diff --git a/.github/workflows/galactic-rhel-binary-build.yml b/.github/workflows/galactic-rhel-binary-build.yml index cd2d5f0862..ca0b30382a 100644 --- a/.github/workflows/galactic-rhel-binary-build.yml +++ b/.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: diff --git a/.github/workflows/humble-abi-compatibility.yml b/.github/workflows/humble-abi-compatibility.yml index 1be00cfc76..3f38d5b6ce 100644 --- a/.github/workflows/humble-abi-compatibility.yml +++ b/.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: diff --git a/.github/workflows/humble-binary-build-main.yml b/.github/workflows/humble-binary-build-main.yml index 365744af4b..a438d7a9e5 100644 --- a/.github/workflows/humble-binary-build-main.yml +++ b/.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 diff --git a/.github/workflows/humble-binary-build-testing.yml b/.github/workflows/humble-binary-build-testing.yml index edb94f3fe8..5a61534d4e 100644 --- a/.github/workflows/humble-binary-build-testing.yml +++ b/.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 diff --git a/.github/workflows/humble-rhel-binary-build.yml b/.github/workflows/humble-rhel-binary-build.yml index eda3b3d85d..989f46f24f 100644 --- a/.github/workflows/humble-rhel-binary-build.yml +++ b/.github/workflows/humble-rhel-binary-build.yml @@ -2,16 +2,16 @@ 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: @@ -19,7 +19,7 @@ jobs: 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: diff --git a/.github/workflows/humble-semi-binary-build-main.yml b/.github/workflows/humble-semi-binary-build-main.yml index 7e79db3264..539477a302 100644 --- a/.github/workflows/humble-semi-binary-build-main.yml +++ b/.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 diff --git a/.github/workflows/humble-semi-binary-build-testing.yml b/.github/workflows/humble-semi-binary-build-testing.yml index 485e49f2cf..889822e7f2 100644 --- a/.github/workflows/humble-semi-binary-build-testing.yml +++ b/.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 diff --git a/.github/workflows/humble-source-build.yml b/.github/workflows/humble-source-build.yml index 18c33b6d52..ff0fd62e05 100644 --- a/.github/workflows/humble-source-build.yml +++ b/.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 diff --git a/.github/workflows/reusable-industrial-ci-with-cache.yml b/.github/workflows/reusable-industrial-ci-with-cache.yml index 0ff359d091..490b680e7c 100644 --- a/.github/workflows/reusable-industrial-ci-with-cache.yml +++ b/.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' }} diff --git a/.github/workflows/rolling-rhel-binary-build.yml b/.github/workflows/rolling-rhel-binary-build.yml index fe7386b75b..563ad6e3d4 100644 --- a/.github/workflows/rolling-rhel-binary-build.yml +++ b/.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: diff --git a/controller_interface/CHANGELOG.rst b/controller_interface/CHANGELOG.rst index 665982dff3..f07612bb75 100644 --- a/controller_interface/CHANGELOG.rst +++ b/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 `_) (`#842 `_) +* Contributors: Denis Štogl + 2.15.0 (2022-09-19) ------------------- diff --git a/controller_interface/include/controller_interface/controller_interface_base.hpp b/controller_interface/include/controller_interface/controller_interface_base.hpp index eeb7287912..87500aee75 100644 --- a/controller_interface/include/controller_interface/controller_interface_base.hpp +++ b/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: `/`. + * 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: `/`. + * 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; diff --git a/controller_interface/package.xml b/controller_interface/package.xml index 17b577f4d3..a70dcec95c 100644 --- a/controller_interface/package.xml +++ b/controller_interface/package.xml @@ -2,7 +2,7 @@ controller_interface - 2.15.0 + 2.16.0 Description of controller_interface Bence Magyar Denis Štogl diff --git a/controller_manager/CHANGELOG.rst b/controller_manager/CHANGELOG.rst index ee80e04175..321b2ec405 100644 --- a/controller_manager/CHANGELOG.rst +++ b/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 `_) (`#839 `_) +* Don't ask to export reference interface if controller not 'inactive' or 'active' (`#824 `_) (`#843 `_) +* Contributors: Denis Štogl, Tony Najjar + 2.15.0 (2022-09-19) ------------------- diff --git a/controller_manager/controller_manager/spawner.py b/controller_manager/controller_manager/spawner.py index 43a02865e1..be55f69223 100644 --- a/controller_manager/controller_manager/spawner.py +++ b/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): diff --git a/controller_manager/package.xml b/controller_manager/package.xml index f754c3b4d2..e2343a737b 100644 --- a/controller_manager/package.xml +++ b/controller_manager/package.xml @@ -2,7 +2,7 @@ controller_manager - 2.15.0 + 2.16.0 Description of controller_manager Bence Magyar Denis Štogl diff --git a/controller_manager/src/controller_manager.cpp b/controller_manager/src/controller_manager.cpp index 27470d4f1c..7a6d1672c9 100644 --- a/controller_manager/src/controller_manager.cpp +++ b/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 ( diff --git a/controller_manager/test/test_controller_manager_srvs.cpp b/controller_manager/test/test_controller_manager_srvs.cpp index b6247b8179..adb227d6fe 100644 --- a/controller_manager/test/test_controller_manager_srvs.cpp +++ b/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"); diff --git a/controller_manager_msgs/CHANGELOG.rst b/controller_manager_msgs/CHANGELOG.rst index 81a1cc1b08..3b4e9391a2 100644 --- a/controller_manager_msgs/CHANGELOG.rst +++ b/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) ------------------- diff --git a/controller_manager_msgs/package.xml b/controller_manager_msgs/package.xml index 414f399f18..8eb9cfe54d 100644 --- a/controller_manager_msgs/package.xml +++ b/controller_manager_msgs/package.xml @@ -2,7 +2,7 @@ controller_manager_msgs - 2.15.0 + 2.16.0 Messages and services for the controller manager. Bence Magyar Denis Štogl diff --git a/hardware_interface/CHANGELOG.rst b/hardware_interface/CHANGELOG.rst index 574f9ba4c7..696ba11a49 100644 --- a/hardware_interface/CHANGELOG.rst +++ b/hardware_interface/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package hardware_interface ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.16.0 (2022-10-17) +------------------- +* fix broken links (issue `#831 `_) (`#833 `_) (`#845 `_) +* Contributors: Manuel Muth + 2.15.0 (2022-09-19) ------------------- diff --git a/hardware_interface/doc/writing_new_hardware_interface.rst b/hardware_interface/doc/writing_new_hardware_interface.rst index eb4c528216..fb748359eb 100644 --- a/hardware_interface/doc/writing_new_hardware_interface.rst +++ b/hardware_interface/doc/writing_new_hardware_interface.rst @@ -3,7 +3,7 @@ Writing a new hardware interface ================================= -In ros2_control hardware system components are libraries, dynamically loaded by the controller manager using the `pluginlib `_ interface. +In ros2_control hardware system components are libraries, dynamically loaded by the controller manager using the `pluginlib `_ interface. The following is a step-by-step guide to create source files, basic tests, and compile rules for a new hardware interface. 1. **Preparing package** @@ -28,7 +28,7 @@ The following is a step-by-step guide to create source files, basic tests, and c 1. Take care that you use header guards. ROS2-style is using ``#ifndef`` and ``#define`` preprocessor directives. (For more information on this, a search engine is your friend :) ). 2. Include ``"hardware_interface/$interface_type$_interface.hpp"`` and ``visibility_control.h`` if you are using one. - ``$interface_type$`` can be ``Actuator``, ``Sensor`` or ``System`` depending on the type of hardware you are using. for more details about each type check `Hardware Components description `_. + ``$interface_type$`` can be ``Actuator``, ``Sensor`` or ``System`` depending on the type of hardware you are using. for more details about each type check `Hardware Components description `_. 3. Define a unique namespace for your hardware_interface. This is usually the package name written in ``snake_case``. @@ -37,7 +37,7 @@ The following is a step-by-step guide to create source files, basic tests, and c class HardwareInterfaceName : public hardware_interface::$InterfaceType$Interface 5. Add a constructor without parameters and the following public methods implementing ``LifecycleNodeInterface``: ``on_configure``, ``on_cleanup``, ``on_shutdown``, ``on_activate``, ``on_deactivate``, ``on_error``; and overriding ``$InterfaceType$Interface`` definition: ``on_init``, ``export_state_interfaces``, ``export_command_interfaces``, ``prepare_command_mode_switch`` (optional), ``perform_command_mode_switch`` (optional), ``read``, ``write``. - For further explanation of hardware-lifecycle check the `pull request `_ and for exact definitions of methods check the ``"hardware_interface/$interface_type$_interface.hpp"`` header or `doxygen documentation `_ for *Actuator*, *Sensor* or *System*. + For further explanation of hardware-lifecycle check the `pull request `_ and for exact definitions of methods check the ``"hardware_interface/$interface_type$_interface.hpp"`` header or `doxygen documentation `_ for *Actuator*, *Sensor* or *System*. 4. **Adding definitions into source file (.cpp)** @@ -137,4 +137,4 @@ That's it! Enjoy writing great controllers! Useful External References --------------------------- -- `Templates and scripts for generating controllers shell `_ **NOTE**: The script is currently only recommended to use for Foxy, not compatible with the API from Galactic and onwards. +- `Templates and scripts for generating controllers shell `_ **NOTE**: The script is currently only recommended to use for Foxy, not compatible with the API from Galactic and onwards. diff --git a/hardware_interface/package.xml b/hardware_interface/package.xml index 9b59c0ceb9..3bbe88ae6f 100644 --- a/hardware_interface/package.xml +++ b/hardware_interface/package.xml @@ -1,7 +1,7 @@ hardware_interface - 2.15.0 + 2.16.0 ros2_control hardware interface Bence Magyar Denis Štogl diff --git a/joint_limits/CHANGELOG.rst b/joint_limits/CHANGELOG.rst index 8804c07ec2..089cfd6fdd 100644 --- a/joint_limits/CHANGELOG.rst +++ b/joint_limits/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package joint_limits ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.16.0 (2022-10-17) +------------------- + 2.15.0 (2022-09-19) ------------------- diff --git a/joint_limits/package.xml b/joint_limits/package.xml index 17670ef73c..b1aef6e9d7 100644 --- a/joint_limits/package.xml +++ b/joint_limits/package.xml @@ -1,6 +1,6 @@ joint_limits - 2.15.0 + 2.16.0 Interfaces for handling of joint limits for controllers or hardware. Bence Magyar diff --git a/ros2_control/CHANGELOG.rst b/ros2_control/CHANGELOG.rst index 4f2d525fe3..c98d979d7f 100644 --- a/ros2_control/CHANGELOG.rst +++ b/ros2_control/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package ros2_control ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.16.0 (2022-10-17) +------------------- + 2.15.0 (2022-09-19) ------------------- diff --git a/ros2_control/package.xml b/ros2_control/package.xml index e8345e8f27..b923cc6b63 100644 --- a/ros2_control/package.xml +++ b/ros2_control/package.xml @@ -1,7 +1,7 @@ ros2_control - 2.15.0 + 2.16.0 Metapackage for ROS2 control related packages Bence Magyar Denis Štogl diff --git a/ros2_control_test_assets/CHANGELOG.rst b/ros2_control_test_assets/CHANGELOG.rst index ef27d77b7c..f3a1012c6c 100644 --- 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 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.16.0 (2022-10-17) +------------------- + 2.15.0 (2022-09-19) ------------------- diff --git a/ros2_control_test_assets/package.xml b/ros2_control_test_assets/package.xml index 54028035ef..64d31d01ef 100644 --- a/ros2_control_test_assets/package.xml +++ b/ros2_control_test_assets/package.xml @@ -2,7 +2,7 @@ ros2_control_test_assets - 2.15.0 + 2.16.0 The package provides shared test resources for ros2_control stack Bence Magyar diff --git a/ros2controlcli/CHANGELOG.rst b/ros2controlcli/CHANGELOG.rst index 4ae471687e..d90180b3a8 100644 --- a/ros2controlcli/CHANGELOG.rst +++ b/ros2controlcli/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package ros2controlcli ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.16.0 (2022-10-17) +------------------- + 2.15.0 (2022-09-19) ------------------- * pygraphviz functions updated (`#812 `_) (`#814 `_) diff --git a/ros2controlcli/package.xml b/ros2controlcli/package.xml index 65051b66e1..2b397e604f 100644 --- a/ros2controlcli/package.xml +++ b/ros2controlcli/package.xml @@ -2,7 +2,7 @@ ros2controlcli - 2.15.0 + 2.16.0 The ROS 2 command line tools for ROS2 Control. diff --git a/ros2controlcli/setup.py b/ros2controlcli/setup.py index 338ee94a91..e357dbe70a 100644 --- a/ros2controlcli/setup.py +++ b/ros2controlcli/setup.py @@ -5,7 +5,7 @@ setup( name=package_name, - version='2.15.0', + version='2.16.0', packages=find_packages(exclude=['test']), data_files=[ ('share/' + package_name, ['package.xml']), diff --git a/transmission_interface/CHANGELOG.rst b/transmission_interface/CHANGELOG.rst index 2a3512dc96..01ea46b3e0 100644 --- a/transmission_interface/CHANGELOG.rst +++ b/transmission_interface/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package transmission_interface ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.16.0 (2022-10-17) +------------------- + 2.15.0 (2022-09-19) ------------------- diff --git a/transmission_interface/package.xml b/transmission_interface/package.xml index f42c857457..4cf397c3c9 100644 --- a/transmission_interface/package.xml +++ b/transmission_interface/package.xml @@ -2,7 +2,7 @@ transmission_interface - 2.15.0 + 2.16.0 transmission_interface contains data structures for representing mechanical transmissions, methods for propagating values between actuator and joint spaces and tooling to support this. Bence Magyar Denis Štogl