Merge branch 'master' into jtc/cleanup

ros-controls · Jan 22, 2024 · 0e9ac6c · 0e9ac6c
2 parents 0ed1a94 + 2f7a755
commit 0e9ac6c
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diff --git a/.github/mergify.yml b/.github/mergify.yml
@@ -32,13 +32,13 @@ pull_request_rules:
       - author=mergify[bot]
     actions:
         comment:
-          message: This pull request is in conflict. Could you fix it @bmagyar @dstogl @christophfroehlich?
+          message: This pull request is in conflict. Could you fix it @bmagyar @destogl @christophfroehlich?
 
   - name: development targets master branch
     conditions:
       - base!=master
       - author!=bmagyar
-      - author!=dstogl
+      - author!=destogl
       - author!=christophfroehlich
       - author!=mergify[bot]
       - author!=dependabot[bot]

diff --git a/.github/workflows/ci-coverage-build-humble.yml b/.github/workflows/ci-coverage-build-humble.yml
@@ -60,7 +60,7 @@ jobs:
           file: ros_ws/lcov/total_coverage.info
           flags: unittests
           name: codecov-umbrella
-      - uses: actions/upload-artifact@v4.0.0
+      - uses: actions/upload-artifact@v4.1.0
         with:
           name: colcon-logs-coverage-humble
           path: ros_ws/log
diff --git a/.github/workflows/ci-coverage-build-iron.yml b/.github/workflows/ci-coverage-build-iron.yml
@@ -60,7 +60,7 @@ jobs:
           file: ros_ws/lcov/total_coverage.info
           flags: unittests
           name: codecov-umbrella
-      - uses: actions/upload-artifact@v4.0.0
+      - uses: actions/upload-artifact@v4.1.0
         with:
           name: colcon-logs-coverage-iron
           path: ros_ws/log
diff --git a/.github/workflows/ci-coverage-build.yml b/.github/workflows/ci-coverage-build.yml
@@ -60,7 +60,7 @@ jobs:
           file: ros_ws/lcov/total_coverage.info
           flags: unittests
           name: codecov-umbrella
-      - uses: actions/upload-artifact@v4.0.0
+      - uses: actions/upload-artifact@v4.1.0
         with:
           name: colcon-logs-coverage-rolling
           path: ros_ws/log
diff --git a/.github/workflows/reusable-ros-tooling-source-build.yml b/.github/workflows/reusable-ros-tooling-source-build.yml
@@ -63,7 +63,7 @@ jobs:
             https://raw.githubusercontent.com/ros2/ros2/${{ inputs.ros2_repo_branch }}/ros2.repos
             https://raw.githubusercontent.com/${{ github.repository }}/${{ github.sha }}/ros2_controllers.${{ 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@v4.0.0
+      - uses: actions/upload-artifact@v4.1.0
         with:
           name: colcon-logs-ubuntu-22.04
           path: ros_ws/log
diff --git a/ackermann_steering_controller/CHANGELOG.rst b/ackermann_steering_controller/CHANGELOG.rst
@@ -2,6 +2,14 @@
 Changelog for package ackermann_steering_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.4.0 (2024-01-11)
+------------------
+
+4.3.0 (2024-01-08)
+------------------
+* Add few warning flags to error (`#961 <https://github.com/ros-controls/ros2_controllers/issues/961>`_)
+* Contributors: Sai Kishor Kothakota
+
 4.2.0 (2023-12-12)
 ------------------
 

diff --git a/ackermann_steering_controller/package.xml b/ackermann_steering_controller/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>ackermann_steering_controller</name>
-  <version>4.2.0</version>
+  <version>4.4.0</version>
   <description>Steering controller for Ackermann kinematics. Rear fixed wheels are powering the vehicle and front wheels are steering it.</description>
   <license>Apache License 2.0</license>
   <maintainer email="[email protected]">Bence Magyar</maintainer>

diff --git a/admittance_controller/CHANGELOG.rst b/admittance_controller/CHANGELOG.rst
@@ -2,6 +2,15 @@
 Changelog for package admittance_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.4.0 (2024-01-11)
+------------------
+
+4.3.0 (2024-01-08)
+------------------
+* Remove robot description param from admittance YAML (`#963 <https://github.com/ros-controls/ros2_controllers/issues/963>`_)
+* Add few warning flags to error (`#961 <https://github.com/ros-controls/ros2_controllers/issues/961>`_)
+* Contributors: Abishalini Sivaraman, Sai Kishor Kothakota
+
 4.2.0 (2023-12-12)
 ------------------
 

diff --git a/admittance_controller/package.xml b/admittance_controller/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>admittance_controller</name>
-  <version>4.2.0</version>
+  <version>4.4.0</version>
   <description>Implementation of admittance controllers for different input and output interface.</description>
   <maintainer email="[email protected]">Denis Štogl</maintainer>
   <maintainer email="[email protected]">Bence Magyar</maintainer>

diff --git a/admittance_controller/src/admittance_controller_parameters.yaml b/admittance_controller/src/admittance_controller_parameters.yaml
@@ -147,11 +147,6 @@ admittance_controller:
     }
 
   # general settings
-  robot_description: {
-    type: string,
-    description: "Contains robot description in URDF format. The description is used for forward and inverse kinematics.",
-    read_only: true
-  }
   enable_parameter_update_without_reactivation: {
     type: bool,
     default_value: true,

diff --git a/bicycle_steering_controller/CHANGELOG.rst b/bicycle_steering_controller/CHANGELOG.rst
@@ -2,6 +2,14 @@
 Changelog for package bicycle_steering_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.4.0 (2024-01-11)
+------------------
+
+4.3.0 (2024-01-08)
+------------------
+* Add few warning flags to error (`#961 <https://github.com/ros-controls/ros2_controllers/issues/961>`_)
+* Contributors: Sai Kishor Kothakota
+
 4.2.0 (2023-12-12)
 ------------------
 

diff --git a/bicycle_steering_controller/package.xml b/bicycle_steering_controller/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>bicycle_steering_controller</name>
-  <version>4.2.0</version>
+  <version>4.4.0</version>
   <description>Steering controller with bicycle kinematics. Rear fixed wheel is powering the vehicle and front wheel is steering.</description>
   <license>Apache License 2.0</license>
   <maintainer email="[email protected]">Bence Magyar</maintainer>

diff --git a/diff_drive_controller/CHANGELOG.rst b/diff_drive_controller/CHANGELOG.rst
@@ -2,6 +2,14 @@
 Changelog for package diff_drive_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.4.0 (2024-01-11)
+------------------
+
+4.3.0 (2024-01-08)
+------------------
+* Add few warning flags to error (`#961 <https://github.com/ros-controls/ros2_controllers/issues/961>`_)
+* Contributors: Sai Kishor Kothakota
+
 4.2.0 (2023-12-12)
 ------------------
 

diff --git a/diff_drive_controller/package.xml b/diff_drive_controller/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>diff_drive_controller</name>
-  <version>4.2.0</version>
+  <version>4.4.0</version>
   <description>Controller for a differential drive mobile base.</description>
   <maintainer email="[email protected]">Bence Magyar</maintainer>
   <maintainer email="[email protected]">Jordan Palacios</maintainer>

diff --git a/effort_controllers/CHANGELOG.rst b/effort_controllers/CHANGELOG.rst
@@ -2,6 +2,14 @@
 Changelog for package effort_controllers
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.4.0 (2024-01-11)
+------------------
+
+4.3.0 (2024-01-08)
+------------------
+* Add few warning flags to error (`#961 <https://github.com/ros-controls/ros2_controllers/issues/961>`_)
+* Contributors: Sai Kishor Kothakota
+
 4.2.0 (2023-12-12)
 ------------------
 

diff --git a/effort_controllers/package.xml b/effort_controllers/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>effort_controllers</name>
-  <version>4.2.0</version>
+  <version>4.4.0</version>
   <description>Generic controller for forwarding commands.</description>
   <maintainer email="[email protected]">Bence Magyar</maintainer>
   <maintainer email="[email protected]">Jordan Palacios</maintainer>

diff --git a/force_torque_sensor_broadcaster/CHANGELOG.rst b/force_torque_sensor_broadcaster/CHANGELOG.rst
@@ -2,6 +2,14 @@
 Changelog for package force_torque_sensor_broadcaster
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.4.0 (2024-01-11)
+------------------
+
+4.3.0 (2024-01-08)
+------------------
+* Add few warning flags to error (`#961 <https://github.com/ros-controls/ros2_controllers/issues/961>`_)
+* Contributors: Sai Kishor Kothakota
+
 4.2.0 (2023-12-12)
 ------------------
 

diff --git a/force_torque_sensor_broadcaster/package.xml b/force_torque_sensor_broadcaster/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>force_torque_sensor_broadcaster</name>
-  <version>4.2.0</version>
+  <version>4.4.0</version>
   <description>Controller to publish state of force-torque sensors.</description>
   <maintainer email="[email protected]">Bence Magyar</maintainer>
   <maintainer email="[email protected]">Denis Štogl</maintainer>

diff --git a/forward_command_controller/CHANGELOG.rst b/forward_command_controller/CHANGELOG.rst
@@ -2,6 +2,14 @@
 Changelog for package forward_command_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.4.0 (2024-01-11)
+------------------
+
+4.3.0 (2024-01-08)
+------------------
+* Add few warning flags to error (`#961 <https://github.com/ros-controls/ros2_controllers/issues/961>`_)
+* Contributors: Sai Kishor Kothakota
+
 4.2.0 (2023-12-12)
 ------------------
 

diff --git a/forward_command_controller/package.xml b/forward_command_controller/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>forward_command_controller</name>
-  <version>4.2.0</version>
+  <version>4.4.0</version>
   <description>Generic controller for forwarding commands.</description>
   <maintainer email="[email protected]">Bence Magyar</maintainer>
   <maintainer email="[email protected]">Jordan Palacios</maintainer>

diff --git a/gripper_controllers/CHANGELOG.rst b/gripper_controllers/CHANGELOG.rst
@@ -2,6 +2,14 @@
 Changelog for package gripper_controllers
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.4.0 (2024-01-11)
+------------------
+
+4.3.0 (2024-01-08)
+------------------
+* Add few warning flags to error (`#961 <https://github.com/ros-controls/ros2_controllers/issues/961>`_)
+* Contributors: Sai Kishor Kothakota
+
 4.2.0 (2023-12-12)
 ------------------
 

diff --git a/gripper_controllers/package.xml b/gripper_controllers/package.xml
@@ -4,7 +4,7 @@
   schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>gripper_controllers</name>
-  <version>4.2.0</version>
+  <version>4.4.0</version>
   <description>The gripper_controllers package</description>
   <maintainer email="[email protected]">Bence Magyar</maintainer>
 

diff --git a/imu_sensor_broadcaster/CHANGELOG.rst b/imu_sensor_broadcaster/CHANGELOG.rst
@@ -2,6 +2,14 @@
 Changelog for package imu_sensor_broadcaster
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.4.0 (2024-01-11)
+------------------
+
+4.3.0 (2024-01-08)
+------------------
+* Add few warning flags to error (`#961 <https://github.com/ros-controls/ros2_controllers/issues/961>`_)
+* Contributors: Sai Kishor Kothakota
+
 4.2.0 (2023-12-12)
 ------------------
 

diff --git a/imu_sensor_broadcaster/package.xml b/imu_sensor_broadcaster/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>imu_sensor_broadcaster</name>
-  <version>4.2.0</version>
+  <version>4.4.0</version>
   <description>Controller to publish readings of IMU sensors.</description>
   <maintainer email="[email protected]">Bence Magyar</maintainer>
   <maintainer email="[email protected]">Denis Štogl</maintainer>

diff --git a/joint_state_broadcaster/CHANGELOG.rst b/joint_state_broadcaster/CHANGELOG.rst
@@ -2,6 +2,14 @@
 Changelog for package joint_state_broadcaster
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.4.0 (2024-01-11)
+------------------
+
+4.3.0 (2024-01-08)
+------------------
+* Add few warning flags to error (`#961 <https://github.com/ros-controls/ros2_controllers/issues/961>`_)
+* Contributors: Sai Kishor Kothakota
+
 4.2.0 (2023-12-12)
 ------------------
 

diff --git a/joint_state_broadcaster/package.xml b/joint_state_broadcaster/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>joint_state_broadcaster</name>
-  <version>4.2.0</version>
+  <version>4.4.0</version>
   <description>Broadcaster to publish joint state</description>
   <maintainer email="[email protected]">Bence Magyar</maintainer>
   <maintainer email="[email protected]">Denis Stogl</maintainer>

diff --git a/joint_trajectory_controller/CHANGELOG.rst b/joint_trajectory_controller/CHANGELOG.rst
@@ -2,6 +2,21 @@
 Changelog for package joint_trajectory_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.4.0 (2024-01-11)
+------------------
+* Cancel goal in on_deactivate (`#962 <https://github.com/ros-controls/ros2_controllers/issues/962>`_)
+* Remove read_only from 'joints', 'state_interfaces' and 'command_interfaces' parameters (`#967 <https://github.com/ros-controls/ros2_controllers/issues/967>`_)
+* Contributors: Christoph Fröhlich, Noel Jiménez García
+
+4.3.0 (2024-01-08)
+------------------
+* Update deprecated topic name (`#964 <https://github.com/ros-controls/ros2_controllers/issues/964>`_)
+* Add few warning flags to error (`#961 <https://github.com/ros-controls/ros2_controllers/issues/961>`_)
+* [JTC] Cleanup includes (`#943 <https://github.com/ros-controls/ros2_controllers/issues/943>`_)
+* Add rqt_JTC to docs (`#950 <https://github.com/ros-controls/ros2_controllers/issues/950>`_)
+* [JTC] Add console output for tolerance checks (`#932 <https://github.com/ros-controls/ros2_controllers/issues/932>`_)
+* Contributors: Christoph Fröhlich, Sai Kishor Kothakota, maurice
+
 4.2.0 (2023-12-12)
 ------------------
 * Cleanup package.xml und clarify tests of JTC. (`#889 <https://github.com/ros-controls/ros2_controllers/issues/889>`_)

diff --git a/joint_trajectory_controller/doc/userdoc.rst b/joint_trajectory_controller/doc/userdoc.rst
@@ -168,7 +168,7 @@ Subscriber [#f1]_
 
 The topic interface is a fire-and-forget alternative. Use this interface if you don't care about execution monitoring.
 The goal tolerance specification is not used in this case, as there is no mechanism to notify the sender about tolerance violations. If state tolerances are violated, the trajectory is aborted and the current position is held.
-Note that although some degree of monitoring is available through the ``~/query_state`` service and ``~/state`` topic it is much more cumbersome to realize than with the action interface.
+Note that although some degree of monitoring is available through the ``~/query_state`` service and ``~/controller_state`` topic it is much more cumbersome to realize than with the action interface.
 
 
 Publishers

diff --git a/joint_trajectory_controller/package.xml b/joint_trajectory_controller/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>joint_trajectory_controller</name>
-  <version>4.2.0</version>
+  <version>4.4.0</version>
   <description>Controller for executing joint-space trajectories on a group of joints</description>
   <maintainer email="[email protected]">Bence Magyar</maintainer>
   <maintainer email="[email protected]">Dr. Denis Štogl</maintainer>

diff --git a/joint_trajectory_controller/src/joint_trajectory_controller.cpp b/joint_trajectory_controller/src/joint_trajectory_controller.cpp
@@ -935,6 +935,17 @@ controller_interface::CallbackReturn JointTrajectoryController::on_activate(
 controller_interface::CallbackReturn JointTrajectoryController::on_deactivate(
   const rclcpp_lifecycle::State &)
 {
+  const auto active_goal = *rt_active_goal_.readFromNonRT();
+  if (active_goal)
+  {
+    rt_has_pending_goal_.writeFromNonRT(false);
+    auto action_res = std::make_shared<FollowJTrajAction::Result>();
+    action_res->set__error_code(FollowJTrajAction::Result::INVALID_GOAL);
+    action_res->set__error_string("Current goal cancelled during deactivate transition.");
+    active_goal->setCanceled(action_res);
+    rt_active_goal_.writeFromNonRT(RealtimeGoalHandlePtr());
+  }
+
   for (size_t index = 0; index < dof_; ++index)
   {
     if (has_position_command_interface_)
@@ -1433,7 +1444,6 @@ void JointTrajectoryController::preempt_active_goal()
   const auto active_goal = *rt_active_goal_.readFromNonRT();
   if (active_goal)
   {
-    add_new_trajectory_msg(set_hold_position());
     auto action_res = std::make_shared<FollowJTrajAction::Result>();
     action_res->set__error_code(FollowJTrajAction::Result::INVALID_GOAL);
     action_res->set__error_string("Current goal cancelled due to new incoming action.");

diff --git a/joint_trajectory_controller/src/joint_trajectory_controller_parameters.yaml b/joint_trajectory_controller/src/joint_trajectory_controller_parameters.yaml
@@ -3,7 +3,6 @@ joint_trajectory_controller:
     type: string_array,
     default_value: [],
     description: "Names of joints used by the controller",
-    read_only: true,
     validation: {
       unique<>: null,
     }
@@ -21,7 +20,6 @@ joint_trajectory_controller:
     type: string_array,
     default_value: [],
     description: "Names of command interfaces to claim",
-    read_only: true,
     validation: {
       unique<>: null,
       subset_of<>: [["position", "velocity", "acceleration", "effort",]],
@@ -32,7 +30,6 @@ joint_trajectory_controller:
     type: string_array,
     default_value: [],
     description: "Names of state interfaces to claim",
-    read_only: true,
     validation: {
       unique<>: null,
       subset_of<>: [["position", "velocity", "acceleration",]],