Merge branch 'master' into 133_pr_rebase_again

.gitignore

@@ -1,6 +1,2 @@
-.kdev4/
-
-
-*~
-*.kate-swp
-*.kdev4
+.ccache
+.work

example_1/CMakeLists.txt

@@ -17,6 +17,7 @@ set(THIS_PACKAGE_INCLUDE_DEPENDS
 )
 
 # find dependencies
+find_package(backward_ros REQUIRED)
 find_package(ament_cmake REQUIRED)
 foreach(Dependency IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS})
   find_package(${Dependency} REQUIRED)
@@ -66,6 +67,7 @@ if(BUILD_TESTING)
 
   ament_add_pytest_test(example_1_urdf_xacro test/test_urdf_xacro.py)
   ament_add_pytest_test(view_example_1_launch test/test_view_robot_launch.py)
+  ament_add_pytest_test(run_example_1_launch test/test_rrbot_launch.py)
 endif()
 
 

example_1/bringup/config/rrbot_controllers.yaml

@@ -5,15 +5,10 @@ controller_manager:
     joint_state_broadcaster:
       type: joint_state_broadcaster/JointStateBroadcaster
 
-    forward_position_controller:
-      type: forward_command_controller/ForwardCommandController
-
-    joint_trajectory_position_controller:
-      type: joint_trajectory_controller/JointTrajectoryController
-
 
 forward_position_controller:
   ros__parameters:
+    type: forward_command_controller/ForwardCommandController
     joints:
       - joint1
       - joint2
@@ -22,6 +17,8 @@ forward_position_controller:
 
 joint_trajectory_position_controller:
   ros__parameters:
+    type: joint_trajectory_controller/JointTrajectoryController
+
     joints:
       - joint1
       - joint2

example_1/bringup/launch/rrbot.launch.py

@@ -88,13 +88,13 @@ def generate_launch_description():
     joint_state_broadcaster_spawner = Node(
         package="controller_manager",
         executable="spawner",
-        arguments=["joint_state_broadcaster", "--controller-manager", "/controller_manager"],
+        arguments=["joint_state_broadcaster"],
     )
 
     robot_controller_spawner = Node(
         package="controller_manager",
         executable="spawner",
-        arguments=["forward_position_controller", "--controller-manager", "/controller_manager"],
+        arguments=["forward_position_controller", "--param-file", robot_controllers],
     )
 
     # Delay rviz start after `joint_state_broadcaster`
@@ -105,20 +105,21 @@ def generate_launch_description():
         )
     )
 
-    # Delay start of robot_controller after `joint_state_broadcaster`
-    delay_robot_controller_spawner_after_joint_state_broadcaster_spawner = RegisterEventHandler(
+    # Delay start of joint_state_broadcaster after `robot_controller`
+    # TODO(anyone): This is a workaround for flaky tests. Remove when fixed.
+    delay_joint_state_broadcaster_after_robot_controller_spawner = RegisterEventHandler(
         event_handler=OnProcessExit(
-            target_action=joint_state_broadcaster_spawner,
-            on_exit=[robot_controller_spawner],
+            target_action=robot_controller_spawner,
+            on_exit=[joint_state_broadcaster_spawner],
         )
     )
 
     nodes = [
         control_node,
         robot_state_pub_node,
-        joint_state_broadcaster_spawner,
+        robot_controller_spawner,
         delay_rviz_after_joint_state_broadcaster_spawner,
-        delay_robot_controller_spawner_after_joint_state_broadcaster_spawner,
+        delay_joint_state_broadcaster_after_robot_controller_spawner,
     ]
 
     return LaunchDescription(declared_arguments + nodes)

example_1/package.xml

@@ -15,6 +15,7 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
+  <depend>backward_ros</depend>
   <depend>hardware_interface</depend>
   <depend>pluginlib</depend>
   <depend>rclcpp</depend>
@@ -34,9 +35,9 @@
   <exec_depend>xacro</exec_depend>
 
   <test_depend>ament_cmake_pytest</test_depend>
-  <test_depend>launch_testing_ament_cmake</test_depend>
   <test_depend>launch_testing_ros</test_depend>
   <test_depend>liburdfdom-tools</test_depend>
+  <test_depend>ros2_control_demo_testing</test_depend>
   <test_depend>xacro</test_depend>
 
   <export>

example_1/test/test_rrbot_launch.py

@@ -0,0 +1,99 @@
+# Copyright (c) 2024 AIT - Austrian Institute of Technology GmbH
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+#    * Redistributions of source code must retain the above copyright
+#      notice, this list of conditions and the following disclaimer.
+#
+#    * Redistributions in binary form must reproduce the above copyright
+#      notice, this list of conditions and the following disclaimer in the
+#      documentation and/or other materials provided with the distribution.
+#
+#    * Neither the name of the {copyright_holder} nor the names of its
+#      contributors may be used to endorse or promote products derived from
+#      this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+# Author: Christoph Froehlich
+
+import os
+import pytest
+import unittest
+
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch_testing.actions import ReadyToTest
+
+# import launch_testing.markers
+import rclpy
+from rclpy.node import Node
+from ros2_control_demo_testing.test_utils import (
+    check_controllers_running,
+    check_if_js_published,
+    check_node_running,
+)
+
+
+# Executes the given launch file and checks if all nodes can be started
+@pytest.mark.rostest
+def generate_test_description():
+    launch_include = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(
+                get_package_share_directory("ros2_control_demo_example_1"),
+                "launch/rrbot.launch.py",
+            )
+        ),
+        launch_arguments={"gui": "False"}.items(),
+    )
+
+    return LaunchDescription([launch_include, ReadyToTest()])
+
+
+# This is our test fixture. Each method is a test case.
+# These run alongside the processes specified in generate_test_description()
+class TestFixture(unittest.TestCase):
+
+    def setUp(self):
+        rclpy.init()
+        self.node = Node("test_node")
+
+    def tearDown(self):
+        self.node.destroy_node()
+        rclpy.shutdown()
+
+    def test_node_start(self, proc_output):
+        check_node_running(self.node, "robot_state_publisher")
+
+    def test_controller_running(self, proc_output):
+
+        cnames = ["forward_position_controller", "joint_state_broadcaster"]
+
+        check_controllers_running(self.node, cnames)
+
+    def test_check_if_msgs_published(self):
+        check_if_js_published("/joint_states", ["joint1", "joint2"])
+
+
+# TODO(anyone): enable this if shutdown of ros2_control_node does not fail anymore
+# @launch_testing.post_shutdown_test()
+# # These tests are run after the processes in generate_test_description() have shutdown.
+# class TestDescriptionCraneShutdown(unittest.TestCase):
+
+#     def test_exit_codes(self, proc_info):
+#         """Check if the processes exited normally."""
+#         launch_testing.asserts.assertExitCodes(proc_info)

example_10/CMakeLists.txt

@@ -20,6 +20,7 @@ set(THIS_PACKAGE_INCLUDE_DEPENDS
 )
 
 # find dependencies
+find_package(backward_ros REQUIRED)
 find_package(ament_cmake REQUIRED)
 foreach(Dependency IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS})
   find_package(${Dependency} REQUIRED)
@@ -77,6 +78,7 @@ if(BUILD_TESTING)
 
   ament_add_pytest_test(example_10_urdf_xacro test/test_urdf_xacro.py)
   ament_add_pytest_test(view_example_10_launch test/test_view_robot_launch.py)
+  ament_add_pytest_test(run_example_10_launch test/test_rrbot_launch.py)
 endif()
 
 ## EXPORTS

example_10/bringup/config/rrbot_controllers.yaml

@@ -5,22 +5,18 @@ controller_manager:
     joint_state_broadcaster:
       type: joint_state_broadcaster/JointStateBroadcaster
 
-    forward_position_controller:
-      type: forward_command_controller/ForwardCommandController
-
-    gpio_controller:
-      type: ros2_control_demo_example_10/GPIOController
-
 
 forward_position_controller:
   ros__parameters:
+    type: forward_command_controller/ForwardCommandController
     joints:
       - joint1
       - joint2
     interface_name: position
 
 gpio_controller:
   ros__parameters:
+    type: ros2_control_demo_example_10/GPIOController
     inputs:
      - flange_analog_IOs/analog_output1
      - flange_analog_IOs/analog_input1

example_10/bringup/launch/rrbot.launch.py

@@ -78,35 +78,42 @@ def generate_launch_description():
     joint_state_broadcaster_spawner = Node(
         package="controller_manager",
         executable="spawner",
-        arguments=["joint_state_broadcaster", "--controller-manager", "/controller_manager"],
+        arguments=["joint_state_broadcaster"],
     )
 
     robot_controller_spawner = Node(
         package="controller_manager",
         executable="spawner",
-        arguments=["forward_position_controller", "-c", "/controller_manager"],
+        arguments=["forward_position_controller", "--param-file", robot_controllers],
     )
 
     gpio_controller_spawner = Node(
         package="controller_manager",
         executable="spawner",
-        arguments=["gpio_controller", "-c", "/controller_manager"],
+        arguments=["gpio_controller", "--param-file", robot_controllers],
     )
 
-    # Delay start of robot_controller after `joint_state_broadcaster`
-    delay_robot_controller_spawner_after_joint_state_broadcaster_spawner = RegisterEventHandler(
+    # Delay start of joint_state_broadcaster after `robot_controller`
+    # TODO(anyone): This is a workaround for flaky tests. Remove when fixed.
+    delay_gpio_after_robot_controller_spawner = RegisterEventHandler(
         event_handler=OnProcessExit(
-            target_action=joint_state_broadcaster_spawner,
-            on_exit=[robot_controller_spawner],
+            target_action=robot_controller_spawner,
+            on_exit=[gpio_controller_spawner],
+        )
+    )
+    delay_joint_state_broadcaster_after_gpio_controller_spawner = RegisterEventHandler(
+        event_handler=OnProcessExit(
+            target_action=gpio_controller_spawner,
+            on_exit=[joint_state_broadcaster_spawner],
         )
     )
 
     nodes = [
         control_node,
         robot_state_pub_node,
-        joint_state_broadcaster_spawner,
-        gpio_controller_spawner,
-        delay_robot_controller_spawner_after_joint_state_broadcaster_spawner,
+        robot_controller_spawner,
+        delay_gpio_after_robot_controller_spawner,
+        delay_joint_state_broadcaster_after_gpio_controller_spawner,
     ]
 
     return LaunchDescription(declared_arguments + nodes)

example_10/package.xml

@@ -15,6 +15,7 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
+  <depend>backward_ros</depend>
   <depend>hardware_interface</depend>
   <depend>pluginlib</depend>
   <depend>rclcpp</depend>
@@ -32,11 +33,10 @@
   <exec_depend>rviz2</exec_depend>
   <exec_depend>xacro</exec_depend>
 
-  <test_depend>ament_cmake_gtest</test_depend>
   <test_depend>ament_cmake_pytest</test_depend>
-  <test_depend>launch_testing_ament_cmake</test_depend>
   <test_depend>launch_testing_ros</test_depend>
   <test_depend>liburdfdom-tools</test_depend>
+  <test_depend>ros2_control_demo_testing</test_depend>
   <test_depend>xacro</test_depend>
 
   <export>