Merge branch 'master' into mock_sensor_commands

.github/reviewer-lottery.yml

@@ -14,29 +14,23 @@ groups:
     reviewers: 5
     usernames:
       - rosterloh
-      - kellyprankin
       - progtologist
       - arne48
       - DasRoteSkelett
-      - a10263790
       - Serafadam
       - harderthan
       - jaron-l
       - malapatiravi
-      - erickisos
-      - Briancbn
-      - TomoyaFujita2016
       - homalozoa
+      - erickisos
       - anfemosa
       - jackcenter
       - VX792
       - mhubii
       - livanov93
       - aprotyas
       - peterdavidfagan
-      - UsamaHamayun1
       - duringhof
       - bijoua29
-      - kasiceo
       - lm2292
       - mcbed

.github/workflows/galactic-rhel-binary-build.yml

@@ -20,7 +20,7 @@ jobs:
     runs-on: ubuntu-latest
     env:
       ROS_DISTRO: galactic
-    container: jaronl/ros:galactic-alma
+    container: ghcr.io/ros-controls/ros:${{ env.ROS_DISTRO }}-rhel
     steps:
       - uses: actions/checkout@v3
         with:

.github/workflows/humble-rhel-binary-build.yml

@@ -19,7 +19,7 @@ jobs:
     runs-on: ubuntu-latest
     env:
       ROS_DISTRO: humble
-    container: jaronl/ros:humble-alma
+    container: ghcr.io/ros-controls/ros:${{ env.ROS_DISTRO }}-rhel
     steps:
       - uses: actions/checkout@v3
         with:

.github/workflows/rolling-rhel-binary-build.yml

@@ -20,7 +20,7 @@ jobs:
     runs-on: ubuntu-latest
     env:
       ROS_DISTRO: rolling
-    container: jaronl/ros:rolling-alma
+    container: ghcr.io/ros-controls/ros:${{ env.ROS_DISTRO }}-rhel
     steps:
       - uses: actions/checkout@v3
         with:

controller_interface/CHANGELOG.rst

@@ -2,6 +2,22 @@
 Changelog for package controller_interface
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.0.0 (2022-09-19)
+------------------
+
+2.15.0 (2022-09-19)
+-------------------
+* Remove autodeclare of parameters for controllers. (`#757 <https://github.com/ros-controls/ros2_control/issues/757>`_)
+* Contributors: Denis Štogl
+
+2.14.0 (2022-09-04)
+-------------------
+* Add doxygen comments (`#777 <https://github.com/ros-controls/ros2_control/issues/777>`_)
+* Contributors: Bence Magyar, Denis Štogl
+
+2.13.0 (2022-08-03)
+-------------------
+
 2.12.1 (2022-07-14)
 -------------------
 

controller_interface/include/controller_interface/chainable_controller_interface.hpp

@@ -40,6 +40,14 @@ class ChainableControllerInterface : public ControllerInterfaceBase
   CONTROLLER_INTERFACE_PUBLIC
   virtual ~ChainableControllerInterface() = default;
 
+  /**
+   * Control step update. Command interfaces are updated based on on reference inputs and current states.
+   * **The method called in the (real-time) control loop.**
+   *
+   * \param[in] time The time at the start of this control loop iteration
+   * \param[in] period The measured time taken by the last control loop iteration
+   * \returns return_type::OK if update is successfully, otherwise return_type::ERROR.
+   */
   CONTROLLER_INTERFACE_PUBLIC
   return_type update(const rclcpp::Time & time, const rclcpp::Duration & period) final;
 

controller_interface/include/controller_interface/controller_interface_base.hpp

@@ -72,9 +72,37 @@ class ControllerInterfaceBase : public rclcpp_lifecycle::node_interfaces::Lifecy
   CONTROLLER_INTERFACE_PUBLIC
   virtual ~ControllerInterfaceBase() = default;
 
+  /// Get configuration for controller's required command interfaces.
+  /**
+   * Method used by the controller_manager to get the set of command interfaces used by the controller.
+   * Each controller can use individual method to determine interface names that in simples case
+   * have the following format: `<joint>/<interface>`.
+   * The method is called only in `inactive` or `active` state, i.e., `on_configure` has to be
+   * called first.
+   * The configuration is used to check if controller can be activated and to claim interfaces from
+   * hardware.
+   * The claimed interfaces are populated in the
+   * \ref ControllerInterfaceBase::command_interfaces_ "command_interfaces_" member.
+   *
+   * \returns configuration of command interfaces.
+   */
   CONTROLLER_INTERFACE_PUBLIC
   virtual InterfaceConfiguration command_interface_configuration() const = 0;
 
+  /// Get configuration for controller's required state interfaces.
+  /**
+   * Method used by the controller_manager to get the set of state interface used by the controller.
+   * Each controller can use individual method to determine interface names that in simples case
+   * have the following format: `<joint>/<interface>`.
+   * The method is called only in `inactive` or `active` state, i.e., `on_configure` has to be
+   * called first.
+   * The configuration is used to check if controller can be activated and to claim interfaces from
+   * hardware.
+   * The claimed interfaces are populated in the
+   * \ref ControllerInterfaceBase::state_interface_ "state_interface_" member.
+   *
+   * \returns configuration of state interfaces.
+   */
   CONTROLLER_INTERFACE_PUBLIC
   virtual InterfaceConfiguration state_interface_configuration() const = 0;
 
@@ -89,10 +117,7 @@ class ControllerInterfaceBase : public rclcpp_lifecycle::node_interfaces::Lifecy
   CONTROLLER_INTERFACE_PUBLIC
   virtual return_type init(
     const std::string & controller_name, const std::string & namespace_ = "",
-    const rclcpp::NodeOptions & node_options =
-      rclcpp::NodeOptions()
-        .allow_undeclared_parameters(true)
-        .automatically_declare_parameters_from_overrides(true));
+    const rclcpp::NodeOptions & node_options = rclcpp::NodeOptions());
 
   /// Custom configure method to read additional parameters for controller-nodes
   /*
@@ -105,6 +130,14 @@ class ControllerInterfaceBase : public rclcpp_lifecycle::node_interfaces::Lifecy
   CONTROLLER_INTERFACE_PUBLIC
   virtual CallbackReturn on_init() = 0;
 
+  /**
+   * Control step update. Command interfaces are updated based on on reference inputs and current states.
+   * **The method called in the (real-time) control loop.**
+   *
+   * \param[in] time The time at the start of this control loop iteration
+   * \param[in] period The measured time taken by the last control loop iteration
+   * \returns return_type::OK if update is successfully, otherwise return_type::ERROR.
+   */
   CONTROLLER_INTERFACE_PUBLIC
   virtual return_type update(const rclcpp::Time & time, const rclcpp::Duration & period) = 0;
 

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>2.12.1</version>
+  <version>3.0.0</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 +2,30 @@
 Changelog for package controller_manager
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.0.0 (2022-09-19)
+------------------
+
+2.15.0 (2022-09-19)
+-------------------
+
+2.14.0 (2022-09-04)
+-------------------
+* Add doxygen comments (`#777 <https://github.com/ros-controls/ros2_control/issues/777>`_)
+* Contributors: Bence Magyar, Denis Štogl
+
+2.13.0 (2022-08-03)
+-------------------
+* Clang tidy: delete a redundant return (`#790 <https://github.com/ros-controls/ros2_control/issues/790>`_)
+* Add chained controllers information in list controllers service #abi-braking (`#758 <https://github.com/ros-controls/ros2_control/issues/758>`_)
+  * add chained controllers in ros2controlcli
+  * remove controller_group from service
+  * added comments to ControllerState message
+  * added comments to ChainedConnection message
+* spawner.py: Fix python logging on deprecation warning (`#787 <https://github.com/ros-controls/ros2_control/issues/787>`_)
+* Add documentation for realtime permission (`#781 <https://github.com/ros-controls/ros2_control/issues/781>`_)
+* Fix bug in spawner with getter for node's logger (`#776 <https://github.com/ros-controls/ros2_control/issues/776>`_)
+* Contributors: Andy Zelenak, Felix Exner, Paul Gesel, Bijou Abraham
+
 2.12.1 (2022-07-14)
 -------------------
 * Rename CM members from start/stop to activate/deactivate nomenclature. (`#756 <https://github.com/ros-controls/ros2_control/issues/756>`_)

controller_manager/CMakeLists.txt

@@ -102,6 +102,14 @@ if(BUILD_TESTING)
   target_link_libraries(test_controller_manager_with_namespace.cpp ${PROJECT_NAME} test_controller)
   ament_target_dependencies(test_controller_manager_with_namespace.cpp ros2_control_test_assets)
 
+  ament_add_gmock(
+    test_controller_manager_hardware_error_handling
+    test/test_controller_manager_hardware_error_handling.cpp
+  )
+  target_include_directories(test_controller_manager_hardware_error_handling PRIVATE include)
+  target_link_libraries(test_controller_manager_hardware_error_handling ${PROJECT_NAME} test_controller)
+  ament_target_dependencies(test_controller_manager_hardware_error_handling ros2_control_test_assets)
+
   ament_add_gmock(
     test_load_controller
     test/test_load_controller.cpp
@@ -125,7 +133,7 @@ if(BUILD_TESTING)
     APPEND_ENV AMENT_PREFIX_PATH=${ament_index_build_path}_$<CONFIG>
   )
   target_include_directories(test_controller_manager_srvs PRIVATE include)
-  target_link_libraries(test_controller_manager_srvs ${PROJECT_NAME} test_controller)
+  target_link_libraries(test_controller_manager_srvs ${PROJECT_NAME} test_controller test_chainable_controller)
   ament_target_dependencies(
     test_controller_manager_srvs
     controller_manager_msgs

controller_manager/controller_manager/spawner.py

@@ -112,10 +112,6 @@ def is_controller_loaded(node, controller_manager, controller_name):
     return any(c.name == controller_name for c in controllers)
 
 
-def make_absolute(name):
-    return name if name.startswith('/') else ('/' + name)
-
-
 def main(args=None):
 
     rclpy.init(args=args, signal_handler_options=SignalHandlerOptions.NO)
@@ -124,7 +120,7 @@ def main(args=None):
         'controller_name', help='Name of the controller')
     parser.add_argument(
         '-c', '--controller-manager', help='Name of the controller manager ROS node',
-        default='/controller_manager', required=False)
+        default='controller_manager', required=False)
     parser.add_argument(
         '-p', '--param-file',
         help='Controller param file to be loaded into controller node before configure',
@@ -153,7 +149,7 @@ def main(args=None):
     command_line_args = rclpy.utilities.remove_ros_args(args=sys.argv)[1:]
     args = parser.parse_args(command_line_args)
     controller_name = args.controller_name
-    controller_manager_name = make_absolute(args.controller_manager)
+    controller_manager_name = args.controller_manager
     param_file = args.param_file
     controller_type = args.controller_type
     controller_manager_timeout = args.controller_manager_timeout
@@ -162,6 +158,13 @@ def main(args=None):
         raise FileNotFoundError(errno.ENOENT, os.strerror(errno.ENOENT), param_file)
 
     node = Node('spawner_' + controller_name)
+    if not controller_manager_name.startswith('/'):
+        spawner_namespace = node.get_namespace()
+        if spawner_namespace != '/':
+            controller_manager_name = f"{spawner_namespace}/{controller_manager_name}"
+        else:
+            controller_manager_name = f"/{controller_manager_name}"
+
     try:
         if not wait_for_controller_manager(node, controller_manager_name,
                                            controller_manager_timeout):
@@ -239,7 +242,7 @@ def main(args=None):
                 node.get_logger().info('Deactivated controller')
 
             elif args.stopped:
-                node.get_logger.warn('"--stopped" flag is deprecated use "--inactive" instead')
+                node.get_logger().warn('"--stopped" flag is deprecated use "--inactive" instead')
 
             ret = unload_controller(
                 node, controller_manager_name, controller_name)

controller_manager/doc/userdoc.rst

@@ -10,9 +10,29 @@ Determinism
 
 For best performance when controlling hardware you want the controller manager to have as little jitter as possible in the main control loop.
 The normal linux kernel is optimized for computational throughput and therefore is not well suited for hardware control.
-The main thread of Controller Manager attempts to configure ``SCHED_FIFO`` with a priority of ``50``.
-To enable this functionality install a RT kernel and run the Controller Manager with permissions to make syscalls to set its thread priorities.
-The two easiest options for this are using the [Real-time Ubuntu 22.04 LTS Beta](https://ubuntu.com/blog/real-time-ubuntu-released) or [linux-image-rt-amd64](https://packages.debian.org/bullseye/linux-image-rt-amd64) on Debian Bullseye.
+The two easiest kernel options are the `Real-time Ubuntu 22.04 LTS Beta <https://ubuntu.com/blog/real-time-ubuntu-released>`_ or `linux-image-rt-amd64 <https://packages.debian.org/bullseye/linux-image-rt-amd64>`_ on Debian Bullseye.
+
+If you have a realtime kernel installed, the main thread of Controller Manager attempts to configure ``SCHED_FIFO`` with a priority of ``50``.
+By default, the user does not have permission to set such a high priority.
+To give the user such permissions, add a group named realtime and add the user controlling your robot to this group:
+
+.. code-block:: console
+
+    $ sudo addgroup realtime
+    $ sudo usermod -a -G realtime $(whoami)
+
+Afterwards, add the following limits to the realtime group in ``/etc/security/limits.conf``:
+
+.. code-block:: console
+
+    @realtime soft rtprio 99
+    @realtime soft priority 99
+    @realtime soft memlock 102400
+    @realtime hard rtprio 99
+    @realtime hard priority 99
+    @realtime hard memlock 102400
+
+The limits will be applied after you log out and in again.
 
 Parameters
 -----------