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

…terface-add-return-value
ros-controls · Apr 8, 2023 · 93763c5 · 93763c5
2 parents ce1b1f6 + e7366d0
commit 93763c5
Show file tree

Hide file tree

Showing 88 changed files with 1,965 additions and 1,001 deletions.
diff --git a/.github/workflows/ci-coverage-build.yml b/.github/workflows/ci-coverage-build.yml
@@ -16,11 +16,11 @@ jobs:
     env:
       ROS_DISTRO: rolling
     steps:
-      - uses: ros-tooling/setup-ros@0.5.0
+      - uses: ros-tooling/setup-ros@0.6.1
         with:
           required-ros-distributions: ${{ env.ROS_DISTRO }}
       - uses: actions/checkout@v3
-      - uses: ros-tooling/action-ros-ci@0.2.7
+      - uses: ros-tooling/action-ros-ci@0.3.0
         with:
           target-ros2-distro: ${{ env.ROS_DISTRO }}
           import-token: ${{ secrets.GITHUB_TOKEN }}

diff --git 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@0.5.0
+    - uses: ros-tooling/setup-ros@0.6.1
     - 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@0.5.0
+    - uses: ros-tooling/setup-ros@0.6.1
     - uses: ros-tooling/[email protected]
       with:
         distribution: rolling

diff --git a/.github/workflows/docker.yml b/.github/workflows/docker.yml
@@ -22,7 +22,7 @@ jobs:
         uses: docker/setup-buildx-action@v2
 
       - name: Checkout repository
-        uses: actions/checkout@v2
+        uses: actions/checkout@v3
 
       - name: Log in to the Container registry
         uses: docker/login-action@v2
@@ -42,7 +42,7 @@ jobs:
             type=semver,pattern={{major}}.{{minor}}
 
       - name: Build and push Docker image
-        uses: docker/build-push-action@v3
+        uses: docker/build-push-action@v4
         with:
           context: .
           push: true
@@ -62,7 +62,7 @@ jobs:
         uses: docker/setup-buildx-action@v2
 
       - name: Checkout repository
-        uses: actions/checkout@v2
+        uses: actions/checkout@v3
 
       - name: Log in to the Container registry
         uses: docker/login-action@v2
@@ -82,7 +82,7 @@ jobs:
             type=semver,pattern={{major}}.{{minor}}
 
       - name: Build and push Docker image
-        uses: docker/build-push-action@v3
+        uses: docker/build-push-action@v4
         with:
           context: .
           push: true

diff --git a/.github/workflows/reusable-ros-tooling-source-build.yml b/.github/workflows/reusable-ros-tooling-source-build.yml
@@ -26,13 +26,13 @@ jobs:
     strategy:
       fail-fast: false
     steps:
-      - uses: ros-tooling/setup-ros@0.5.0
+      - uses: ros-tooling/setup-ros@0.6.1
         with:
           required-ros-distributions: ${{ inputs.ros_distro }}
       - uses: actions/checkout@v3
         with:
           ref: ${{ inputs.ref }}
-      - uses: ros-tooling/action-ros-ci@0.2.7
+      - uses: ros-tooling/action-ros-ci@0.3.0
         with:
           target-ros2-distro: ${{ inputs.ros_distro }}
           # build all packages listed in the meta package

diff --git a/.github/workflows/reviewer_lottery.yml b/.github/workflows/reviewer_lottery.yml
@@ -7,7 +7,7 @@ jobs:
   test:
     runs-on: ubuntu-latest
     steps:
-    - uses: actions/checkout@v1
+    - uses: actions/checkout@v3
     - uses: uesteibar/reviewer-lottery@v2
       with:
         repo-token: ${{ secrets.GITHUB_TOKEN }}
diff --git a/.github/workflows/rolling-abi-compatibility.yml b/.github/workflows/rolling-abi-compatibility.yml
diff --git a/.github/workflows/rolling-rhel-binary-build.yml b/.github/workflows/rolling-rhel-binary-build.yml
@@ -1,11 +1,6 @@
 name: Rolling RHEL Binary Build
 on:
   workflow_dispatch:
-    branches:
-      - master
-  pull_request:
-    branches:
-      - master
   push:
     branches:
       - master

diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
@@ -43,11 +43,17 @@ repos:
 
   # PyDocStyle
   - repo: https://github.com/PyCQA/pydocstyle
-    rev: 6.2.2
+    rev: 6.3.0
     hooks:
     - id: pydocstyle
       args: ["--ignore=D100,D101,D102,D103,D104,D105,D106,D107,D203,D212,D404"]
 
+  - repo: https://github.com/psf/black
+    rev: 23.1.0
+    hooks:
+      - id: black
+        args: ["--line-length=99"]
+
   - repo: https://github.com/pycqa/flake8
     rev: 6.0.0
     hooks:
@@ -117,7 +123,7 @@ repos:
         exclude: CHANGELOG\.rst$
 
   - repo: https://github.com/pre-commit/pygrep-hooks
-    rev: v1.9.0
+    rev: v1.10.0
     hooks:
       - id: rst-backticks
         exclude: CHANGELOG\.rst$

diff --git a/MIGRATION.md b/MIGRATION.md
@@ -0,0 +1,12 @@
+# Migration Notes
+
+API changes in ros2_control releases
+
+## ROS Rolling
+
+#### Controller Interface
+
+`update_reference_from_subscribers()` method got parameters and now has the following signature:
+```
+update_reference_from_subscribers(const rclcpp::Time & time, const rclcpp::Duration & /*period*/)
+```
diff --git a/controller_interface/CHANGELOG.rst b/controller_interface/CHANGELOG.rst
@@ -2,6 +2,31 @@
 Changelog for package controller_interface
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.12.0 (2023-04-02)
+-------------------
+* [Controller Interface] Add time and period paramters to update_reference_from_subscribers() (`#846 <https://github.com/ros-controls/ros2_control/issues/846>`_) #API-break
+* Contributors: Robotgir, Denis Štogl
+
+3.11.0 (2023-03-22)
+-------------------
+* [ControllerManager] Add Class for Async Controllers and Lifecycle Management (`#932 <https://github.com/ros-controls/ros2_control/issues/932>`_)
+* Contributors: Márk Szitanics
+
+3.10.0 (2023-03-16)
+-------------------
+
+3.9.1 (2023-03-09)
+------------------
+
+3.9.0 (2023-02-28)
+------------------
+
+3.8.0 (2023-02-10)
+------------------
+* Fix CMake install so overriding works (`#926 <https://github.com/ros-controls/ros2_control/issues/926>`_)
+* Async params (`#927 <https://github.com/ros-controls/ros2_control/issues/927>`_)
+* Contributors: Márk Szitanics, Tyler Weaver
+
 3.7.0 (2023-01-24)
 ------------------
 

diff --git a/controller_interface/CMakeLists.txt b/controller_interface/CMakeLists.txt
@@ -1,104 +1,88 @@
-cmake_minimum_required(VERSION 3.5)
-project(controller_interface)
+cmake_minimum_required(VERSION 3.16)
+project(controller_interface LANGUAGES CXX)
 
-if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
   add_compile_options(-Wall -Wextra)
 endif()
 
+set(THIS_PACKAGE_INCLUDE_DEPENDS
+  hardware_interface
+  rclcpp_lifecycle
+)
+
 find_package(ament_cmake REQUIRED)
-find_package(hardware_interface REQUIRED)
-find_package(rclcpp_lifecycle REQUIRED)
+foreach(Dependency IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS})
+  find_package(${Dependency} REQUIRED)
+endforeach()
 
-add_library(
-  ${PROJECT_NAME}
-  SHARED
+add_library(controller_interface SHARED
   src/controller_interface_base.cpp
   src/controller_interface.cpp
   src/chainable_controller_interface.cpp
 )
-target_include_directories(
-  ${PROJECT_NAME}
-  PRIVATE
-  include
-)
-ament_target_dependencies(
-  ${PROJECT_NAME}
-  hardware_interface
-  rclcpp_lifecycle
+target_compile_features(controller_interface PUBLIC cxx_std_17)
+target_include_directories(controller_interface PUBLIC
+  $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include/controller_interface>
 )
+ament_target_dependencies(controller_interface PUBLIC ${THIS_PACKAGE_INCLUDE_DEPENDS})
 # Causes the visibility macros to use dllexport rather than dllimport,
 # which is appropriate when building the dll but not consuming it.
-target_compile_definitions(${PROJECT_NAME} PRIVATE "CONTROLLER_INTERFACE_BUILDING_DLL")
-
-install(DIRECTORY include/
-  DESTINATION include
-)
-install(TARGETS ${PROJECT_NAME}
-  ARCHIVE DESTINATION lib
-  LIBRARY DESTINATION lib
-  RUNTIME DESTINATION bin
-)
+target_compile_definitions(controller_interface PRIVATE "CONTROLLER_INTERFACE_BUILDING_DLL")
 
 if(BUILD_TESTING)
   find_package(ament_cmake_gmock REQUIRED)
-
-  find_package(hardware_interface REQUIRED)
   find_package(sensor_msgs REQUIRED)
 
   ament_add_gmock(test_controller_interface test/test_controller_interface.cpp)
-  target_link_libraries(test_controller_interface ${PROJECT_NAME})
-  target_include_directories(test_controller_interface PRIVATE include)
+  target_link_libraries(test_controller_interface
+    controller_interface
+  )
 
   ament_add_gmock(test_controller_with_options test/test_controller_with_options.cpp)
-  target_link_libraries(test_controller_with_options ${PROJECT_NAME})
-  target_include_directories(test_controller_with_options PRIVATE include)
+  target_link_libraries(test_controller_with_options
+    controller_interface
+  )
 
   ament_add_gmock(test_chainable_controller_interface test/test_chainable_controller_interface.cpp)
-  target_link_libraries(test_chainable_controller_interface ${PROJECT_NAME})
-  target_include_directories(test_chainable_controller_interface PRIVATE include)
-  ament_target_dependencies(test_chainable_controller_interface hardware_interface)
-
-  ament_add_gmock(
-    test_semantic_component_interface
-    test/test_semantic_component_interface.cpp
-  )
-  target_include_directories(test_semantic_component_interface PRIVATE include)
-  ament_target_dependencies(
-    test_semantic_component_interface
-    hardware_interface
+  target_link_libraries(test_chainable_controller_interface
+    controller_interface
+    hardware_interface::hardware_interface
   )
 
-  ament_add_gmock(
-    test_force_torque_sensor
-    test/test_force_torque_sensor.cpp
+  ament_add_gmock(test_semantic_component_interface test/test_semantic_component_interface.cpp)
+  target_link_libraries(test_semantic_component_interface
+    controller_interface
+    hardware_interface::hardware_interface
   )
-  target_include_directories(test_force_torque_sensor PRIVATE include)
-  ament_target_dependencies(
-    test_force_torque_sensor
-    hardware_interface
+
+  ament_add_gmock(test_force_torque_sensor test/test_force_torque_sensor.cpp)
+  target_link_libraries(test_force_torque_sensor
+    controller_interface
+    hardware_interface::hardware_interface
   )
 
-  ament_add_gmock(
-    test_imu_sensor
-    test/test_imu_sensor.cpp
+  ament_add_gmock(test_imu_sensor test/test_imu_sensor.cpp)
+  target_link_libraries(test_imu_sensor
+    controller_interface
+    hardware_interface::hardware_interface
   )
-  target_include_directories(test_imu_sensor PRIVATE include)
-  ament_target_dependencies(
-    test_imu_sensor
-    hardware_interface
+  ament_target_dependencies(test_imu_sensor
     sensor_msgs
   )
 endif()
 
-ament_export_dependencies(
-  hardware_interface
-  rclcpp_lifecycle
-  sensor_msgs
-)
-ament_export_include_directories(
-  include
+install(
+  DIRECTORY include/
+  DESTINATION include/controller_interface
 )
-ament_export_libraries(
-  ${PROJECT_NAME}
+install(TARGETS controller_interface
+  EXPORT export_controller_interface
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
 )
+
+ament_export_targets(export_controller_interface HAS_LIBRARY_TARGET)
+ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS})
 ament_package()
diff --git a/controller_interface/include/controller_interface/chainable_controller_interface.hpp b/controller_interface/include/controller_interface/chainable_controller_interface.hpp
@@ -94,7 +94,8 @@ class ChainableControllerInterface : public ControllerInterfaceBase
    *
    * \returns return_type::OK if update is successfully, otherwise return_type::ERROR.
    */
-  virtual return_type update_reference_from_subscribers() = 0;
+  virtual return_type update_reference_from_subscribers(
+    const rclcpp::Time & time, const rclcpp::Duration & period) = 0;
 
   /// Execute calculations of the controller and update command interfaces.
   /**

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>3.7.0</version>
+  <version>3.12.0</version>
   <description>Description of controller_interface</description>
   <maintainer email="[email protected]">Bence Magyar</maintainer>
   <maintainer email="[email protected]">Denis Štogl</maintainer>
@@ -14,11 +14,8 @@
   <build_depend>rclcpp_lifecycle</build_depend>
   <build_depend>sensor_msgs</build_depend>
 
-  <exec_depend>hardware_interface</exec_depend>
-  <exec_depend>rclcpp_lifecycle</exec_depend>
-  <exec_depend>sensor_msgs</exec_depend>
-
   <test_depend>ament_cmake_gmock</test_depend>
+  <test_depend>sensor_msgs</test_depend>
 
   <export>
     <build_type>ament_cmake</build_type>

diff --git a/controller_interface/src/chainable_controller_interface.cpp b/controller_interface/src/chainable_controller_interface.cpp
@@ -32,7 +32,7 @@ return_type ChainableControllerInterface::update(
 
   if (!is_in_chained_mode())
   {
-    ret = update_reference_from_subscribers();
+    ret = update_reference_from_subscribers(time, period);
     if (ret != return_type::OK)
     {
       return ret;