Merge branch 'master' into variants-ex14

example_11/bringup/launch/carlikebot.launch.py

@@ -77,9 +77,6 @@ def generate_launch_description():
         executable="ros2_control_node",
         parameters=[robot_controllers],
         output="both",
-        remappings=[
-            ("/bicycle_steering_controller/tf_odometry", "/tf"),
-        ],
         condition=IfCondition(remap_odometry_tf),
     )
     control_node = Node(
@@ -114,7 +111,13 @@ def generate_launch_description():
     robot_bicycle_controller_spawner = Node(
         package="controller_manager",
         executable="spawner",
-        arguments=["bicycle_steering_controller", "--param-file", robot_controllers],
+        arguments=[
+            "bicycle_steering_controller",
+            "--param-file",
+            robot_controllers,
+            "--controller-ros-args",
+            "-r /bicycle_steering_controller/tf_odometry:=/tf",
+        ],
     )
 
     # Delay rviz start after `joint_state_broadcaster`

example_11/test/test_carlikebot_launch.py

@@ -37,6 +37,7 @@
 from launch.actions import IncludeLaunchDescription
 from launch.launch_description_sources import PythonLaunchDescriptionSource
 from launch_testing.actions import ReadyToTest
+from launch_testing_ros import WaitForTopics
 
 # import launch_testing.markers
 import rclpy
@@ -46,6 +47,8 @@
     check_node_running,
 )
 
+from tf2_msgs.msg import TFMessage
+
 
 # Executes the given launch file and checks if all nodes can be started
 @pytest.mark.rostest
@@ -98,6 +101,13 @@ def test_check_if_msgs_published(self):
             ],
         )
 
+    def test_remapped_topic(self):
+        # we don't want to implement a tf lookup here
+        # so just check if the unmapped topic is not published
+        old_topic = "/bicycle_steering_controller/tf_odometry"
+        wait_for_topics = WaitForTopics([(old_topic, TFMessage)])
+        assert not wait_for_topics.wait(), f"Topic '{old_topic}' found, but should be remapped!"
+
 
 # TODO(anyone): enable this if shutdown of ros2_control_node does not fail anymore
 # @launch_testing.post_shutdown_test()

example_12/controllers/include/passthrough_controller/passthrough_controller.hpp

@@ -22,7 +22,7 @@
 #include <vector>
 
 #include "controller_interface/chainable_controller_interface.hpp"
-#include "realtime_tools/realtime_buffer.h"
+#include "realtime_tools/realtime_buffer.hpp"
 #include "std_msgs/msg/float64_multi_array.hpp"
 // auto-generated by generate_parameter_library
 #include "passthrough_controller_parameters.hpp"

example_13/bringup/launch/three_robots.launch.py

@@ -88,7 +88,7 @@ def generate_launch_description():
     control_node = Node(
         package="controller_manager",
         executable="ros2_control_node",
-        parameters=[robot_description, robot_controllers],
+        parameters=[robot_controllers],
     )
     robot_state_pub_node = Node(
         package="robot_state_publisher",

example_14/hardware/include/ros2_control_demo_example_14/rrbot_sensor_for_position_feedback.hpp

@@ -33,7 +33,7 @@
 #include "rclcpp/clock.hpp"
 #include "rclcpp/macros.hpp"
 #include "rclcpp/time.hpp"
-#include "realtime_tools/realtime_buffer.h"
+#include "realtime_tools/realtime_buffer.hpp"
 
 namespace ros2_control_demo_example_14
 {

example_15/bringup/launch/rrbot_namespace.launch.py

@@ -69,13 +69,6 @@ def generate_launch_description():
         executable="ros2_control_node",
         namespace="/rrbot",
         parameters=[robot_description, robot_controllers],
-        remappings=[
-            (
-                # we use the remapping from a relative name to FQN /position_commands
-                "forward_position_controller/commands",
-                "/position_commands",
-            ),
-        ],
         output={
             "stdout": "screen",
             "stderr": "screen",
@@ -108,7 +101,14 @@ def generate_launch_description():
         package="controller_manager",
         executable="spawner",
         namespace="rrbot",
-        arguments=["forward_position_controller", "--param-file", robot_controllers],
+        arguments=[
+            "forward_position_controller",
+            "--param-file",
+            robot_controllers,
+            # we use the remapping from a relative name to FQN /position_commands
+            "--controller-ros-args",
+            "-r forward_position_controller/commands:=/position_commands",
+        ],
     )
 
     robot_position_trajectory_controller_spawner = Node(

example_2/bringup/launch/diffbot.launch.py

@@ -75,9 +75,6 @@ def generate_launch_description():
         executable="ros2_control_node",
         parameters=[robot_controllers],
         output="both",
-        remappings=[
-            ("/diffbot_base_controller/cmd_vel", "/cmd_vel"),
-        ],
     )
     robot_state_pub_node = Node(
         package="robot_state_publisher",
@@ -103,7 +100,13 @@ def generate_launch_description():
     robot_controller_spawner = Node(
         package="controller_manager",
         executable="spawner",
-        arguments=["diffbot_base_controller", "--param-file", robot_controllers],
+        arguments=[
+            "diffbot_base_controller",
+            "--param-file",
+            robot_controllers,
+            "--controller-ros-args",
+            "-r /diffbot_base_controller/cmd_vel:=/cmd_vel",
+        ],
     )
 
     # Delay rviz start after `joint_state_broadcaster`

example_7/controller/include/ros2_control_demo_example_7/r6bot_controller.hpp

@@ -33,7 +33,7 @@
 #include "rclcpp/timer.hpp"
 #include "rclcpp_lifecycle/lifecycle_publisher.hpp"
 #include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp"
-#include "realtime_tools/realtime_buffer.h"
+#include "realtime_tools/realtime_buffer.hpp"
 #include "trajectory_msgs/msg/joint_trajectory.hpp"
 #include "trajectory_msgs/msg/joint_trajectory_point.hpp"
 
@@ -42,43 +42,32 @@ namespace ros2_control_demo_example_7
 class RobotController : public controller_interface::ControllerInterface
 {
 public:
-  CONTROLLER_INTERFACE_PUBLIC
   RobotController();
 
-  CONTROLLER_INTERFACE_PUBLIC
   controller_interface::InterfaceConfiguration command_interface_configuration() const override;
 
-  CONTROLLER_INTERFACE_PUBLIC
   controller_interface::InterfaceConfiguration state_interface_configuration() const override;
 
-  CONTROLLER_INTERFACE_PUBLIC
   controller_interface::return_type update(
     const rclcpp::Time & time, const rclcpp::Duration & period) override;
 
-  CONTROLLER_INTERFACE_PUBLIC
   controller_interface::CallbackReturn on_init() override;
 
-  CONTROLLER_INTERFACE_PUBLIC
   controller_interface::CallbackReturn on_configure(
     const rclcpp_lifecycle::State & previous_state) override;
 
-  CONTROLLER_INTERFACE_PUBLIC
   controller_interface::CallbackReturn on_activate(
     const rclcpp_lifecycle::State & previous_state) override;
 
-  CONTROLLER_INTERFACE_PUBLIC
   controller_interface::CallbackReturn on_deactivate(
     const rclcpp_lifecycle::State & previous_state) override;
 
-  CONTROLLER_INTERFACE_PUBLIC
   controller_interface::CallbackReturn on_cleanup(
     const rclcpp_lifecycle::State & previous_state) override;
 
-  CONTROLLER_INTERFACE_PUBLIC
   controller_interface::CallbackReturn on_error(
     const rclcpp_lifecycle::State & previous_state) override;
 
-  CONTROLLER_INTERFACE_PUBLIC
   controller_interface::CallbackReturn on_shutdown(
     const rclcpp_lifecycle::State & previous_state) override;
 

example_7/doc/userdoc.rst

@@ -207,7 +207,7 @@ There are more methods that can be implemented for lifecycle changes, but they a
   using CallbackReturn = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn;
   #include "hardware_interface/types/hardware_interface_return_values.hpp"
 
-  class HARDWARE_INTERFACE_PUBLIC RobotSystem : public hardware_interface::SystemInterface {
+  class RobotSystem : public hardware_interface::SystemInterface {
       public:
       CallbackReturn on_init(const hardware_interface::HardwareInfo &info) override;
       CallbackReturn on_configure(const rclcpp_lifecycle::State & previous_state) override;