Merge branch 'master' into finishing-async-stuff

.github/workflows/ci-coverage-build.yml

@@ -3,6 +3,9 @@ on:
   workflow_dispatch:
     branches:
       - master
+  push:
+    branches:
+      - master
   pull_request:
     branches:
       - master
@@ -19,7 +22,7 @@ jobs:
       - uses: ros-tooling/[email protected]
         with:
           required-ros-distributions: ${{ env.ROS_DISTRO }}
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
       - uses: ros-tooling/[email protected]
         with:
           target-ros2-distro: ${{ env.ROS_DISTRO }}
@@ -49,7 +52,7 @@ jobs:
           file: ros_ws/lcov/total_coverage.info
           flags: unittests
           name: codecov-umbrella
-      - uses: actions/[email protected].2
+      - uses: actions/[email protected].3
         with:
           name: colcon-logs-ubuntu-22.04-coverage-rolling
           path: ros_ws/log

.github/workflows/ci-format.yml

@@ -12,8 +12,8 @@ jobs:
     name: Format
     runs-on: ubuntu-latest
     steps:
-    - uses: actions/checkout@v3
-    - uses: actions/[email protected].0
+    - uses: actions/checkout@v4
+    - uses: actions/[email protected].1
       with:
         python-version: '3.10'
     - name: Install system hooks

.github/workflows/ci-ros-lint.yml

@@ -13,7 +13,7 @@ jobs:
     env:
       AMENT_CPPCHECK_ALLOW_SLOW_VERSIONS: true
     steps:
-    - uses: actions/checkout@v3
+    - uses: actions/checkout@v4
     - uses: ros-tooling/[email protected]
     - uses: ros-tooling/[email protected]
       with:
@@ -37,7 +37,7 @@ jobs:
       matrix:
           linter: [cpplint]
     steps:
-    - uses: actions/checkout@v3
+    - uses: actions/checkout@v4
     - uses: ros-tooling/[email protected]
     - uses: ros-tooling/[email protected]
       with:

.github/workflows/docker.yml

@@ -19,21 +19,21 @@ jobs:
 
     steps:
       - name: Set up Docker Buildx
-        uses: docker/setup-buildx-action@v2
+        uses: docker/setup-buildx-action@v3
 
       - name: Checkout repository
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
 
       - name: Log in to the Container registry
-        uses: docker/login-action@v2
+        uses: docker/login-action@v3
         with:
           registry: ${{ env.REGISTRY }}
           username: ${{ github.actor }}
           password: ${{ secrets.GITHUB_TOKEN }}
 
       - name: Docker meta
         id: meta
-        uses: docker/metadata-action@v4
+        uses: docker/metadata-action@v5
         with:
           images: ${{ env.REGISTRY }}/${{ env.IMAGE_NAME }}_release
           tags: |
@@ -42,7 +42,7 @@ jobs:
             type=semver,pattern={{major}}.{{minor}}
 
       - name: Build and push Docker image
-        uses: docker/build-push-action@v4
+        uses: docker/build-push-action@v5
         with:
           context: .
           push: true
@@ -59,21 +59,21 @@ jobs:
 
     steps:
       - name: Set up Docker Buildx
-        uses: docker/setup-buildx-action@v2
+        uses: docker/setup-buildx-action@v3
 
       - name: Checkout repository
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
 
       - name: Log in to the Container registry
-        uses: docker/login-action@v2
+        uses: docker/login-action@v3
         with:
           registry: ${{ env.REGISTRY }}
           username: ${{ github.actor }}
           password: ${{ secrets.GITHUB_TOKEN }}
 
       - name: Docker meta
         id: meta
-        uses: docker/metadata-action@v4
+        uses: docker/metadata-action@v5
         with:
           images: ${{ env.REGISTRY }}/${{ env.IMAGE_NAME }}_source
           tags: |
@@ -82,7 +82,7 @@ jobs:
             type=semver,pattern={{major}}.{{minor}}
 
       - name: Build and push Docker image
-        uses: docker/build-push-action@v4
+        uses: docker/build-push-action@v5
         with:
           context: .
           push: true

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

@@ -11,7 +11,7 @@ jobs:
   abi_check:
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
       - uses: ros-industrial/industrial_ci@master
         env:
           ROS_DISTRO: humble

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

@@ -21,7 +21,7 @@ jobs:
       ROS_DISTRO: humble
     container: ghcr.io/ros-controls/ros:humble-rhel
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
         with:
           path: src/ros2_control
       - run: |

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

@@ -11,7 +11,7 @@ jobs:
   abi_check:
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
       - uses: ros-industrial/industrial_ci@master
         env:
           ROS_DISTRO: iron

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

@@ -21,7 +21,7 @@ jobs:
       ROS_DISTRO: iron
     container: ghcr.io/ros-controls/ros:iron-rhel
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
         with:
           path: src/ros2_control
       - run: |

.github/workflows/prerelease-check.yml

@@ -26,7 +26,7 @@ jobs:
   pre_release:
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
         with:
           ref: ${{ github.event.inputs.branch }}
       - name: industrial_ci

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

@@ -58,10 +58,10 @@ jobs:
     steps:
       - name: Checkout ${{ inputs.ref }} when build is not scheduled
         if: ${{ github.event_name != 'schedule' }}
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
       - name: Checkout ${{ inputs.ref }} on scheduled build
         if: ${{ github.event_name == 'schedule' }}
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
         with:
           ref: ${{ inputs.ref_for_scheduled_build }}
       - name: cache target_ws

.github/workflows/reusable-ros-tooling-source-build.yml

@@ -29,7 +29,7 @@ jobs:
       - uses: ros-tooling/[email protected]
         with:
           required-ros-distributions: ${{ inputs.ros_distro }}
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
         with:
           ref: ${{ inputs.ref }}
       - uses: ros-tooling/[email protected]
@@ -49,7 +49,7 @@ jobs:
             https://raw.githubusercontent.com/ros2/ros2/${{ inputs.ros2_repo_branch }}/ros2.repos
             https://raw.githubusercontent.com/${{ github.repository }}/${{ github.sha }}/ros2_control.${{ inputs.ros_distro }}.repos?token=${{ secrets.GITHUB_TOKEN }}
           colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
-      - uses: actions/[email protected].2
+      - uses: actions/[email protected].3
         with:
           name: colcon-logs-ubuntu-22.04
           path: ros_ws/log

.github/workflows/reviewer_lottery.yml

@@ -7,7 +7,7 @@ jobs:
   test:
     runs-on: ubuntu-latest
     steps:
-    - uses: actions/checkout@v3
+    - uses: actions/checkout@v4
     - uses: uesteibar/reviewer-lottery@v3
       with:
         repo-token: ${{ secrets.GITHUB_TOKEN }}

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

@@ -17,7 +17,7 @@ jobs:
       ROS_DISTRO: rolling
     container: ghcr.io/ros-controls/ros:rolling-rhel
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
         with:
           path: src/ros2_control
       - run: |

controller_interface/CHANGELOG.rst

@@ -2,6 +2,14 @@
 Changelog for package controller_interface
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.19.1 (2023-10-04)
+-------------------
+
+3.19.0 (2023-10-03)
+-------------------
+* Enable services for setting the log-level in controller per default (`#1102 <https://github.com/ros-controls/ros2_control/issues/1102>`_)
+* Contributors: Dr. Denis
+
 3.18.0 (2023-08-17)
 -------------------
 * add a broadcaster for range sensor (`#1091 <https://github.com/ros-controls/ros2_control/issues/1091>`_)

controller_interface/include/controller_interface/controller_interface_base.hpp

@@ -115,7 +115,7 @@ class ControllerInterfaceBase : public rclcpp_lifecycle::node_interfaces::Lifecy
   CONTROLLER_INTERFACE_PUBLIC
   virtual return_type init(
     const std::string & controller_name, const std::string & namespace_ = "",
-    const rclcpp::NodeOptions & node_options = rclcpp::NodeOptions());
+    const rclcpp::NodeOptions & node_options = rclcpp::NodeOptions().enable_logger_service(true));
 
   /// Custom configure method to read additional parameters for controller-nodes
   /*

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>3.18.0</version>
+  <version>3.19.1</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 +2,18 @@
 Changelog for package controller_manager
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.19.1 (2023-10-04)
+-------------------
+* Fix next controller update cycle time clock (`#1127 <https://github.com/ros-controls/ros2_control/issues/1127>`_)
+* Contributors: Sai Kishor Kothakota
+
+3.19.0 (2023-10-03)
+-------------------
+* Proper controller update rate (`#1105 <https://github.com/ros-controls/ros2_control/issues/1105>`_)
+* Fix multiple calls to export reference interfaces (`#1108 <https://github.com/ros-controls/ros2_control/issues/1108>`_)
+* [Docs] Fix information about activation and deactivation of chainable controllers (`#1104 <https://github.com/ros-controls/ros2_control/issues/1104>`_)
+* Contributors: Dr. Denis, Sai Kishor Kothakota
+
 3.18.0 (2023-08-17)
 -------------------
 * Controller sorting and proper execution in a chain (Fixes `#853 <https://github.com/ros-controls/ros2_control/issues/853>`_) (`#1063 <https://github.com/ros-controls/ros2_control/issues/1063>`_)

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 <https://github.com/ros/filters/tree/ros2>`__, see `this file for implementation <https://github.com/ros/filters/blob/ros2/include/filters/filter_chain.hpp>`__.
-
-This structure is stored internally by controller manager into an ordered map (``std::map<std::string, std::vector<std::string>>``) 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

controller_manager/include/controller_manager/controller_manager.hpp

@@ -59,7 +59,7 @@ namespace controller_manager
 {
 using ControllersListIterator = std::vector<controller_manager::ControllerSpec>::const_iterator;
 
-rclcpp::NodeOptions get_cm_node_options();
+CONTROLLER_MANAGER_PUBLIC rclcpp::NodeOptions get_cm_node_options();
 
 class ControllerManager : public rclcpp::Node
 {
@@ -123,6 +123,7 @@ class ControllerManager : public rclcpp::Node
     controller_spec.c = controller;
     controller_spec.info.name = controller_name;
     controller_spec.info.type = controller_type;
+    controller_spec.next_update_cycle_time = std::make_shared<rclcpp::Time>(0);
     return add_controller_impl(controller_spec);
   }
 

controller_manager/include/controller_manager/controller_spec.hpp

@@ -20,6 +20,7 @@
 #define CONTROLLER_MANAGER__CONTROLLER_SPEC_HPP_
 
 #include <map>
+#include <memory>
 #include <string>
 #include <vector>
 #include "controller_interface/controller_interface.hpp"
@@ -37,6 +38,7 @@ struct ControllerSpec
 {
   hardware_interface::ControllerInfo info;
   controller_interface::ControllerInterfaceBaseSharedPtr c;
+  std::shared_ptr<rclcpp::Time> next_update_cycle_time;
 };
 
 }  // namespace controller_manager

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>3.18.0</version>
+  <version>3.19.1</version>
   <description>Description of controller_manager</description>
   <maintainer email="[email protected]">Bence Magyar</maintainer>
   <maintainer email="[email protected]">Denis Štogl</maintainer>