Merge branch 'master' into integrate/pal_statistics

ros-controls · Dec 7, 2024 · dcc1b17 · dcc1b17
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diff --git a/controller_interface/CHANGELOG.rst b/controller_interface/CHANGELOG.rst
@@ -2,6 +2,11 @@
 Changelog for package controller_interface
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.21.0 (2024-12-06)
+-------------------
+* [Diagnostics] Add diagnostics of execution time and periodicity of the controllers and controller_manager (`#1871 <https://github.com/ros-controls/ros2_control/issues/1871>`_)
+* Contributors: Sai Kishor Kothakota
+
 4.20.0 (2024-11-08)
 -------------------
 * reset the async variables upon activation to work post exceptions (`#1860 <https://github.com/ros-controls/ros2_control/issues/1860>`_)

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>4.20.0</version>
+  <version>4.21.0</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 +2,22 @@
 Changelog for package controller_manager
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.21.0 (2024-12-06)
+-------------------
+* Use the .hpp headers from realtime_tools package (`#1916 <https://github.com/ros-controls/ros2_control/issues/1916>`_)
+* CM: Check if a valid time is received (`#1901 <https://github.com/ros-controls/ros2_control/issues/1901>`_)
+* Lock memory by default on a realtime system setup (`#1896 <https://github.com/ros-controls/ros2_control/issues/1896>`_)
+* Fix the launch_utils regression (`#1909 <https://github.com/ros-controls/ros2_control/issues/1909>`_)
+* [Diagnostics] Add diagnostics of execution time and periodicity of the controllers and controller_manager (`#1871 <https://github.com/ros-controls/ros2_control/issues/1871>`_)
+* Add more parameter overriding tests by parsing multiple parameter files (`#1899 <https://github.com/ros-controls/ros2_control/issues/1899>`_)
+* add logic for 'params_file' to handle both string and string_array (`#1898 <https://github.com/ros-controls/ros2_control/issues/1898>`_)
+* [Spawner] Accept parsing multiple `--param-file` arguments to spawner  (`#1805 <https://github.com/ros-controls/ros2_control/issues/1805>`_)
+* Add documentation on `ros2_control_node` and make lock_memory false by default (`#1890 <https://github.com/ros-controls/ros2_control/issues/1890>`_)
+* Add service call timeout argument in spawner (`#1808 <https://github.com/ros-controls/ros2_control/issues/1808>`_)
+* Add CM `switch_controller` service timeout as parameter to spawner.py (`#1790 <https://github.com/ros-controls/ros2_control/issues/1790>`_)
+* Fix the missing bcolors.ENDC in hardware_spawner log prints (`#1870 <https://github.com/ros-controls/ros2_control/issues/1870>`_)
+* Contributors: Christoph Fröhlich, Sai Kishor Kothakota, Tony Najjar
+
 4.20.0 (2024-11-08)
 -------------------
 * change from thread_priority.hpp to realtime_helpers.hpp (`#1829 <https://github.com/ros-controls/ros2_control/issues/1829>`_)

diff --git a/controller_manager/doc/userdoc.rst b/controller_manager/doc/userdoc.rst
@@ -331,9 +331,10 @@ lock_memory (optional; bool; default: false for a non-realtime kernel, true for
   Find more information about the setup for memory locking in the following link : `How to set ulimit values <https://access.redhat.com/solutions/61334>`_
   The following command can be used to set the memory locking limit temporarily : ``ulimit -l unlimited``.
 
-cpu_affinity (optional; int; default: -1)
+cpu_affinity (optional; int (or) int_array;)
   Sets the CPU affinity of the ``controller_manager`` node to the specified CPU core.
-  The value of -1 means that the CPU affinity is not set.
+  If it is an integer, the node's affinity will be set to the specified CPU core.
+  If it is an array of integers, the node's affinity will be set to the specified set of CPU cores.
 
 thread_priority (optional; int; default: 50)
   Sets the thread priority of the ``controller_manager`` node to the specified value. The value must be between 0 and 99.

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>4.20.0</version>
+  <version>4.21.0</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/ros2_control_node.cpp b/controller_manager/src/ros2_control_node.cpp
@@ -67,10 +67,22 @@ int main(int argc, char ** argv)
     RCLCPP_WARN(cm->get_logger(), "Unable to lock the memory : '%s'", message.c_str());
   }
 
-  const int cpu_affinity = cm->get_parameter_or<int>("cpu_affinity", -1);
-  if (cpu_affinity >= 0)
+  rclcpp::Parameter cpu_affinity_param;
+  if (cm->get_parameter("cpu_affinity", cpu_affinity_param))
   {
-    const auto affinity_result = realtime_tools::set_current_thread_affinity(cpu_affinity);
+    std::vector<int> cpus = {};
+    if (cpu_affinity_param.get_type() == rclcpp::ParameterType::PARAMETER_INTEGER)
+    {
+      cpus = {cpu_affinity_param.as_int()};
+    }
+    else if (cpu_affinity_param.get_type() == rclcpp::ParameterType::PARAMETER_INTEGER_ARRAY)
+    {
+      const auto cpu_affinity_param_array = cpu_affinity_param.as_integer_array();
+      std::for_each(
+        cpu_affinity_param_array.begin(), cpu_affinity_param_array.end(),
+        [&cpus](int cpu) { cpus.push_back(static_cast<int>(cpu)); });
+    }
+    const auto affinity_result = realtime_tools::set_current_thread_affinity(cpus);
     if (!affinity_result.first)
     {
       RCLCPP_WARN(

diff --git a/controller_manager/test/test_chainable_controller/test_chainable_controller.hpp b/controller_manager/test/test_chainable_controller/test_chainable_controller.hpp
@@ -22,7 +22,7 @@
 #include "controller_interface/chainable_controller_interface.hpp"
 #include "controller_manager/visibility_control.h"
 #include "rclcpp/subscription.hpp"
-#include "realtime_tools/realtime_buffer.h"
+#include "realtime_tools/realtime_buffer.hpp"
 #include "semantic_components/imu_sensor.hpp"
 #include "std_msgs/msg/float64_multi_array.hpp"
 

diff --git a/controller_manager_msgs/CHANGELOG.rst b/controller_manager_msgs/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package controller_manager_msgs
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.21.0 (2024-12-06)
+-------------------
+
 4.20.0 (2024-11-08)
 -------------------
 

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>4.20.0</version>
+  <version>4.21.0</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/doc/release_notes.rst b/doc/release_notes.rst
@@ -85,6 +85,7 @@ controller_manager
 * The ``ros2_control_node`` node has a new ``cpu_affinity`` parameter to bind the process to a specific CPU core. By default, this is not enabled. (`#1852 <https://github.com/ros-controls/ros2_control/pull/1852>`_).
 * The ``--service-call-timeout`` was added as parameter to the helper scripts ``spawner.py``. Useful when the CPU load is high at startup and the service call does not return immediately (`#1808 <https://github.com/ros-controls/ros2_control/pull/1808>`_).
 * The ``pal_statistics`` is now integrated into the controller_manager, so that the controllers, hardware components and the controller_manager can be easily introspected and monitored using the topics ``~/introspection_data/names`` and ``~/introspection_data/values`` (`#1918 <https://github.com/ros-controls/ros2_control/pull/1918>`_).
+* The ``cpu_affinity`` parameter can now accept of types ``int`` or ``int_array`` to bind the process to a specific CPU core or multiple CPU cores. (`#1915 <https://github.com/ros-controls/ros2_control/pull/1915>`_).
 
 hardware_interface
 ******************

diff --git a/hardware_interface/CHANGELOG.rst b/hardware_interface/CHANGELOG.rst
@@ -2,6 +2,15 @@
 Changelog for package hardware_interface
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.21.0 (2024-12-06)
+-------------------
+* [Feature] Choose different read and write rate for the hardware components (`#1570 <https://github.com/ros-controls/ros2_control/issues/1570>`_)
+* add logic for 'params_file' to handle both string and string_array (`#1898 <https://github.com/ros-controls/ros2_control/issues/1898>`_)
+* [Spawner] Accept parsing multiple `--param-file` arguments to spawner  (`#1805 <https://github.com/ros-controls/ros2_control/issues/1805>`_)
+* Fix missing virtual of on_export\_[state|command]_interfaces methods (`#1888 <https://github.com/ros-controls/ros2_control/issues/1888>`_)
+* Refactor: add parse_state_interface_descriptions and parse_command_interface_descriptions to import the components (`#1768 <https://github.com/ros-controls/ros2_control/issues/1768>`_)
+* Contributors: Sai Kishor Kothakota, Takashi Sato
+
 4.20.0 (2024-11-08)
 -------------------
 * Add Support for SDF (`#1763 <https://github.com/ros-controls/ros2_control/issues/1763>`_)

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>4.20.0</version>
+  <version>4.21.0</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_testing/CHANGELOG.rst b/hardware_interface_testing/CHANGELOG.rst
@@ -2,6 +2,11 @@
 Changelog for package hardware_interface_testing
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.21.0 (2024-12-06)
+-------------------
+* [Feature] Choose different read and write rate for the hardware components (`#1570 <https://github.com/ros-controls/ros2_control/issues/1570>`_)
+* Contributors: Sai Kishor Kothakota
+
 4.20.0 (2024-11-08)
 -------------------
 

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>4.20.0</version>
+  <version>4.21.0</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/joint_limits/CHANGELOG.rst b/joint_limits/CHANGELOG.rst
@@ -2,6 +2,11 @@
 Changelog for package joint_limits
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.21.0 (2024-12-06)
+-------------------
+* Use the .hpp headers from realtime_tools package (`#1916 <https://github.com/ros-controls/ros2_control/issues/1916>`_)
+* Contributors: Christoph Fröhlich
+
 4.20.0 (2024-11-08)
 -------------------
 

diff --git a/joint_limits/include/joint_limits/joint_limiter_interface.hpp b/joint_limits/include/joint_limits/joint_limiter_interface.hpp
@@ -24,7 +24,7 @@
 #include "joint_limits/visibility_control.h"
 #include "rclcpp/node.hpp"
 #include "rclcpp_lifecycle/lifecycle_node.hpp"
-#include "realtime_tools/realtime_buffer.h"
+#include "realtime_tools/realtime_buffer.hpp"
 #include "trajectory_msgs/msg/joint_trajectory_point.hpp"
 
 namespace joint_limits

diff --git a/joint_limits/package.xml b/joint_limits/package.xml
@@ -1,6 +1,6 @@
 <package format="3">
   <name>joint_limits</name>
-  <version>4.20.0</version>
+  <version>4.21.0</version>
   <description>Package with interfaces for handling of joint limits in controllers or in hardware. The package also implements Saturation Joint Limiter for position-velocity-acceleration set and other individual interfaces.</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
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.21.0 (2024-12-06)
+-------------------
+
 4.20.0 (2024-11-08)
 -------------------
 

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>4.20.0</version>
+  <version>4.21.0</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 +2,11 @@
 Changelog for package ros2_control_test_assets
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.21.0 (2024-12-06)
+-------------------
+* [Feature] Choose different read and write rate for the hardware components (`#1570 <https://github.com/ros-controls/ros2_control/issues/1570>`_)
+* Contributors: Sai Kishor Kothakota
+
 4.20.0 (2024-11-08)
 -------------------
 * Add Support for SDF (`#1763 <https://github.com/ros-controls/ros2_control/issues/1763>`_)

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>4.20.0</version>
+  <version>4.21.0</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
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.21.0 (2024-12-06)
+-------------------
+* [Spawner] Accept parsing multiple `--param-file` arguments to spawner  (`#1805 <https://github.com/ros-controls/ros2_control/issues/1805>`_)
+* Contributors: Sai Kishor Kothakota
+
 4.20.0 (2024-11-08)
 -------------------
 

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>4.20.0</version>
+  <version>4.21.0</version>
   <description>
     The ROS 2 command line tools for ROS2 Control.
   </description>

diff --git a/ros2controlcli/setup.py b/ros2controlcli/setup.py
@@ -19,7 +19,7 @@
 
 setup(
     name=package_name,
-    version="4.20.0",
+    version="4.21.0",
     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
@@ -2,6 +2,9 @@
 Changelog for package rqt_controller_manager
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.21.0 (2024-12-06)
+-------------------
+
 4.20.0 (2024-11-08)
 -------------------
 

diff --git a/rqt_controller_manager/package.xml b/rqt_controller_manager/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>rqt_controller_manager</name>
-  <version>4.20.0</version>
+  <version>4.21.0</version>
   <description>Graphical frontend for interacting with the controller manager.</description>
   <maintainer email="[email protected]">Bence Magyar</maintainer>
   <maintainer email="[email protected]">Denis Štogl</maintainer>

diff --git a/rqt_controller_manager/setup.py b/rqt_controller_manager/setup.py
@@ -20,7 +20,7 @@
 
 setup(
     name=package_name,
-    version="4.20.0",
+    version="4.21.0",
     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
@@ -2,6 +2,9 @@
 Changelog for package transmission_interface
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.21.0 (2024-12-06)
+-------------------
+
 4.20.0 (2024-11-08)
 -------------------
 

diff --git a/transmission_interface/package.xml b/transmission_interface/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>transmission_interface</name>
-  <version>4.20.0</version>
+  <version>4.21.0</version>
   <description>transmission_interface contains data structures for representing mechanical transmissions, methods for propagating values between actuator and joint spaces and tooling to support this.</description>
   <maintainer email="[email protected]">Bence Magyar</maintainer>
   <maintainer email="[email protected]">Denis Štogl</maintainer>