Merge branch 'master' into remap_topics

ros-controls · Dec 20, 2024 · d3a5c97 · d3a5c97
2 parents 850cc24 + ceed8cf
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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
@@ -16,7 +16,7 @@
 repos:
   # Standard hooks
   - repo: https://github.com/pre-commit/pre-commit-hooks
-    rev: v4.6.0
+    rev: v5.0.0
     hooks:
       - id: check-added-large-files
       - id: check-ast
@@ -36,7 +36,7 @@ repos:
 
   # Python hooks
   - repo: https://github.com/asottile/pyupgrade
-    rev: v3.17.0
+    rev: v3.19.0
     hooks:
     -   id: pyupgrade
         args: [--py36-plus]
@@ -49,7 +49,7 @@ repos:
       args: ["--ignore=D100,D101,D102,D103,D104,D105,D106,D107,D203,D212,D404"]
 
   - repo: https://github.com/psf/black
-    rev: 24.8.0
+    rev: 24.10.0
     hooks:
       - id: black
         args: ["--line-length=99"]
@@ -62,7 +62,7 @@ repos:
 
   # CPP hooks
   - repo: https://github.com/pre-commit/mirrors-clang-format
-    rev: v18.1.8
+    rev: v19.1.4
     hooks:
       - id: clang-format
         args: ['-fallback-style=none', '-i']
@@ -107,7 +107,7 @@ repos:
 
   # Docs - RestructuredText hooks
   - repo: https://github.com/PyCQA/doc8
-    rev: v1.1.1
+    rev: v1.1.2
     hooks:
       - id: doc8
         args: ['--max-line-length=100', '--ignore=D001']
@@ -131,7 +131,7 @@ repos:
         exclude: CHANGELOG\.rst|\.(svg|pyc)$
 
   - repo: https://github.com/python-jsonschema/check-jsonschema
-    rev: 0.29.2
+    rev: 0.30.0
     hooks:
       - id: check-github-workflows
         args: ["--verbose"]

diff --git a/README.md b/README.md
@@ -66,7 +66,9 @@ The following examples are part of this demo repository:
 
    The example shows a simple chainable controller and its integration to form a controller chain to control the joints of *RRBot*.
 
-* Example 13: "Multi-robot example (tba.)"
+* Example 13: ["Multi-robot system with hardware lifecycle management"](example_13)
+
+   This example shows how to handle multiple robots in a single controller manager instance.
 
 * Example 14: ["Modular robots with actuators not providing states and with additional sensors"](example_14)
 
@@ -110,7 +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/doc/index.rst b/doc/index.rst
@@ -76,7 +76,8 @@ Example 11: "CarlikeBot"
 Example 12: "Controller chaining"
    The example shows a simple chainable controller and its integration to form a controller chain to control the joints of *RRBot*.
 
-Example 13: "Multi-robot example (tba.)"
+Example 13: "Multi-robot system with hardware lifecycle management"
+   This example shows how to handle multiple robots in a single controller manager instance.
 
 Example 14: "Modular robots with actuators not providing states and with additional sensors"
    The example shows how to implement robot hardware with actuators not providing states and with additional sensors.
@@ -276,5 +277,6 @@ Examples
    Example 10: Industrial robot with GPIO interfaces <../example_10/doc/userdoc.rst>
    Example 11: CarlikeBot <../example_11/doc/userdoc.rst>
    Example 12: Controller chaining <../example_12/doc/userdoc.rst>
+   Example 13: Multiple robots <../example_13/doc/userdoc.rst>
    Example 14: Modular robots with actuators not providing states <../example_14/doc/userdoc.rst>
    Example 15: Using multiple controller managers <../example_15/doc/userdoc.rst>
diff --git a/example_1/CMakeLists.txt b/example_1/CMakeLists.txt
@@ -76,6 +76,7 @@ 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)
+  ament_add_pytest_test(run_example_1_launch_cli_direct test/test_rrbot_launch_cli_direct.py)
 endif()
 
 

diff --git a/example_1/bringup/config/rrbot_controllers.yaml b/example_1/bringup/config/rrbot_controllers.yaml
@@ -13,27 +13,3 @@ forward_position_controller:
       - joint1
       - joint2
     interface_name: position
-
-
-joint_trajectory_position_controller:
-  ros__parameters:
-    type: joint_trajectory_controller/JointTrajectoryController
-
-    joints:
-      - joint1
-      - joint2
-
-    command_interfaces:
-      - position
-
-    state_interfaces:
-      - position
-
-    action_monitor_rate: 20.0 # Defaults to 20
-
-    allow_partial_joints_goal: false # Defaults to false
-    open_loop_control: true
-    allow_integration_in_goal_trajectories: true
-    constraints:
-      stopped_velocity_tolerance: 0.01 # Defaults to 0.01
-      goal_time: 0.0 # Defaults to 0.0 (start immediately)