diff --git a/controller_interface/CHANGELOG.rst b/controller_interface/CHANGELOG.rst index bd2d30f543..aaa2667a06 100644 --- a/controller_interface/CHANGELOG.rst +++ b/controller_interface/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package controller_interface ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +3.18.0 (2023-08-17) +------------------- +* add a broadcaster for range sensor (`#1091 `_) +* Contributors: flochre + 3.17.0 (2023-08-07) ------------------- diff --git a/controller_interface/package.xml b/controller_interface/package.xml index c0d8c271bd..d960bdf28a 100644 --- a/controller_interface/package.xml +++ b/controller_interface/package.xml @@ -2,7 +2,7 @@ controller_interface - 3.17.0 + 3.18.0 Description of controller_interface Bence Magyar Denis Štogl diff --git a/controller_manager/CHANGELOG.rst b/controller_manager/CHANGELOG.rst index 3deafc5565..2a9e348b8e 100644 --- a/controller_manager/CHANGELOG.rst +++ b/controller_manager/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package controller_manager ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +3.18.0 (2023-08-17) +------------------- +* Controller sorting and proper execution in a chain (Fixes `#853 `_) (`#1063 `_) +* Contributors: Sai Kishor Kothakota, Christoph Fröhlich, Dr Denis, Bence Magyar + 3.17.0 (2023-08-07) ------------------- * [CM] Fixes the issue with individual controller's update rate (`#1082 `_) diff --git a/controller_manager/doc/controller_chaining.rst b/controller_manager/doc/controller_chaining.rst index 437cb70509..d79e730d3f 100644 --- a/controller_manager/doc/controller_chaining.rst +++ b/controller_manager/doc/controller_chaining.rst @@ -63,48 +63,14 @@ After configuring a chainable controller, controller manager calls ``input_inter This is the same process as done by ``ResourceManager`` and hardware interfaces. Controller manager maintains "claimed" status of interface in a vector (the same as done in ``ResourceManager``). + Activation and Deactivation Chained Controllers ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Controller Manager has an additional parameter that describes how controllers are chained. -In the first version, the parameter-structure would have some semantic meaning embedded into it, as follows: - - -.. code-block:: yaml - - controller_manager: - ros__parameters: - chained_controllers: - - - parallel_group_1: - - controller1_1 - - controller1_2 - - - parallel_group_2: - - controller2_1 - - - parallel_group_3: - - controller3_1 - - controller3_2 - - controller3_3 - - ... - - - parallel_group_N: - - controllerN_1 - - ... - - controllerN_M - - - -This structure is motivated by ``filter_chain`` structure from `ros/filters repository `__, see `this file for implementation `__. - -This structure is stored internally by controller manager into an ordered map (``std::map>``) with group name as key. -When a controller should be deactivated, the controller manager deactivates all the controllers in the preceding groups first. -All other controllers from the group stay active, as well as all controllers in the following groups. -NOTE: In the future this could be done more intelligently, i.e., deactivate only controllers in the preceding groups that actually precede the controller that should be deactivated. - -On the other hand, the controller should be manually activated in the reverse order, i.e., from the those closer to the hardware toward those preceding them. +Chained controllers must be activated and deactivated together or in the proper order. +This means you must first activate all following controllers to have the preceding one activated. +For the deactivation there is the inverse rule - all preceding controllers have to be deactivated before the following controller is deactivated. +One can also think of it as an actual chain, you can not add a chain link or break the chain in the middle. Debugging outputs diff --git a/controller_manager/package.xml b/controller_manager/package.xml index 1d9b7821aa..adb6769d9c 100644 --- a/controller_manager/package.xml +++ b/controller_manager/package.xml @@ -2,7 +2,7 @@ controller_manager - 3.17.0 + 3.18.0 Description of controller_manager Bence Magyar Denis Štogl diff --git a/controller_manager_msgs/CHANGELOG.rst b/controller_manager_msgs/CHANGELOG.rst index 57bb1595ff..8072652c55 100644 --- a/controller_manager_msgs/CHANGELOG.rst +++ b/controller_manager_msgs/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package controller_manager_msgs ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +3.18.0 (2023-08-17) +------------------- + 3.17.0 (2023-08-07) ------------------- diff --git a/controller_manager_msgs/package.xml b/controller_manager_msgs/package.xml index f55673871c..f7b9eb5642 100644 --- a/controller_manager_msgs/package.xml +++ b/controller_manager_msgs/package.xml @@ -2,7 +2,7 @@ controller_manager_msgs - 3.17.0 + 3.18.0 Messages and services for the controller manager. Bence Magyar Denis Štogl diff --git a/hardware_interface/CHANGELOG.rst b/hardware_interface/CHANGELOG.rst index 6ca31d134a..0428cf4f8e 100644 --- a/hardware_interface/CHANGELOG.rst +++ b/hardware_interface/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package hardware_interface ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +3.18.0 (2023-08-17) +------------------- + 3.17.0 (2023-08-07) ------------------- * Add checks if hardware is initialized. (`#1054 `_) diff --git a/hardware_interface/package.xml b/hardware_interface/package.xml index fbe85e48e8..e3a2f4f71e 100644 --- a/hardware_interface/package.xml +++ b/hardware_interface/package.xml @@ -1,7 +1,7 @@ hardware_interface - 3.17.0 + 3.18.0 ros2_control hardware interface Bence Magyar Denis Štogl diff --git a/joint_limits/CHANGELOG.rst b/joint_limits/CHANGELOG.rst index 313a4d83ed..46acee3f8d 100644 --- a/joint_limits/CHANGELOG.rst +++ b/joint_limits/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package joint_limits ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +3.18.0 (2023-08-17) +------------------- + 3.17.0 (2023-08-07) ------------------- diff --git a/joint_limits/package.xml b/joint_limits/package.xml index 52e4bb82d1..f1c0365cfd 100644 --- a/joint_limits/package.xml +++ b/joint_limits/package.xml @@ -1,6 +1,6 @@ joint_limits - 3.17.0 + 3.18.0 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 b400547e27..272c2d3fe4 100644 --- a/ros2_control/CHANGELOG.rst +++ b/ros2_control/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package ros2_control ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +3.18.0 (2023-08-17) +------------------- + 3.17.0 (2023-08-07) ------------------- diff --git a/ros2_control/package.xml b/ros2_control/package.xml index 74b1bc46cc..15a379933a 100644 --- a/ros2_control/package.xml +++ b/ros2_control/package.xml @@ -1,7 +1,7 @@ ros2_control - 3.17.0 + 3.18.0 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 fc362d9f3a..d633c415d1 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 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +3.18.0 (2023-08-17) +------------------- + 3.17.0 (2023-08-07) ------------------- diff --git a/ros2_control_test_assets/package.xml b/ros2_control_test_assets/package.xml index a2ce000ccd..c77b828276 100644 --- a/ros2_control_test_assets/package.xml +++ b/ros2_control_test_assets/package.xml @@ -2,7 +2,7 @@ ros2_control_test_assets - 3.17.0 + 3.18.0 The package provides shared test resources for ros2_control stack Bence Magyar diff --git a/ros2controlcli/CHANGELOG.rst b/ros2controlcli/CHANGELOG.rst index 1a8b32b1d3..a5a153faf1 100644 --- a/ros2controlcli/CHANGELOG.rst +++ b/ros2controlcli/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package ros2controlcli ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +3.18.0 (2023-08-17) +------------------- + 3.17.0 (2023-08-07) ------------------- * Add info where the pdf is saved to view_controller_chains (`#1094 `_) diff --git a/ros2controlcli/package.xml b/ros2controlcli/package.xml index 1af234dcf3..92eba51b62 100644 --- a/ros2controlcli/package.xml +++ b/ros2controlcli/package.xml @@ -2,7 +2,7 @@ ros2controlcli - 3.17.0 + 3.18.0 The ROS 2 command line tools for ROS2 Control. diff --git a/ros2controlcli/setup.py b/ros2controlcli/setup.py index 49d96a5eb6..aa2b19b830 100644 --- a/ros2controlcli/setup.py +++ b/ros2controlcli/setup.py @@ -19,7 +19,7 @@ setup( name=package_name, - version="3.17.0", + version="3.18.0", 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 index 1b79cea368..9996ff5a85 100644 --- a/rqt_controller_manager/CHANGELOG.rst +++ b/rqt_controller_manager/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package rqt_controller_manager ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +3.18.0 (2023-08-17) +------------------- + 3.17.0 (2023-08-07) ------------------- diff --git a/rqt_controller_manager/package.xml b/rqt_controller_manager/package.xml index 8ccf0bc2c1..4888459d49 100644 --- a/rqt_controller_manager/package.xml +++ b/rqt_controller_manager/package.xml @@ -2,7 +2,7 @@ rqt_controller_manager - 3.17.0 + 3.18.0 Graphical frontend for interacting with the controller manager. Bence Magyar Denis Štogl diff --git a/rqt_controller_manager/setup.py b/rqt_controller_manager/setup.py index d46d1afeb7..318cf556d2 100644 --- a/rqt_controller_manager/setup.py +++ b/rqt_controller_manager/setup.py @@ -6,7 +6,7 @@ setup( name=package_name, - version="3.17.0", + version="3.18.0", 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 index e3e1d776f0..c45b040c1b 100644 --- a/transmission_interface/CHANGELOG.rst +++ b/transmission_interface/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package transmission_interface ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +3.18.0 (2023-08-17) +------------------- + 3.17.0 (2023-08-07) ------------------- diff --git a/transmission_interface/package.xml b/transmission_interface/package.xml index 8b0687f6d7..9e2b2fded2 100644 --- a/transmission_interface/package.xml +++ b/transmission_interface/package.xml @@ -2,7 +2,7 @@ transmission_interface - 3.17.0 + 3.18.0 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