Merge branch 'humble' into mergify/bp/humble/pr-805

.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:galactic-rhel
     steps:
       - uses: actions/checkout@v3
         with:

.github/workflows/humble-abi-compatibility.yml

@@ -2,10 +2,10 @@ name: Humble - ABI Compatibility Check
 on:
   workflow_dispatch:
     branches:
-      - master
+      - humble
   pull_request:
     branches:
-      - master
+      - humble
 
 jobs:
   abi_check:

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

@@ -5,13 +5,13 @@ name: Humble Binary Build - main
 on:
   workflow_dispatch:
     branches:
-      - master
+      - humble
   pull_request:
     branches:
-      - master
+      - humble
   push:
     branches:
-      - master
+      - humble
   schedule:
     # Run every morning to detect flakiness and broken dependencies
     - cron: '03 1 * * *'
@@ -23,4 +23,4 @@ jobs:
       ros_distro: humble
       ros_repo: main
       upstream_workspace: ros2_control-not-released.humble.repos
-      ref_for_scheduled_build: master
+      ref_for_scheduled_build: humble

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

@@ -5,13 +5,13 @@ name: Humble Binary Build - testing
 on:
   workflow_dispatch:
     branches:
-      - master
+      - humble
   pull_request:
     branches:
-      - master
+      - humble
   push:
     branches:
-      - master
+      - humble
   schedule:
     # Run every morning to detect flakiness and broken dependencies
     - cron: '03 1 * * *'
@@ -23,4 +23,4 @@ jobs:
       ros_distro: humble
       ros_repo: testing
       upstream_workspace: ros2_control-not-released.humble.repos
-      ref_for_scheduled_build: master
+      ref_for_scheduled_build: humble

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

@@ -2,24 +2,24 @@ name: Humble RHEL Binary Build
 on:
   workflow_dispatch:
     branches:
-      - master
-#  pull_request:
-#    branches:
-#      - master
-#  push:
-#    branches:
-#      - master
-#  schedule:
-#    # Run every day to detect flakiness and broken dependencies
-#    - cron: '03 1 * * *'
+      - humble
+  pull_request:
+    branches:
+      - humble
+  push:
+    branches:
+      - humble
+  schedule:
+    # Run every day to detect flakiness and broken dependencies
+    - cron: '03 1 * * *'
 
 jobs:
   humble_rhel_binary:
     name: Humble RHEL binary build
     runs-on: ubuntu-latest
     env:
       ROS_DISTRO: humble
-    container: jaronl/ros:humble-alma
+    container: ghcr.io/ros-controls/ros:humble-rhel
     steps:
       - uses: actions/checkout@v3
         with:

.github/workflows/humble-semi-binary-build-main.yml

@@ -4,13 +4,13 @@ name: Humble Semi-Binary Build - main
 on:
   workflow_dispatch:
     branches:
-      - master
+      - humble
   pull_request:
     branches:
-      - master
+      - humble
   push:
     branches:
-      - master
+      - humble
   schedule:
     # Run every morning to detect flakiness and broken dependencies
     - cron: '33 1 * * *'
@@ -22,4 +22,4 @@ jobs:
       ros_distro: humble
       ros_repo: main
       upstream_workspace: ros2_control.humble.repos
-      ref_for_scheduled_build: master
+      ref_for_scheduled_build: humble

.github/workflows/humble-semi-binary-build-testing.yml

@@ -4,13 +4,13 @@ name: Humble Semi-Binary Build - testing
 on:
   workflow_dispatch:
     branches:
-      - master
+      - humble
   pull_request:
     branches:
-      - master
+      - humble
   push:
     branches:
-      - master
+      - humble
   schedule:
     # Run every morning to detect flakiness and broken dependencies
     - cron: '33 1 * * *'
@@ -22,4 +22,4 @@ jobs:
       ros_distro: humble
       ros_repo: testing
       upstream_workspace: ros2_control.humble.repos
-      ref_for_scheduled_build: master
+      ref_for_scheduled_build: humble

.github/workflows/humble-source-build.yml

@@ -2,10 +2,10 @@ name: Humble Source Build
 on:
   workflow_dispatch:
     branches:
-      - master
+      - humble
   push:
     branches:
-      - master
+      - humble
   schedule:
     # Run every day to detect flakiness and broken dependencies
     - cron: '03 3 * * *'
@@ -15,5 +15,5 @@ jobs:
     uses: ./.github/workflows/reusable-ros-tooling-source-build.yml
     with:
       ros_distro: humble
-      ref: master
+      ref: humble
       ros2_repo_branch: humble

.github/workflows/reusable-industrial-ci-with-cache.yml

@@ -54,7 +54,7 @@ jobs:
     env:
       CCACHE_DIR: ${{ github.workspace }}/${{ inputs.ccache_dir }}
       BASEDIR: ${{ github.workspace }}/${{ inputs.basedir }}
-      CACHE_PREFIX: ${{ inputs.ros_distro }}-${{ inputs.os_code_name }}-${{ inputs.ros_repo }}-${{ github.job }}
+      CACHE_PREFIX: ${{ inputs.ros_distro }}-${{ inputs.upstream_workspace }}-${{ inputs.ros_repo }}-${{ github.job }}
     steps:
       - name: Checkout ${{ inputs.ref }} when build is not scheduled
         if: ${{ github.event_name != 'schedule' }}

.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:rolling-rhel
     steps:
       - uses: actions/checkout@v3
         with:

controller_interface/CHANGELOG.rst

@@ -2,6 +2,11 @@
 Changelog for package controller_interface
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.16.0 (2022-10-17)
+-------------------
+* Add docs in export interface configurations for controllers. (`#804 <https://github.com/ros-controls/ros2_control/issues/804>`_) (`#842 <https://github.com/ros-controls/ros2_control/issues/842>`_)
+* Contributors: Denis Štogl
+
 2.15.0 (2022-09-19)
 -------------------
 

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;
 

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>2.15.0</version>
+  <version>2.16.0</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 +2,12 @@
 Changelog for package controller_manager
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.16.0 (2022-10-17)
+-------------------
+* Search for controller manager in the same namespace as spawner (`#810 <https://github.com/ros-controls/ros2_control/issues/810>`_) (`#839 <https://github.com/ros-controls/ros2_control/issues/839>`_)
+* Don't ask to export reference interface if controller not 'inactive' or 'active' (`#824 <https://github.com/ros-controls/ros2_control/issues/824>`_) (`#843 <https://github.com/ros-controls/ros2_control/issues/843>`_)
+* Contributors: Denis Štogl, Tony Najjar
+
 2.15.0 (2022-09-19)
 -------------------
 

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):

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>2.15.0</version>
+  <version>2.16.0</version>
   <description>Description of controller_manager</description>
   <maintainer email="[email protected]">Bence Magyar</maintainer>
   <maintainer email="[email protected]">Denis Štogl</maintainer>

controller_manager/src/controller_manager.cpp

@@ -1262,25 +1262,26 @@ void ControllerManager::list_controllers_srv_cb(
       {
         controller_state.required_state_interfaces = state_interface_config.names;
       }
-    }
-    // check for chained interfaces
-    for (const auto & interface : controller_state.required_command_interfaces)
-    {
-      auto prefix_interface_type_pair = split_command_interface(interface);
-      auto prefix = prefix_interface_type_pair.first;
-      auto interface_type = prefix_interface_type_pair.second;
-      if (controller_chain_map.find(prefix) != controller_chain_map.end())
+      // check for chained interfaces
+      for (const auto & interface : controller_state.required_command_interfaces)
+      {
+        auto prefix_interface_type_pair = split_command_interface(interface);
+        auto prefix = prefix_interface_type_pair.first;
+        auto interface_type = prefix_interface_type_pair.second;
+        if (controller_chain_map.find(prefix) != controller_chain_map.end())
+        {
+          controller_chain_map[controller_state.name].insert(prefix);
+          controller_chain_interface_map[controller_state.name].push_back(interface_type);
+        }
+      }
+      // check reference interfaces only if controller is inactive or active
+      auto references = controllers[i].c->export_reference_interfaces();
+      controller_state.reference_interfaces.reserve(references.size());
+      for (const auto & reference : references)
       {
-        controller_chain_map[controller_state.name].insert(prefix);
-        controller_chain_interface_map[controller_state.name].push_back(interface_type);
+        controller_state.reference_interfaces.push_back(reference.get_interface_name());
       }
     }
-    auto references = controllers[i].c->export_reference_interfaces();
-    controller_state.reference_interfaces.reserve(references.size());
-    for (const auto & reference : references)
-    {
-      controller_state.reference_interfaces.push_back(reference.get_interface_name());
-    }
     response->controller.push_back(controller_state);
     // keep track of controllers that are part of a chain
     if (

controller_manager/test/test_controller_manager_srvs.cpp

@@ -242,7 +242,7 @@ TEST_F(TestControllerManagerSrvs, list_chained_controllers_srv)
   ASSERT_EQ(result->controller[0].required_state_interfaces.size(), 0u);
   ASSERT_EQ(result->controller[0].is_chainable, true);
   ASSERT_EQ(result->controller[0].is_chained, false);
-  ASSERT_EQ(result->controller[0].reference_interfaces.size(), 2u);
+  ASSERT_EQ(result->controller[0].reference_interfaces.size(), 0u);
   ASSERT_EQ(result->controller[0].chain_connections.size(), 0u);
   // check test controller
   ASSERT_EQ(result->controller[1].name, "test_controller_name");

controller_manager_msgs/CHANGELOG.rst

@@ -2,6 +2,9 @@
 Changelog for package controller_manager_msgs
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.16.0 (2022-10-17)
+-------------------
+
 2.15.0 (2022-09-19)
 -------------------
 

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>2.15.0</version>
+  <version>2.16.0</version>
   <description>Messages and services for the controller manager.</description>
   <maintainer email="[email protected]">Bence Magyar</maintainer>
   <maintainer email="[email protected]">Denis Štogl</maintainer>

hardware_interface/CHANGELOG.rst

@@ -2,6 +2,11 @@
 Changelog for package hardware_interface
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.16.0 (2022-10-17)
+-------------------
+* fix broken links (issue `#831 <https://github.com/ros-controls/ros2_control/issues/831>`_) (`#833 <https://github.com/ros-controls/ros2_control/issues/833>`_) (`#845 <https://github.com/ros-controls/ros2_control/issues/845>`_)
+* Contributors: Manuel Muth
+
 2.15.0 (2022-09-19)
 -------------------