Merge branch 'master' into add-simple-joint-limiter

ros-controls · Dec 7, 2023 · 9ed9b01 · 9ed9b01
2 parents 94da997 + b8ba5c0
commit 9ed9b01
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Showing 27 changed files with 567 additions and 19 deletions.
diff --git a/.github/workflows/ci-coverage-build.yml b/.github/workflows/ci-coverage-build.yml
@@ -17,7 +17,7 @@ jobs:
     env:
       ROS_DISTRO: rolling
     steps:
-      - uses: ros-tooling/[email protected].0
+      - uses: ros-tooling/[email protected].1
         with:
           required-ros-distributions: ${{ env.ROS_DISTRO }}
       - uses: actions/checkout@v4

diff --git a/.github/workflows/ci-ros-lint.yml b/.github/workflows/ci-ros-lint.yml
@@ -14,7 +14,7 @@ jobs:
       AMENT_CPPCHECK_ALLOW_SLOW_VERSIONS: true
     steps:
     - uses: actions/checkout@v4
-    - uses: ros-tooling/[email protected].0
+    - uses: ros-tooling/[email protected].1
     - uses: ros-tooling/[email protected]
       with:
         distribution: rolling
@@ -38,7 +38,7 @@ jobs:
           linter: [cpplint]
     steps:
     - uses: actions/checkout@v4
-    - uses: ros-tooling/[email protected].0
+    - uses: ros-tooling/[email protected].1
     - uses: ros-tooling/[email protected]
       with:
         distribution: rolling

diff --git 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/[email protected].0
+      - uses: ros-tooling/[email protected].1
         with:
           required-ros-distributions: ${{ inputs.ros_distro }}
       - uses: actions/checkout@v4

diff --git a/controller_interface/CHANGELOG.rst b/controller_interface/CHANGELOG.rst
@@ -2,6 +2,12 @@
 Changelog for package controller_interface
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.1.0 (2023-11-30)
+------------------
+* Add few warning compiler options to error (`#1181 <https://github.com/ros-controls/ros2_control/issues/1181>`_)
+* [ControllerInterface] Avoid warning about conversion from `int64_t` to `unsigned int` (`#1173 <https://github.com/ros-controls/ros2_control/issues/1173>`_)
+* Contributors: Dr. Denis, Sai Kishor Kothakota
+
 4.0.0 (2023-11-21)
 ------------------
 * Pass controller manager update rate on the init of the controller interface  (`#1141 <https://github.com/ros-controls/ros2_control/issues/1141>`_)

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>4.0.0</version>
+  <version>4.1.0</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 +2,13 @@
 Changelog for package controller_manager
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.1.0 (2023-11-30)
+------------------
+* Add few warning compiler options to error (`#1181 <https://github.com/ros-controls/ros2_control/issues/1181>`_)
+* [ControllerManager] Fix all warnings from the latets features. (`#1174 <https://github.com/ros-controls/ros2_control/issues/1174>`_)
+* Compute the actual update period for each controller (`#1140 <https://github.com/ros-controls/ros2_control/issues/1140>`_)
+* Contributors: Dr. Denis, Sai Kishor Kothakota
+
 4.0.0 (2023-11-21)
 ------------------
 * Pass controller manager update rate on the init of the controller interface  (`#1141 <https://github.com/ros-controls/ros2_control/issues/1141>`_)

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>4.0.0</version>
+  <version>4.1.0</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/src/controller_manager.cpp b/controller_manager/src/controller_manager.cpp
@@ -777,7 +777,7 @@ controller_interface::return_type ControllerManager::configure_controller(
   to = from;
 
   // Reordering the controllers
-  std::sort(
+  std::stable_sort(
     to.begin(), to.end(),
     std::bind(
       &ControllerManager::controller_sorting, this, std::placeholders::_1, std::placeholders::_2,
@@ -2453,7 +2453,16 @@ bool ControllerManager::controller_sorting(
   {
     // The case of the controllers that don't have any command interfaces. For instance,
     // joint_state_broadcaster
-    return true;
+    // If the controller b is also under the same condition, then maintain their initial order
+    if (ctrl_b.c->command_interface_configuration().names.empty() || !ctrl_b.c->is_chainable())
+      return false;
+    else
+      return true;
+  }
+  else if (ctrl_b.c->command_interface_configuration().names.empty() || !ctrl_b.c->is_chainable())
+  {
+    // If only the controller b is a broadcaster or non chainable type , then swap the controllers
+    return false;
   }
   else
   {
@@ -2558,7 +2567,7 @@ void ControllerManager::controller_activity_diagnostic_callback(
   }
   else
   {
-    stat.summary(diagnostic_msgs::msg::DiagnosticStatus::ERROR, "Not all controllers are active");
+    stat.summary(diagnostic_msgs::msg::DiagnosticStatus::OK, "Not all controllers are active");
   }
 }