Merge branch 'humble' into mergify/bp/humble/pr-725

ros-controls · Sep 16, 2023 · 3e32fd4 · 3e32fd4
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diff --git a/ackermann_steering_controller/CHANGELOG.rst b/ackermann_steering_controller/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package ackermann_steering_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.25.0 (2023-09-15)
+-------------------
+
 2.24.0 (2023-08-07)
 -------------------
 

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>2.24.0</version>
+  <version>2.25.0</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 +2,11 @@
 Changelog for package admittance_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.25.0 (2023-09-15)
+-------------------
+* Update docs for diff drive controller (`#751 <https://github.com/ros-controls/ros2_controllers/issues/751>`_) (`#753 <https://github.com/ros-controls/ros2_controllers/issues/753>`_)
+* Contributors: Christoph Fröhlich
+
 2.24.0 (2023-08-07)
 -------------------
 * Activate AdmittanceControllerTestParameterizedInvalidParameters (`#711 <https://github.com/ros-controls/ros2_controllers/issues/711>`_) (`#733 <https://github.com/ros-controls/ros2_controllers/issues/733>`_)

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>2.24.0</version>
+  <version>2.25.0</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/bicycle_steering_controller/CHANGELOG.rst b/bicycle_steering_controller/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package bicycle_steering_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.25.0 (2023-09-15)
+-------------------
+
 2.24.0 (2023-08-07)
 -------------------
 

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>2.24.0</version>
+  <version>2.25.0</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 +2,12 @@
 Changelog for package diff_drive_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.25.0 (2023-09-15)
+-------------------
+* removed duplicated previous_publish_timestamp\_ increment by publish_period\_ in diff_drive_controller.cpp (`#644 <https://github.com/ros-controls/ros2_controllers/issues/644>`_) (`#777 <https://github.com/ros-controls/ros2_controllers/issues/777>`_)
+* Update docs for diff drive controller (`#751 <https://github.com/ros-controls/ros2_controllers/issues/751>`_) (`#753 <https://github.com/ros-controls/ros2_controllers/issues/753>`_)
+* Contributors: Christoph Fröhlich, Jules CARPENTIER
+
 2.24.0 (2023-08-07)
 -------------------
 

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>2.24.0</version>
+  <version>2.25.0</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/diff_drive_controller/src/diff_drive_controller.cpp b/diff_drive_controller/src/diff_drive_controller.cpp
@@ -203,8 +203,6 @@ controller_interface::return_type DiffDriveController::update(
 
   if (should_publish)
   {
-    previous_publish_timestamp_ += publish_period_;
-
     if (realtime_odometry_publisher_->trylock())
     {
       auto & odometry_message = realtime_odometry_publisher_->msg_;

diff --git a/effort_controllers/CHANGELOG.rst b/effort_controllers/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package effort_controllers
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.25.0 (2023-09-15)
+-------------------
+
 2.24.0 (2023-08-07)
 -------------------
 

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>2.24.0</version>
+  <version>2.25.0</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 +2,9 @@
 Changelog for package force_torque_sensor_broadcaster
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.25.0 (2023-09-15)
+-------------------
+
 2.24.0 (2023-08-07)
 -------------------
 

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>2.24.0</version>
+  <version>2.25.0</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 +2,11 @@
 Changelog for package forward_command_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.25.0 (2023-09-15)
+-------------------
+* Use tabs (`#743 <https://github.com/ros-controls/ros2_controllers/issues/743>`_) (`#746 <https://github.com/ros-controls/ros2_controllers/issues/746>`_)
+* Contributors: Christoph Fröhlich
+
 2.24.0 (2023-08-07)
 -------------------
 

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>2.24.0</version>
+  <version>2.25.0</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 +2,9 @@
 Changelog for package gripper_controllers
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.25.0 (2023-09-15)
+-------------------
+
 2.24.0 (2023-08-07)
 -------------------
 

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>2.24.0</version>
+  <version>2.25.0</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 +2,9 @@
 Changelog for package imu_sensor_broadcaster
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.25.0 (2023-09-15)
+-------------------
+
 2.24.0 (2023-08-07)
 -------------------
 

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>2.24.0</version>
+  <version>2.25.0</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 +2,9 @@
 Changelog for package joint_state_broadcaster
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.25.0 (2023-09-15)
+-------------------
+
 2.24.0 (2023-08-07)
 -------------------
 

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>2.24.0</version>
+  <version>2.25.0</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 +2,13 @@
 Changelog for package joint_trajectory_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.25.0 (2023-09-15)
+-------------------
+* [JTC] Rename parameter: normalize_error to angle_wraparound (`#772 <https://github.com/ros-controls/ros2_controllers/issues/772>`_) (`#776 <https://github.com/ros-controls/ros2_controllers/issues/776>`_)
+* Remove wrong description (`#742 <https://github.com/ros-controls/ros2_controllers/issues/742>`_) (`#747 <https://github.com/ros-controls/ros2_controllers/issues/747>`_)
+* [JTC] Update trajectory documentation (`#714 <https://github.com/ros-controls/ros2_controllers/issues/714>`_) (`#741 <https://github.com/ros-controls/ros2_controllers/issues/741>`_)
+* Contributors: Christoph Fröhlich
+
 2.24.0 (2023-08-07)
 -------------------
 * [JTC] Disable use of closed-loop PID adapter if controller is used in open-loop mode. (`#551 <https://github.com/ros-controls/ros2_controllers/issues/551>`_) (`#740 <https://github.com/ros-controls/ros2_controllers/issues/740>`_)

diff --git a/joint_trajectory_controller/doc/parameters.rst b/joint_trajectory_controller/doc/parameters.rst
@@ -100,7 +100,7 @@ gains (structure)
 
      u = k_{ff} v_d + k_p e + k_i \sum e dt + k_d (v_d - v)
 
-  with the desired velocity :math:`v_d`, the measured velocity :math:`v`, the position error :math:`e` (definition see below),
+  with the desired velocity :math:`v_d`, the measured velocity :math:`v`, the position error :math:`e` (definition see ``angle_wraparound`` below),
   the controller period :math:`dt`, and the ``velocity`` or ``effort`` manipulated variable (control variable) :math:`u`, respectively.
 
 gains.<joint_name>.p (double)
@@ -128,10 +128,12 @@ gains.<joint_name>.ff_velocity_scale (double)
 
   Default: 0.0
 
-gains.<joint_name>.normalize_error (bool)
+gains.<joint_name>.angle_wraparound (bool)
+  For joints that wrap around (without end stop, ie. are continuous),
+  where the shortest rotation to the target position is the desired motion.
   If true, the position error :math:`e = normalize(s_d - s)` is normalized between :math:`-\pi, \pi`.
   Otherwise  :math:`e = s_d - s` is used, with the desired position :math:`s_d` and the measured
-  position :math:`s` from the state interface. Use this for revolute joints without end stop,
-  where the shortest rotation to the target position is the desired motion.
+  position :math:`s` from the state interface.
+
 
   Default: false
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>2.24.0</version>
+  <version>2.25.0</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]">Jordan Palacios</maintainer>

diff --git a/joint_trajectory_controller/src/joint_trajectory_controller.cpp b/joint_trajectory_controller/src/joint_trajectory_controller.cpp
@@ -722,12 +722,21 @@ controller_interface::CallbackReturn JointTrajectoryController::on_configure(
     }
   }
 
-  // Configure joint position error normalization from ROS parameters
+  // Configure joint position error normalization from ROS parameters (angle_wraparound)
   normalize_joint_error_.resize(dof_);
   for (size_t i = 0; i < dof_; ++i)
   {
     const auto & gains = params_.gains.joints_map.at(params_.joints[i]);
-    normalize_joint_error_[i] = gains.normalize_error;
+    if (gains.normalize_error)
+    {
+      // TODO(anyone): Remove deprecation warning in the end of 2023
+      RCLCPP_INFO(logger, "`normalize_error` is deprecated, use `angle_wraparound` instead!");
+      normalize_joint_error_[i] = gains.normalize_error;
+    }
+    else
+    {
+      normalize_joint_error_[i] = gains.angle_wraparound;
+    }
   }
 
   if (params_.state_interfaces.empty())

diff --git a/joint_trajectory_controller/src/joint_trajectory_controller_parameters.yaml b/joint_trajectory_controller/src/joint_trajectory_controller_parameters.yaml
@@ -109,7 +109,13 @@ joint_trajectory_controller:
       normalize_error: {
         type: bool,
         default_value: false,
-        description: "Use position error normalization to -pi to pi."
+        description: "(Deprecated) Use position error normalization to -pi to pi."
+      }
+      angle_wraparound: {
+        type: bool,
+        default_value: false,
+        description: "For joints that wrap around (ie. are continuous).
+          Normalizes position-error to -pi to pi."
       }
   constraints:
     stopped_velocity_tolerance: {

diff --git a/position_controllers/CHANGELOG.rst b/position_controllers/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package position_controllers
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.25.0 (2023-09-15)
+-------------------
+
 2.24.0 (2023-08-07)
 -------------------
 

diff --git a/position_controllers/package.xml b/position_controllers/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>position_controllers</name>
-  <version>2.24.0</version>
+  <version>2.25.0</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/ros2_controllers/CHANGELOG.rst b/ros2_controllers/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package ros2_controllers
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.25.0 (2023-09-15)
+-------------------
+
 2.24.0 (2023-08-07)
 -------------------
 

diff --git a/ros2_controllers/package.xml b/ros2_controllers/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>ros2_controllers</name>
-  <version>2.24.0</version>
+  <version>2.25.0</version>
   <description>Metapackage for ROS2 controllers related packages</description>
   <maintainer email="[email protected]">Bence Magyar</maintainer>
   <maintainer email="[email protected]">Jordan Palacios</maintainer>

diff --git a/ros2_controllers_test_nodes/CHANGELOG.rst b/ros2_controllers_test_nodes/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package ros2_controllers_test_nodes
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.25.0 (2023-09-15)
+-------------------
+
 2.24.0 (2023-08-07)
 -------------------
 

diff --git a/ros2_controllers_test_nodes/package.xml b/ros2_controllers_test_nodes/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>ros2_controllers_test_nodes</name>
-  <version>2.24.0</version>
+  <version>2.25.0</version>
   <description>Demo nodes for showing and testing functionalities of the ros2_control framework.</description>
 
   <maintainer email="[email protected]">Denis Štogl</maintainer>

diff --git a/ros2_controllers_test_nodes/setup.py b/ros2_controllers_test_nodes/setup.py
@@ -20,7 +20,7 @@
 
 setup(
     name=package_name,
-    version="2.24.0",
+    version="2.25.0",
     packages=[package_name],
     data_files=[
         ("share/ament_index/resource_index/packages", ["resource/" + package_name]),

diff --git a/rqt_joint_trajectory_controller/CHANGELOG.rst b/rqt_joint_trajectory_controller/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package rqt_joint_trajectory_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.25.0 (2023-09-15)
+-------------------
+
 2.24.0 (2023-08-07)
 -------------------
 

diff --git a/rqt_joint_trajectory_controller/package.xml b/rqt_joint_trajectory_controller/package.xml
@@ -4,7 +4,7 @@
   schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>rqt_joint_trajectory_controller</name>
-  <version>2.24.0</version>
+  <version>2.25.0</version>
   <description>Graphical frontend for interacting with joint_trajectory_controller instances.</description>
 
   <maintainer email="[email protected]">Bence Magyar</maintainer>

diff --git a/rqt_joint_trajectory_controller/setup.py b/rqt_joint_trajectory_controller/setup.py
@@ -7,7 +7,7 @@
 
 setup(
     name=package_name,
-    version="2.24.0",
+    version="2.25.0",
     packages=[package_name],
     data_files=[
         ("share/ament_index/resource_index/packages", ["resource/" + package_name]),

diff --git a/steering_controllers_library/CHANGELOG.rst b/steering_controllers_library/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package steering_controllers_library
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.25.0 (2023-09-15)
+-------------------
+
 2.24.0 (2023-08-07)
 -------------------