Merge branch 'master' into variants-ex14

ros-controls · Dec 4, 2024 · 46bc8cc · 46bc8cc
2 parents 518381a + 75a6e0c
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diff --git a/.github/dependabot.yml b/.github/dependabot.yml
@@ -11,13 +11,6 @@ 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: "iron"
   - package-ecosystem: "github-actions"
     # Workflow files stored in the
     # default location of `.github/workflows`

diff --git a/.github/mergify.yml b/.github/mergify.yml
@@ -8,15 +8,6 @@ pull_request_rules:
         branches:
           - humble
 
-  - name: Backport to iron at reviewers discretion
-    conditions:
-      - base=master
-      - "label=backport-iron"
-    actions:
-      backport:
-        branches:
-          - iron
-
   - name: Ask to resolve conflict
     conditions:
       - conflict

diff --git a/.github/workflows/humble-docker-build.yaml b/.github/workflows/humble-docker-build.yaml
diff --git a/.github/workflows/iron-docker-build.yaml → .github/workflows/humble-docker-build.yml b/.github/workflows/iron-docker-build.yaml → .github/workflows/humble-docker-build.yml
@@ -1,38 +1,38 @@
-name: Build Iron Dockerfile
+name: Build Humble Dockerfile
 # description: builds the dockerfile contained within the repo
 
 on:
   pull_request:
     branches:
-      - iron
+      - humble
     paths:
       - '**.hpp'
       - '**.cpp'
       - Dockerfile/**
-      - '.github/workflows/iron-docker-build.yml'
+      - '.github/workflows/humble-docker-build.yml'
       - '**/package.xml'
       - '**/CMakeLists.txt'
       - '**.xacro'
       - '**.py'
       - '**.yaml'
-      - 'ros2_control_demos.iron.repos'
+      - 'ros2_control_demos.humble.repos'
   push:
     branches:
-      - iron
+      - humble
     paths:
       - '**.hpp'
       - '**.cpp'
       - Dockerfile/**
-      - '.github/workflows/iron-docker-build.yml'
+      - '.github/workflows/humble-docker-build.yml'
       - '**/package.xml'
       - '**/CMakeLists.txt'
       - '**.xacro'
       - '**.py'
       - '**.yaml'
-      - 'ros2_control_demos.iron.repos'
+      - 'ros2_control_demos.humble.repos'
   schedule:
     # Run every morning to detect broken dependencies
-    - cron: '50 1 * * *'
+    - cron: '40 1 * * *'
 
 
 jobs:
@@ -41,6 +41,6 @@ jobs:
     steps:
     - uses: actions/checkout@v4
       with:
-        ref: iron
+        ref: humble
     - name: Build the Docker image
-      run: docker build --file Dockerfile/Dockerfile --tag ros2_control_demos_iron --build-arg ROS_DISTRO=iron .
+      run: docker build --file Dockerfile/Dockerfile --tag ros2_control_demos_humble --build-arg ROS_DISTRO=humble .
diff --git a/.github/workflows/humble-semi-binary-build.yml b/.github/workflows/humble-semi-binary-build.yml
@@ -39,7 +39,7 @@ jobs:
       fail-fast: false
       matrix:
         ROS_DISTRO: [humble]
-        ROS_REPO: [main, testing]
+        ROS_REPO: [testing]
     with:
       ros_distro: ${{ matrix.ROS_DISTRO }}
       ros_repo: ${{ matrix.ROS_REPO }}

diff --git a/.github/workflows/iron-binary-build.yml b/.github/workflows/iron-binary-build.yml
diff --git a/.github/workflows/iron-check-docs.yml b/.github/workflows/iron-check-docs.yml
diff --git a/.github/workflows/iron-pre-commit.yml b/.github/workflows/iron-pre-commit.yml
diff --git a/.github/workflows/iron-semi-binary-build.yml b/.github/workflows/iron-semi-binary-build.yml
diff --git a/.github/workflows/rolling-semi-binary-build.yml b/.github/workflows/rolling-semi-binary-build.yml
@@ -39,7 +39,7 @@ jobs:
       fail-fast: false
       matrix:
         ROS_DISTRO: [rolling, jazzy]
-        ROS_REPO: [main, testing]
+        ROS_REPO: [testing]
     with:
       ros_distro: ${{ matrix.ROS_DISTRO }}
       ros_repo: ${{ matrix.ROS_REPO }}

diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
@@ -62,7 +62,7 @@ repos:
 
   # CPP hooks
   - repo: https://github.com/pre-commit/mirrors-clang-format
-    rev: v19.1.3
+    rev: v19.1.4
     hooks:
       - id: clang-format
         args: ['-fallback-style=none', '-i']
@@ -131,7 +131,7 @@ repos:
         exclude: CHANGELOG\.rst|\.(svg|pyc)$
 
   - repo: https://github.com/python-jsonschema/check-jsonschema
-    rev: 0.29.4
+    rev: 0.30.0
     hooks:
       - id: check-github-workflows
         args: ["--verbose"]

diff --git a/README.md b/README.md
@@ -112,7 +112,6 @@ ROS 2 Distro | Branch | Build status | Documentation
 :----------: | :----: | :----------: | :-----------:
 **Rolling** | [`master`](https://github.com/ros-controls/ros2_control_demos/tree/master) | [![Rolling Binary Build](https://github.com/ros-controls/ros2_control_demos/actions/workflows/rolling-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control_demos/actions/workflows/rolling-binary-build.yml?branch=master) <br /> [![Rolling Semi-Binary Build](https://github.com/ros-controls/ros2_control_demos/actions/workflows/rolling-semi-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control_demos/actions/workflows/rolling-semi-binary-build.yml?branch=master) <br /> | [Documentation](https://control.ros.org/master/index.html) <br /> [API Reference](https://control.ros.org/master/doc/api/index.html)
 **Jazzy** | [`master`](https://github.com/ros-controls/ros2_control_demos/tree/master) | [![Rolling Binary Build](https://github.com/ros-controls/ros2_control_demos/actions/workflows/rolling-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control_demos/actions/workflows/rolling-binary-build.yml?branch=master) <br /> [![Rolling Semi-Binary Build](https://github.com/ros-controls/ros2_control_demos/actions/workflows/rolling-semi-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control_demos/actions/workflows/rolling-semi-binary-build.yml?branch=master) <br /> | [Documentation](https://control.ros.org/master/index.html) <br /> [API Reference](https://control.ros.org/jazzy/doc/api/index.html)
-**Iron** | [`iron`](https://github.com/ros-controls/ros2_control_demos/tree/iron) | [![Iron Binary Build](https://github.com/ros-controls/ros2_control_demos/actions/workflows/iron-binary-build.yml/badge.svg?branch=iron)](https://github.com/ros-controls/ros2_control_demos/actions/workflows/iron-binary-build.yml?branch=iron) <br /> [![Iron Semi-Binary Build](https://github.com/ros-controls/ros2_control_demos/actions/workflows/iron-semi-binary-build.yml/badge.svg?branch=iron)](https://github.com/ros-controls/ros2_control_demos/actions/workflows/iron-semi-binary-build.yml?branch=iron) <br /> | [Documentation](https://control.ros.org/iron/index.html) <br /> [API Reference](https://control.ros.org/iron/doc/api/index.html)
 **Humble** | [`humble`](https://github.com/ros-controls/ros2_control_demos/tree/humble) | [![Humble Binary Build](https://github.com/ros-controls/ros2_control_demos/actions/workflows/humble-binary-build.yml/badge.svg?branch=humble)](https://github.com/ros-controls/ros2_control_demos/actions/workflows/humble-binary-build.yml?branch=humble) <br /> [![Humble Semi-Binary Build](https://github.com/ros-controls/ros2_control_demos/actions/workflows/humble-semi-binary-build.yml/badge.svg?branch=humble)](https://github.com/ros-controls/ros2_control_demos/actions/workflows/humble-semi-binary-build.yml?branch=humble) <br /> | [Documentation](https://control.ros.org/humble/index.html) <br />[API Reference](https://control.ros.org/humble/doc/api/index.html)
 
 

diff --git a/example_13/doc/userdoc.rst b/example_13/doc/userdoc.rst
@@ -462,7 +462,10 @@ Files used for this demos
 - URDF file: `three_robots.urdf.xacro <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_13/description/urdf/three_robots.urdf.xacro>`__
 
   + Description: `threedofbot_description.urdf.xacro <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/ros2_control_demo_description/r3bot/urdf/threedofbot_description.urdf.xacro>`__
-  + ``ros2_control`` tag: `three_robots.ros2_control.xacro <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_13/description/ros2_control/three_robots.ros2_control.xacro>`__
+  + ``ros2_control`` tag:
+    + `threedofbot.ros2_control.xacro <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_13/description/ros2_control/threedofbot.ros2_control.xacro>`__
+    + `rrbot_system_position_only.ros2_control.xacro <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_5/description/ros2_control/rrbot_system_position_only.ros2_control.xacro>`__
+    + `rrbot_system_with_sensor.ros2_control.xacro <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_4/description/ros2_control/rrbot_system_with_sensor.ros2_control.xacro>`__
 - RViz configuration: `three_robots.rviz <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_13/description/rviz/three_robots.rviz>`__
 
 Controllers from this demo

diff --git a/example_15/doc/userdoc.rst b/example_15/doc/userdoc.rst
@@ -12,21 +12,6 @@ This example shows how to integrate multiple robots under different controller m
 Scenario: Using ros2_control within a local namespace
 -----------------------------------------------------
 
-* Launch file: `rrbot_namespace.launch.py <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_15/bringup/launch/rrbot_namespace.launch.py>`__
-* Controllers yaml: `rrbot_namespace_controllers.yaml <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_15/bringup/config/rrbot_namespace_controllers.yaml>`__
-* URDF file: `rrbot.urdf.xacro <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_15/description/urdf/rrbot.urdf.xacro>`__
-
-  * Description: `rrbot_description.urdf.xacro <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/ros2_control_demo_description/rrbot/urdf/rrbot_description.urdf.xacro>`__
-  * ``ros2_control`` tag: `rrbot.ros2_control.xacro <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_15/description/ros2_control/rrbot.ros2_control.xacro>`__
-
-* RViz configuration: `rrbot.rviz <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/ros2_control_demo_description/rrbot/rviz/rrbot.rviz>`__
-* Test nodes goals configuration:
-
-  + `rrbot_forward_position_publisher <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_15/bringup/config/rrbot_forward_position_publisher.yaml>`__
-  + `rrbot_joint_trajectory_publisher <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_15/bringup/config/rrbot_joint_trajectory_publisher.yaml>`__
-
-* Hardware interface plugin: `rrbot.cpp <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_15/hardware/rrbot.cpp>`__
-
 .. note::
 
   When running ``ros2 control`` CLI commands you have to use additional parameter with exact controller manager node name, i.e., ``-c /rrbot/controller_manager``.
@@ -75,24 +60,26 @@ Commanding the robot using ``JointTrajectoryController`` (name: ``/rrbot/positio
 
   ros2 launch ros2_control_demo_example_15 test_joint_trajectory_controller.launch.py publisher_config:=rrbot_namespace_joint_trajectory_publisher.yaml
 
-Scenario: Using multiple controller managers on the same machine
-----------------------------------------------------------------
+Files used for this demo:
 
-* Launch file: `multi_controller_manager_example_two_rrbots.launch.py <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_15/bringup/launch/multi_controller_manager_example_two_rrbots.launch.py>`__
-* Controllers yaml:
-  - `multi_controller_manager_generic_controllers.yaml <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_15/bringup/config/multi_controller_manager_generic_controllers.yaml>`__
-* URDF file: `rrbot.urdf.xacro <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_15/description/urdf/rrbot.urdf.xacro>`__
+* Launch file: `rrbot_namespace.launch.py <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_15/bringup/launch/rrbot_namespace.launch.py>`__
+* Controllers yaml: `rrbot_namespace_controllers.yaml <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_15/bringup/config/rrbot_namespace_controllers.yaml>`__
+* URDF file: `rrbot.urdf.xacro <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_1/description/urdf/rrbot.urdf.xacro>`__
 
   * Description: `rrbot_description.urdf.xacro <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/ros2_control_demo_description/rrbot/urdf/rrbot_description.urdf.xacro>`__
-  * ``ros2_control`` tag: `rrbot.ros2_control.xacro <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_15/description/ros2_control/rrbot.ros2_control.xacro>`__
+  * ``ros2_control`` tag: `rrbot.ros2_control.xacro <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_1/description/ros2_control/rrbot.ros2_control.xacro>`__
 
 * RViz configuration: `rrbot.rviz <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/ros2_control_demo_description/rrbot/rviz/rrbot.rviz>`__
 * Test nodes goals configuration:
 
-  + `rrbot_forward_position_publisher <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_15/bringup/config/rrbot_forward_position_publisher.yaml>`__
-  + `rrbot_joint_trajectory_publisher <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_15/bringup/config/rrbot_joint_trajectory_publisher.yaml>`__
+  + `rrbot_forward_position_publisher <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_15/bringup/config/rrbot_namespace_forward_position_publisher.yaml>`__
+  + `rrbot_joint_trajectory_publisher <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_15/bringup/config/rrbot_namespace_joint_trajectory_publisher.yaml>`__
 
-* Hardware interface plugin: `rrbot.cpp <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_15/hardware/rrbot.cpp>`__
+* Hardware interface plugin: `rrbot.cpp <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_1/hardware/rrbot.cpp>`__
+
+
+Scenario: Using multiple controller managers on the same machine
+----------------------------------------------------------------
 
 
 .. note::
@@ -168,6 +155,26 @@ Commanding the robots using the now activated ``position_trajectory_controller``
 
   ros2 launch ros2_control_demo_example_15 test_multi_controller_manager_joint_trajectory_controller.launch.py
 
+
+Files used for this demo:
+
+* Launch file: `multi_controller_manager_example_two_rrbots.launch.py <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_15/bringup/launch/multi_controller_manager_example_two_rrbots.launch.py>`__
+* Controllers yaml:
+  - `multi_controller_manager_rrbot_generic_controllers.yaml <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_15/bringup/config/multi_controller_manager_rrbot_generic_controllers.yaml>`__
+* URDF file: `rrbot.urdf.xacro <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_1/description/urdf/rrbot.urdf.xacro>`__
+
+  * Description: `rrbot_description.urdf.xacro <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/ros2_control_demo_description/rrbot/urdf/rrbot_description.urdf.xacro>`__
+  * ``ros2_control`` tag: `rrbot.ros2_control.xacro <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_1/description/ros2_control/rrbot.ros2_control.xacro>`__
+
+* RViz configuration: `rrbot.rviz <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/ros2_control_demo_description/rrbot/rviz/rrbot.rviz>`__
+* Test nodes goals configuration:
+
+  + `rrbot_forward_position_publisher <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_15/bringup/config/multi_controller_manager_forward_position_publisher.yaml>`__
+  + `rrbot_joint_trajectory_publisher <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_15/bringup/config/multi_controller_manager_joint_trajectory_publisher.yaml>`__
+
+* Hardware interface plugin: `rrbot.cpp <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_1/hardware/rrbot.cpp>`__
+
+
 Controllers from this demo
 --------------------------
   * ``Joint State Broadcaster`` (`ros2_controllers repository <https://github.com/ros-controls/ros2_controllers/tree/{REPOS_FILE_BRANCH}/joint_state_broadcaster>`__): `doc <https://control.ros.org/{REPOS_FILE_BRANCH}/doc/ros2_controllers/joint_state_broadcaster/doc/userdoc.html>`__

diff --git a/example_2/hardware/diffbot_system.cpp b/example_2/hardware/diffbot_system.cpp
@@ -183,9 +183,8 @@ hardware_interface::return_type DiffBotSystemHardware::read(
       set_state(name, get_state(name) + period.seconds() * velo);
 
       ss << std::endl
-         << "\t"
-            "position "
-         << get_state(name) << " and velocity " << velo << " for '" << name << "'!";
+         << "\t position " << get_state(name) << " and velocity " << velo << " for '" << name
+         << "'!";
     }
   }
   RCLCPP_INFO_THROTTLE(get_logger(), *get_clock(), 500, "%s", ss.str().c_str());