From 43d86bbb5a1b53f2b204ea4a6b8d18647c78c0db Mon Sep 17 00:00:00 2001 From: Bence Magyar Date: Thu, 17 Aug 2023 13:37:02 +0100 Subject: [PATCH 1/3] Update changelogs --- controller_interface/CHANGELOG.rst | 5 +++++ controller_manager/CHANGELOG.rst | 5 +++++ controller_manager_msgs/CHANGELOG.rst | 3 +++ hardware_interface/CHANGELOG.rst | 3 +++ joint_limits/CHANGELOG.rst | 3 +++ ros2_control/CHANGELOG.rst | 3 +++ ros2_control_test_assets/CHANGELOG.rst | 3 +++ ros2controlcli/CHANGELOG.rst | 3 +++ rqt_controller_manager/CHANGELOG.rst | 3 +++ transmission_interface/CHANGELOG.rst | 3 +++ 10 files changed, 34 insertions(+) diff --git a/controller_interface/CHANGELOG.rst b/controller_interface/CHANGELOG.rst index bd2d30f543..5136fd4aa2 100644 --- a/controller_interface/CHANGELOG.rst +++ b/controller_interface/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package controller_interface ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* add a broadcaster for range sensor (`#1091 `_) +* Contributors: flochre + 3.17.0 (2023-08-07) ------------------- diff --git a/controller_manager/CHANGELOG.rst b/controller_manager/CHANGELOG.rst index 3deafc5565..81b38daf71 100644 --- a/controller_manager/CHANGELOG.rst +++ b/controller_manager/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package controller_manager ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* 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_msgs/CHANGELOG.rst b/controller_manager_msgs/CHANGELOG.rst index 57bb1595ff..e2ea36bdff 100644 --- a/controller_manager_msgs/CHANGELOG.rst +++ b/controller_manager_msgs/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package controller_manager_msgs ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 3.17.0 (2023-08-07) ------------------- diff --git a/hardware_interface/CHANGELOG.rst b/hardware_interface/CHANGELOG.rst index 6ca31d134a..c368c0eb64 100644 --- a/hardware_interface/CHANGELOG.rst +++ b/hardware_interface/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package hardware_interface ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 3.17.0 (2023-08-07) ------------------- * Add checks if hardware is initialized. (`#1054 `_) diff --git a/joint_limits/CHANGELOG.rst b/joint_limits/CHANGELOG.rst index 313a4d83ed..8c74220aa4 100644 --- a/joint_limits/CHANGELOG.rst +++ b/joint_limits/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package joint_limits ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 3.17.0 (2023-08-07) ------------------- diff --git a/ros2_control/CHANGELOG.rst b/ros2_control/CHANGELOG.rst index b400547e27..4e1f14d790 100644 --- a/ros2_control/CHANGELOG.rst +++ b/ros2_control/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package ros2_control ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 3.17.0 (2023-08-07) ------------------- diff --git a/ros2_control_test_assets/CHANGELOG.rst b/ros2_control_test_assets/CHANGELOG.rst index fc362d9f3a..75715f5a73 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 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 3.17.0 (2023-08-07) ------------------- diff --git a/ros2controlcli/CHANGELOG.rst b/ros2controlcli/CHANGELOG.rst index 1a8b32b1d3..14048154ee 100644 --- a/ros2controlcli/CHANGELOG.rst +++ b/ros2controlcli/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package ros2controlcli ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 3.17.0 (2023-08-07) ------------------- * Add info where the pdf is saved to view_controller_chains (`#1094 `_) diff --git a/rqt_controller_manager/CHANGELOG.rst b/rqt_controller_manager/CHANGELOG.rst index 1b79cea368..99f8f6d91f 100644 --- a/rqt_controller_manager/CHANGELOG.rst +++ b/rqt_controller_manager/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package rqt_controller_manager ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 3.17.0 (2023-08-07) ------------------- diff --git a/transmission_interface/CHANGELOG.rst b/transmission_interface/CHANGELOG.rst index e3e1d776f0..6d1d67a2d9 100644 --- a/transmission_interface/CHANGELOG.rst +++ b/transmission_interface/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package transmission_interface ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 3.17.0 (2023-08-07) ------------------- From 33e77b8d28cc5a29780b0a13f669934c564a5d8c Mon Sep 17 00:00:00 2001 From: Bence Magyar Date: Thu, 17 Aug 2023 13:37:18 +0100 Subject: [PATCH 2/3] 3.18.0 --- controller_interface/CHANGELOG.rst | 4 ++-- controller_interface/package.xml | 2 +- controller_manager/CHANGELOG.rst | 4 ++-- controller_manager/package.xml | 2 +- controller_manager_msgs/CHANGELOG.rst | 4 ++-- controller_manager_msgs/package.xml | 2 +- hardware_interface/CHANGELOG.rst | 4 ++-- hardware_interface/package.xml | 2 +- joint_limits/CHANGELOG.rst | 4 ++-- joint_limits/package.xml | 2 +- ros2_control/CHANGELOG.rst | 4 ++-- ros2_control/package.xml | 2 +- ros2_control_test_assets/CHANGELOG.rst | 4 ++-- ros2_control_test_assets/package.xml | 2 +- ros2controlcli/CHANGELOG.rst | 4 ++-- ros2controlcli/package.xml | 2 +- ros2controlcli/setup.py | 2 +- rqt_controller_manager/CHANGELOG.rst | 4 ++-- rqt_controller_manager/package.xml | 2 +- rqt_controller_manager/setup.py | 2 +- transmission_interface/CHANGELOG.rst | 4 ++-- transmission_interface/package.xml | 2 +- 22 files changed, 32 insertions(+), 32 deletions(-) diff --git a/controller_interface/CHANGELOG.rst b/controller_interface/CHANGELOG.rst index 5136fd4aa2..aaa2667a06 100644 --- a/controller_interface/CHANGELOG.rst +++ b/controller_interface/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package controller_interface ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +3.18.0 (2023-08-17) +------------------- * add a broadcaster for range sensor (`#1091 `_) * Contributors: flochre 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 81b38daf71..2a9e348b8e 100644 --- a/controller_manager/CHANGELOG.rst +++ b/controller_manager/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package controller_manager ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +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 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 e2ea36bdff..8072652c55 100644 --- a/controller_manager_msgs/CHANGELOG.rst +++ b/controller_manager_msgs/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package controller_manager_msgs ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +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 c368c0eb64..0428cf4f8e 100644 --- a/hardware_interface/CHANGELOG.rst +++ b/hardware_interface/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package hardware_interface ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +3.18.0 (2023-08-17) +------------------- 3.17.0 (2023-08-07) ------------------- 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 8c74220aa4..46acee3f8d 100644 --- a/joint_limits/CHANGELOG.rst +++ b/joint_limits/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package joint_limits ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +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 4e1f14d790..272c2d3fe4 100644 --- a/ros2_control/CHANGELOG.rst +++ b/ros2_control/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package ros2_control ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +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 75715f5a73..d633c415d1 100644 --- a/ros2_control_test_assets/CHANGELOG.rst +++ b/ros2_control_test_assets/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package ros2_control_test_assets ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +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 14048154ee..a5a153faf1 100644 --- a/ros2controlcli/CHANGELOG.rst +++ b/ros2controlcli/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package ros2controlcli ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +3.18.0 (2023-08-17) +------------------- 3.17.0 (2023-08-07) ------------------- 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 99f8f6d91f..9996ff5a85 100644 --- a/rqt_controller_manager/CHANGELOG.rst +++ b/rqt_controller_manager/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package rqt_controller_manager ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +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 6d1d67a2d9..c45b040c1b 100644 --- a/transmission_interface/CHANGELOG.rst +++ b/transmission_interface/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package transmission_interface ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +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 From c122455ddc9db6b83aa7c69c797a7b5c6b3c00ef Mon Sep 17 00:00:00 2001 From: "Dr. Denis" Date: Thu, 24 Aug 2023 22:20:29 +0200 Subject: [PATCH 3/3] [Docs] Fix information about activation and deactivation of chainable controllers (#1104) --- .../doc/controller_chaining.rst | 44 +++---------------- 1 file changed, 5 insertions(+), 39 deletions(-) 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