Merge branch 'ros-controls:master' into issue-695

.clang-format

@@ -12,4 +12,5 @@ DerivePointerAlignment: false
 PointerAlignment: Middle
 ReflowComments: true
 IncludeBlocks: Preserve
+InsertBraces: true
 ...

.github/ISSUE_TEMPLATE/good-first-issue.md

@@ -55,6 +55,6 @@ Don’t hesitate to ask questions or to get help if you feel like you are gettin
 Furthermore, you find helpful resources here:
 * [ROS2 Control Contribution Guide](https://control.ros.org/master/doc/contributing/contributing.html)
 * [ROS2 Tutorials](https://docs.ros.org/en/rolling/Tutorials.html)
-* [ROS Answers](https://answers.ros.org/questions/)
+* [Robotics Stack Exchange](https://robotics.stackexchange.com)
 
 **Good luck with your first issue!**

.github/dependabot.yml

@@ -11,3 +11,17 @@ updates:
     directory: "/"
     schedule:
       interval: "weekly"
+  - package-ecosystem: "github-actions"
+    # Workflow files stored in the
+    # default location of `.github/workflows`
+    directory: "/"
+    schedule:
+      interval: "weekly"
+    target-branch: "humble"
+  - package-ecosystem: "github-actions"
+    # Workflow files stored in the
+    # default location of `.github/workflows`
+    directory: "/"
+    schedule:
+      interval: "weekly"
+    target-branch: "iron"

.github/reviewer-lottery.yml

@@ -13,28 +13,20 @@ groups:
   - name: reviewers
     reviewers: 5
     usernames:
-      - rosterloh
-      - progtologist
+      - aprotyas
       - arne48
+      - bijoua29
       - christophfroehlich
       - DasRoteSkelett
-      - sgmurray
-      - harderthan
-      - jaron-l
-      - malapatiravi
       - erickisos
-      - sachinkum0009
-      - qiayuanliao
-      - homalozoa
-      - anfemosa
-      - jackcenter
-      - VX792
-      - mhubii
+      - fmauch
+      - jaron-l
       - livanov93
-      - aprotyas
+      - mcbed
+      - moriarty
+      - olivier-stasse
       - peterdavidfagan
-      - duringhof
+      - progtologist
+      - saikishor
       - VanshGehlot
-      - bijoua29
-      - LukasMacha97
-      - mcbed
+      - VX792

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

@@ -46,7 +46,7 @@ jobs:
           file: ros_ws/lcov/total_coverage.info
           flags: unittests
           name: codecov-umbrella
-      - uses: actions/upload-artifact@v3.1.3
+      - uses: actions/upload-artifact@v4.0.0
         with:
           name: colcon-logs-ubuntu-22.04-coverage-rolling
           path: ros_ws/log

.github/workflows/ci-format.yml

@@ -13,7 +13,7 @@ jobs:
     runs-on: ubuntu-latest
     steps:
     - uses: actions/checkout@v4
-    - uses: actions/setup-python@v4.7.1
+    - uses: actions/setup-python@v5.0.0
       with:
         python-version: '3.10'
     - name: Install system hooks

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

@@ -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/upload-artifact@v3.1.3
+      - uses: actions/upload-artifact@v4.0.0
         with:
           name: colcon-logs-ubuntu-22.04
           path: ros_ws/log

.pre-commit-config.yaml

@@ -62,7 +62,7 @@ repos:
 
   # CPP hooks
   - repo: https://github.com/pre-commit/mirrors-clang-format
-    rev: v14.0.6
+    rev: v15.0.6
     hooks:
       - id: clang-format
 

controller_interface/CHANGELOG.rst

@@ -2,6 +2,9 @@
 Changelog for package controller_interface
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.2.0 (2023-12-12)
+------------------
+
 4.1.0 (2023-11-30)
 ------------------
 * Add few warning compiler options to error (`#1181 <https://github.com/ros-controls/ros2_control/issues/1181>`_)

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>4.1.0</version>
+  <version>4.2.0</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 +2,14 @@
 Changelog for package controller_manager
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.2.0 (2023-12-12)
+------------------
+* [CM] Linting if/else statements (`#1193 <https://github.com/ros-controls/ros2_control/issues/1193>`_)
+* Reformat with braces added (`#1209 <https://github.com/ros-controls/ros2_control/issues/1209>`_)
+* Report inactive controllers as a diagnostics ok instead of an error (`#1184 <https://github.com/ros-controls/ros2_control/issues/1184>`_)
+* Fix controller sorting issue while loading large number of controllers (`#1180 <https://github.com/ros-controls/ros2_control/issues/1180>`_)
+* Contributors: Bence Magyar, Dr. Denis, Lennart Nachtigall, Sai Kishor Kothakota
+
 4.1.0 (2023-11-30)
 ------------------
 * Add few warning compiler options to error (`#1181 <https://github.com/ros-controls/ros2_control/issues/1181>`_)

controller_manager/CMakeLists.txt

@@ -141,6 +141,7 @@ if(BUILD_TESTING)
     test_chainable_controller
     ros2_control_test_assets::ros2_control_test_assets
   )
+  set_tests_properties(test_controller_manager_srvs PROPERTIES TIMEOUT 120)
   ament_target_dependencies(test_controller_manager_srvs
     controller_manager_msgs
   )

controller_manager/doc/controller_chaining.rst

@@ -76,7 +76,9 @@ One can also think of it as an actual chain, you can not add a chain link or bre
 Debugging outputs
 ----------------------------
 
-Flag ``unavailable`` on reference interface does not provide much information about anything at the moment. So don't get confused by it. The reason we have it are internal implementation reasons irelevant for the usage.
+- The reference interfaces are ``unavailable`` and ``unclaimed``, when the controller exporting them is in inactive state
+- The reference interfaces are ``available`` and  ``unclaimed``, when the controller exporting them is in an active state but is not in chained mode with any other controller (The controllers gets its references from the subscriber)
+- The reference interfaces are ``available`` and  ``claimed``, when the controller exporting them is in active state and also in chained mode with other controllers (The controller gets its references from the controllers it is chained with)
 
 
 Closing remarks

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>4.1.0</version>
+  <version>4.2.0</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

@@ -150,7 +150,9 @@ std::vector<std::string> get_following_controller_names(
   }
   // If the controller is not configured, return empty
   if (!(is_controller_active(controller_it->c) || is_controller_inactive(controller_it->c)))
+  {
     return following_controllers;
+  }
   const auto cmd_itfs = controller_it->c->command_interface_configuration().names;
   for (const auto & itf : cmd_itfs)
   {
@@ -210,7 +212,10 @@ std::vector<std::string> get_preceding_controller_names(
   for (const auto & ctrl : controllers)
   {
     // If the controller is not configured, then continue
-    if (!(is_controller_active(ctrl.c) || is_controller_inactive(ctrl.c))) continue;
+    if (!(is_controller_active(ctrl.c) || is_controller_inactive(ctrl.c)))
+    {
+      continue;
+    }
     auto cmd_itfs = ctrl.c->command_interface_configuration().names;
     for (const auto & itf : cmd_itfs)
     {
@@ -1381,6 +1386,11 @@ void ControllerManager::deactivate_controllers(
     {
       const auto new_state = controller->get_node()->deactivate();
       controller->release_interfaces();
+      // if it is a chainable controller, make the reference interfaces unavailable on deactivation
+      if (controller->is_chainable())
+      {
+        resource_manager_->make_controller_reference_interfaces_unavailable(request);
+      }
       if (new_state.id() != lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE)
       {
         RCLCPP_ERROR(
@@ -1414,18 +1424,10 @@ void ControllerManager::switch_chained_mode(
     auto controller = found_it->c;
     if (!is_controller_active(*controller))
     {
-      if (controller->set_chained_mode(to_chained_mode))
-      {
-        if (to_chained_mode)
-        {
-          resource_manager_->make_controller_reference_interfaces_available(request);
-        }
-        else
-        {
-          resource_manager_->make_controller_reference_interfaces_unavailable(request);
-        }
-      }
-      else
+      // if it is a chainable controller, make the reference interfaces available on preactivation
+      // (This is needed when you activate a couple of chainable controller altogether)
+      resource_manager_->make_controller_reference_interfaces_available(request);
+      if (!controller->set_chained_mode(to_chained_mode))
       {
         RCLCPP_ERROR(
           get_logger(),
@@ -1562,6 +1564,12 @@ void ControllerManager::activate_controllers(
         lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE);
     }
 
+    // if it is a chainable controller, make the reference interfaces available on activation
+    if (controller->is_chainable())
+    {
+      resource_manager_->make_controller_reference_interfaces_available(request);
+    }
+
     if (controller->is_async())
     {
       async_controller_threads_.at(controller_name)->activate();
@@ -2443,7 +2451,10 @@ bool ControllerManager::controller_sorting(
   if (!((is_controller_active(ctrl_a.c) || is_controller_inactive(ctrl_a.c)) &&
         (is_controller_active(ctrl_b.c) || is_controller_inactive(ctrl_b.c))))
   {
-    if (is_controller_active(ctrl_a.c) || is_controller_inactive(ctrl_a.c)) return true;
+    if (is_controller_active(ctrl_a.c) || is_controller_inactive(ctrl_a.c))
+    {
+      return true;
+    }
     return false;
   }
 
@@ -2454,10 +2465,9 @@ bool ControllerManager::controller_sorting(
     // The case of the controllers that don't have any command interfaces. For instance,
     // joint_state_broadcaster
     // If the controller b is also under the same condition, then maintain their initial order
-    if (ctrl_b.c->command_interface_configuration().names.empty() || !ctrl_b.c->is_chainable())
-      return false;
-    else
-      return true;
+    const auto command_interfaces_exist =
+      !ctrl_b.c->command_interface_configuration().names.empty();
+    return ctrl_b.c->is_chainable() && command_interfaces_exist;
   }
   else if (ctrl_b.c->command_interface_configuration().names.empty() || !ctrl_b.c->is_chainable())
   {
@@ -2467,12 +2477,17 @@ bool ControllerManager::controller_sorting(
   else
   {
     auto following_ctrls = get_following_controller_names(ctrl_a.info.name, controllers);
-    if (following_ctrls.empty()) return false;
+    if (following_ctrls.empty())
+    {
+      return false;
+    }
     // If the ctrl_b is any of the following controllers of ctrl_a, then place ctrl_a before ctrl_b
     if (
       std::find(following_ctrls.begin(), following_ctrls.end(), ctrl_b.info.name) !=
       following_ctrls.end())
+    {
       return true;
+    }
     else
     {
       auto ctrl_a_preceding_ctrls = get_preceding_controller_names(ctrl_a.info.name, controllers);
@@ -2505,7 +2520,10 @@ bool ControllerManager::controller_sorting(
 
       // If there is no common parent, then they belong to 2 different sets
       auto following_ctrls_b = get_following_controller_names(ctrl_b.info.name, controllers);
-      if (following_ctrls_b.empty()) return true;
+      if (following_ctrls_b.empty())
+      {
+        return true;
+      }
       auto find_first_element = [&](const auto & controllers_list) -> size_t
       {
         auto it = std::find_if(