coverage-build.yml @@ -16,7 +16,7 @@ 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 diff --git a/.github/workflows/ci-ros-lint.yml b/.github/workflows/ci-ros-lint.yml index 57fe01c1a4..6428cd18a7 100644 --- a/.github/workflows/ci-ros-lint.yml +++ b/.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/action-ros-lint@v0.1 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/action-ros-lint@v0.1 with: distribution: rolling diff --git a/.github/workflows/reusable-ros-tooling-source-build.yml b/.github/workflows/reusable-ros-tooling-source-build.yml index ffe1cb1c3d..6cd59ce5f9 100644 --- a/.github/workflows/reusable-ros-tooling-source-build.yml +++ b/.github/workflows/reusable-ros-tooling-source-build.yml @@ -26,7 +26,7 @@ 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