Merge branch 'master' into rename_load_urdf_method

ros-controls · Mar 4, 2024 · c612aa8 · c612aa8
2 parents 2b4d9c0 + ff3177b
commit c612aa8
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diff --git a/controller_interface/CHANGELOG.rst b/controller_interface/CHANGELOG.rst
@@ -2,6 +2,12 @@
 Changelog for package controller_interface
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.6.0 (2024-03-02)
+------------------
+* Add -Werror=missing-braces to compile options (`#1423 <https://github.com/ros-controls/ros2_control/issues/1423>`_)
+* added conditioning to have rolling tags compilable in older versions (`#1422 <https://github.com/ros-controls/ros2_control/issues/1422>`_)
+* Contributors: Sai Kishor Kothakota
+
 4.5.0 (2024-02-12)
 ------------------
 * A method to get node options to setup the controller node #api-breaking (`#1169 <https://github.com/ros-controls/ros2_control/issues/1169>`_)

diff --git a/controller_interface/CMakeLists.txt b/controller_interface/CMakeLists.txt
@@ -2,7 +2,8 @@ cmake_minimum_required(VERSION 3.16)
 project(controller_interface LANGUAGES CXX)
 
 if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
-  add_compile_options(-Wall -Wextra -Werror=conversion -Werror=unused-but-set-variable -Werror=return-type -Werror=shadow)
+  add_compile_options(-Wall -Wextra -Werror=conversion -Werror=unused-but-set-variable -Werror=return-type -Werror=shadow
+          -Werror=missing-braces)
 endif()
 
 set(THIS_PACKAGE_INCLUDE_DEPENDS

diff --git a/controller_interface/include/controller_interface/controller_interface_base.hpp b/controller_interface/include/controller_interface/controller_interface_base.hpp
@@ -172,7 +172,14 @@ class ControllerInterfaceBase : public rclcpp_lifecycle::node_interfaces::Lifecy
   CONTROLLER_INTERFACE_PUBLIC
   virtual rclcpp::NodeOptions define_custom_node_options() const
   {
+// \note The versions conditioning is added here to support the source-compatibility with Humble
+#if RCLCPP_VERSION_MAJOR >= 21
     return rclcpp::NodeOptions().enable_logger_service(true);
+#else
+    return rclcpp::NodeOptions()
+      .allow_undeclared_parameters(true)
+      .automatically_declare_parameters_from_overrides(true);
+#endif
   }
 
   /// Declare and initialize a parameter with a type.

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>4.5.0</version>
+  <version>4.6.0</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_interface/test/test_force_torque_sensor.hpp b/controller_interface/test/test_force_torque_sensor.hpp
@@ -68,13 +68,13 @@ class ForceTorqueSensorTest : public ::testing::Test
 protected:
   const size_t size_ = 6;
   const std::string sensor_name_ = "test_FTS";
-  std::array<double, 3> force_values_ = {1.1, 2.2, 3.3};
-  std::array<double, 3> torque_values_ = {4.4, 5.5, 6.6};
+  std::array<double, 3> force_values_ = {{1.1, 2.2, 3.3}};
+  std::array<double, 3> torque_values_ = {{4.4, 5.5, 6.6}};
   std::unique_ptr<TestableForceTorqueSensor> force_torque_sensor_;
 
   std::vector<std::string> full_interface_names_;
-  const std::vector<std::string> fts_interface_names_ = {"force.x",  "force.y",  "force.z",
-                                                         "torque.x", "torque.y", "torque.z"};
+  const std::vector<std::string> fts_interface_names_ = {
+    {"force.x", "force.y", "force.z", "torque.x", "torque.y", "torque.z"}};
 };
 
 #endif  // TEST_FORCE_TORQUE_SENSOR_HPP_
diff --git a/controller_interface/test/test_imu_sensor.hpp b/controller_interface/test/test_imu_sensor.hpp
@@ -56,9 +56,9 @@ class IMUSensorTest : public ::testing::Test
 protected:
   const size_t size_ = 10;
   const std::string sensor_name_ = "test_IMU";
-  std::array<double, 4> orientation_values_ = {1.1, 2.2, 3.3, 4.4};
-  std::array<double, 3> angular_velocity_values_ = {4.4, 5.5, 6.6};
-  std::array<double, 3> linear_acceleration_values_ = {4.4, 5.5, 6.6};
+  std::array<double, 4> orientation_values_ = {{1.1, 2.2, 3.3, 4.4}};
+  std::array<double, 3> angular_velocity_values_ = {{4.4, 5.5, 6.6}};
+  std::array<double, 3> linear_acceleration_values_ = {{4.4, 5.5, 6.6}};
   std::unique_ptr<TestableIMUSensor> imu_sensor_;
 
   std::vector<std::string> full_interface_names_;

diff --git a/controller_manager/CHANGELOG.rst b/controller_manager/CHANGELOG.rst
@@ -2,6 +2,16 @@
 Changelog for package controller_manager
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.6.0 (2024-03-02)
+------------------
+* Add -Werror=missing-braces to compile options (`#1423 <https://github.com/ros-controls/ros2_control/issues/1423>`_)
+* added conditioning to have rolling tags compilable in older versions (`#1422 <https://github.com/ros-controls/ros2_control/issues/1422>`_)
+* [CM] Remove deprecated parameters for initial component states. (`#1357 <https://github.com/ros-controls/ros2_control/issues/1357>`_)
+* [BREAKING CHANGE] Use `robot_description` topic instead of `~/robot_description` and update docs regarding this (`#1410 <https://github.com/ros-controls/ros2_control/issues/1410>`_)
+* [CI] Code coverage + pre-commit (`#1413 <https://github.com/ros-controls/ros2_control/issues/1413>`_)
+* Fix multiple chainable controller activation bug (`#1401 <https://github.com/ros-controls/ros2_control/issues/1401>`_)
+* Contributors: Christoph Fröhlich, Dr. Denis, Felix Exner (fexner), Sai Kishor Kothakota
+
 4.5.0 (2024-02-12)
 ------------------
 * check for state of the controller node before cleanup (`#1363 <https://github.com/ros-controls/ros2_control/issues/1363>`_)

diff --git a/controller_manager/CMakeLists.txt b/controller_manager/CMakeLists.txt
@@ -2,7 +2,8 @@ cmake_minimum_required(VERSION 3.16)
 project(controller_manager LANGUAGES CXX)
 
 if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
-  add_compile_options(-Wall -Wextra -Werror=conversion -Werror=unused-but-set-variable -Werror=return-type -Werror=shadow)
+  add_compile_options(-Wall -Wextra -Werror=conversion -Werror=unused-but-set-variable -Werror=return-type -Werror=shadow
+          -Werror=missing-braces)
 endif()
 
 set(THIS_PACKAGE_INCLUDE_DEPENDS

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>4.5.0</version>
+  <version>4.6.0</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
@@ -36,10 +36,24 @@ static constexpr const char * kChainableControllerInterfaceClassName =
   "controller_interface::ChainableControllerInterface";
 
 // Changed services history QoS to keep all so we don't lose any client service calls
+// \note The versions conditioning is added here to support the source-compatibility with Humble
+#if RCLCPP_VERSION_MAJOR >= 17
 rclcpp::QoS qos_services =
   rclcpp::QoS(rclcpp::QoSInitialization(RMW_QOS_POLICY_HISTORY_KEEP_ALL, 1))
     .reliable()
     .durability_volatile();
+#else
+static const rmw_qos_profile_t qos_services = {
+  RMW_QOS_POLICY_HISTORY_KEEP_ALL,
+  1,  // message queue depth
+  RMW_QOS_POLICY_RELIABILITY_RELIABLE,
+  RMW_QOS_POLICY_DURABILITY_VOLATILE,
+  RMW_QOS_DEADLINE_DEFAULT,
+  RMW_QOS_LIFESPAN_DEFAULT,
+  RMW_QOS_POLICY_LIVELINESS_SYSTEM_DEFAULT,
+  RMW_QOS_LIVELINESS_LEASE_DURATION_DEFAULT,
+  false};
+#endif
 
 inline bool is_controller_inactive(const controller_interface::ControllerInterfaceBase & controller)
 {

diff --git a/controller_manager_msgs/CHANGELOG.rst b/controller_manager_msgs/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package controller_manager_msgs
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.6.0 (2024-03-02)
+------------------
+
 4.5.0 (2024-02-12)
 ------------------
 

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>4.5.0</version>
+  <version>4.6.0</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 +2,12 @@
 Changelog for package hardware_interface
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.6.0 (2024-03-02)
+------------------
+* Add -Werror=missing-braces to compile options (`#1423 <https://github.com/ros-controls/ros2_control/issues/1423>`_)
+* [CI] Code coverage + pre-commit (`#1413 <https://github.com/ros-controls/ros2_control/issues/1413>`_)
+* Contributors: Christoph Fröhlich, Sai Kishor Kothakota
+
 4.5.0 (2024-02-12)
 ------------------
 * Add missing export macros in lexical_casts.hpp (`#1382 <https://github.com/ros-controls/ros2_control/issues/1382>`_)

diff --git a/hardware_interface/CMakeLists.txt b/hardware_interface/CMakeLists.txt
@@ -2,7 +2,8 @@ cmake_minimum_required(VERSION 3.16)
 project(hardware_interface LANGUAGES CXX)
 
 if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
-  add_compile_options(-Wall -Wextra -Werror=conversion -Werror=unused-but-set-variable -Werror=return-type -Werror=shadow)
+  add_compile_options(-Wall -Wextra -Werror=conversion -Werror=unused-but-set-variable -Werror=return-type -Werror=shadow
+          -Werror=missing-braces)
 endif()
 
 set(THIS_PACKAGE_INCLUDE_DEPENDS

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>4.5.0</version>
+  <version>4.6.0</version>
   <description>ros2_control hardware interface</description>
   <maintainer email="[email protected]">Bence Magyar</maintainer>
   <maintainer email="[email protected]">Denis Štogl</maintainer>

diff --git a/hardware_interface/test/test_component_interfaces.cpp b/hardware_interface/test/test_component_interfaces.cpp
@@ -341,12 +341,12 @@ class DummySystem : public hardware_interface::SystemInterface
 
 private:
   std::array<double, 3> position_state_ = {
-    std::numeric_limits<double>::quiet_NaN(), std::numeric_limits<double>::quiet_NaN(),
-    std::numeric_limits<double>::quiet_NaN()};
+    {std::numeric_limits<double>::quiet_NaN(), std::numeric_limits<double>::quiet_NaN(),
+     std::numeric_limits<double>::quiet_NaN()}};
   std::array<double, 3> velocity_state_ = {
-    std::numeric_limits<double>::quiet_NaN(), std::numeric_limits<double>::quiet_NaN(),
-    std::numeric_limits<double>::quiet_NaN()};
-  std::array<double, 3> velocity_command_ = {0.0, 0.0, 0.0};
+    {std::numeric_limits<double>::quiet_NaN(), std::numeric_limits<double>::quiet_NaN(),
+     std::numeric_limits<double>::quiet_NaN()}};
+  std::array<double, 3> velocity_command_ = {{0.0, 0.0, 0.0}};
 
   // Helper variables to initiate error on read
   unsigned int read_calls_ = 0;

diff --git a/hardware_interface/test/test_hardware_components/test_system_with_command_modes.cpp b/hardware_interface/test/test_hardware_components/test_system_with_command_modes.cpp
@@ -184,11 +184,11 @@ class TestSystemCommandModes : public hardware_interface::SystemInterface
   std::vector<std::string> start_modes_ = {"position", "position"};
   std::vector<bool> stop_modes_ = {false, false};
 
-  std::array<double, 2> position_command_ = {0.0, 0.0};
-  std::array<double, 2> velocity_command_ = {0.0, 0.0};
-  std::array<double, 2> position_state_ = {0.0, 0.0};
-  std::array<double, 2> velocity_state_ = {0.0, 0.0};
-  std::array<double, 2> acceleration_state_ = {0.0, 0.0};
+  std::array<double, 2> position_command_ = {{0.0, 0.0}};
+  std::array<double, 2> velocity_command_ = {{0.0, 0.0}};
+  std::array<double, 2> position_state_ = {{0.0, 0.0}};
+  std::array<double, 2> velocity_state_ = {{0.0, 0.0}};
+  std::array<double, 2> acceleration_state_ = {{0.0, 0.0}};
 };
 
 }  // namespace test_hardware_components

diff --git a/hardware_interface/test/test_hardware_components/test_two_joint_system.cpp b/hardware_interface/test/test_hardware_components/test_two_joint_system.cpp
@@ -103,8 +103,8 @@ class TestTwoJointSystem : public SystemInterface
   }
 
 private:
-  std::array<double, 2> position_command_ = {0.0, 0.0};
-  std::array<double, 2> position_state_ = {0.0, 0.0};
+  std::array<double, 2> position_command_ = {{0.0, 0.0}};
+  std::array<double, 2> position_state_ = {{0.0, 0.0}};
 };
 
 }  // namespace test_hardware_components

diff --git a/hardware_interface_testing/CHANGELOG.rst b/hardware_interface_testing/CHANGELOG.rst
@@ -2,6 +2,11 @@
 Changelog for package hardware_interface_testing
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.6.0 (2024-03-02)
+------------------
+* Add -Werror=missing-braces to compile options (`#1423 <https://github.com/ros-controls/ros2_control/issues/1423>`_)
+* Contributors: Sai Kishor Kothakota
+
 4.5.0 (2024-02-12)
 ------------------
 

diff --git a/hardware_interface_testing/CMakeLists.txt b/hardware_interface_testing/CMakeLists.txt
@@ -2,7 +2,8 @@ cmake_minimum_required(VERSION 3.16)
 project(hardware_interface_testing LANGUAGES CXX)
 
 if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
-  add_compile_options(-Wall -Wextra -Werror=conversion -Werror=unused-but-set-variable -Werror=return-type -Werror=shadow)
+  add_compile_options(-Wall -Wextra -Werror=conversion -Werror=unused-but-set-variable -Werror=return-type -Werror=shadow
+          -Werror=missing-braces)
 endif()
 
 set(THIS_PACKAGE_INCLUDE_DEPENDS

diff --git a/hardware_interface_testing/package.xml b/hardware_interface_testing/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>hardware_interface_testing</name>
-  <version>4.5.0</version>
+  <version>4.6.0</version>
   <description>ros2_control hardware interface testing</description>
   <maintainer email="[email protected]">Bence Magyar</maintainer>
   <maintainer email="[email protected]">Denis Štogl</maintainer>

diff --git a/hardware_interface_testing/test/test_components/test_system.cpp b/hardware_interface_testing/test/test_components/test_system.cpp
@@ -130,10 +130,10 @@ class TestSystem : public SystemInterface
   }
 
 private:
-  std::array<double, 2> velocity_command_ = {0.0, 0.0};
-  std::array<double, 2> position_state_ = {0.0, 0.0};
-  std::array<double, 2> velocity_state_ = {0.0, 0.0};
-  std::array<double, 2> acceleration_state_ = {0.0, 0.0};
+  std::array<double, 2> velocity_command_ = {{0.0, 0.0}};
+  std::array<double, 2> position_state_ = {{0.0, 0.0}};
+  std::array<double, 2> velocity_state_ = {{0.0, 0.0}};
+  std::array<double, 2> acceleration_state_ = {{0.0, 0.0}};
   double max_acceleration_command_ = 0.0;
   double configuration_state_ = 0.0;
   double configuration_command_ = 0.0;

diff --git a/joint_limits/CHANGELOG.rst b/joint_limits/CHANGELOG.rst
@@ -2,6 +2,11 @@
 Changelog for package joint_limits
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.6.0 (2024-03-02)
+------------------
+* Add -Werror=missing-braces to compile options (`#1423 <https://github.com/ros-controls/ros2_control/issues/1423>`_)
+* Contributors: Sai Kishor Kothakota
+
 4.5.0 (2024-02-12)
 ------------------
 

diff --git a/joint_limits/CMakeLists.txt b/joint_limits/CMakeLists.txt
@@ -2,7 +2,8 @@ cmake_minimum_required(VERSION 3.16)
 project(joint_limits LANGUAGES CXX)
 
 if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
-  add_compile_options(-Wall -Wextra -Werror=conversion -Werror=unused-but-set-variable -Werror=return-type -Werror=shadow)
+  add_compile_options(-Wall -Wextra -Werror=conversion -Werror=unused-but-set-variable -Werror=return-type -Werror=shadow
+          -Werror=missing-braces)
 endif()
 
 set(THIS_PACKAGE_INCLUDE_DEPENDS

diff --git a/joint_limits/package.xml b/joint_limits/package.xml
@@ -1,6 +1,6 @@
 <package format="3">
   <name>joint_limits</name>
-  <version>4.5.0</version>
+  <version>4.6.0</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
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.6.0 (2024-03-02)
+------------------
+
 4.5.0 (2024-02-12)
 ------------------
 

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>4.5.0</version>
+  <version>4.6.0</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
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.6.0 (2024-03-02)
+------------------
+
 4.5.0 (2024-02-12)
 ------------------
 

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>4.5.0</version>
+  <version>4.6.0</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 +2,11 @@
 Changelog for package ros2controlcli
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.6.0 (2024-03-02)
+------------------
+* Added spawner colours to `list_controllers` depending upon active or inactive (`#1409 <https://github.com/ros-controls/ros2_control/issues/1409>`_)
+* Contributors: Soham Patil
+
 4.5.0 (2024-02-12)
 ------------------
 

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>4.5.0</version>
+  <version>4.6.0</version>
   <description>
     The ROS 2 command line tools for ROS2 Control.
   </description>

diff --git a/ros2controlcli/ros2controlcli/verb/list_controllers.py b/ros2controlcli/ros2controlcli/verb/list_controllers.py
@@ -13,6 +13,7 @@
 # limitations under the License.
 
 from controller_manager import list_controllers
+from controller_manager.spawner import bcolors
 
 from ros2cli.node.direct import add_arguments
 from ros2cli.node.strategy import NodeStrategy
@@ -22,7 +23,15 @@
 
 
 def print_controller_state(c, args):
-    print(f"{c.name:20s}[{c.type:20s}] {c.state:10s}")
+    state_color = ""
+    if c.state == "active":
+        state_color = bcolors.OKGREEN
+    elif c.state == "inactive":
+        state_color = bcolors.OKCYAN
+    elif c.state == "unconfigured":
+        state_color = bcolors.WARNING
+
+    print(f"{c.name:20s}[{c.type:20s}] {state_color}{c.state:10s}{bcolors.ENDC}")
     if args.claimed_interfaces or args.verbose:
         print("\tclaimed interfaces:")
         for claimed_interface in c.claimed_interfaces: