Merge branch 'master' into mv/speed_limiter

ros-controls · Dec 6, 2024 · 58b114c · 58b114c
2 parents 2d5e6f3 + dc60f6f
commit 58b114c
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Showing 20 changed files with 45 additions and 41 deletions.
diff --git a/admittance_controller/include/admittance_controller/admittance_controller.hpp b/admittance_controller/include/admittance_controller/admittance_controller.hpp
@@ -32,8 +32,8 @@
 #include "rclcpp/duration.hpp"
 #include "rclcpp/time.hpp"
 #include "rclcpp_lifecycle/state.hpp"
-#include "realtime_tools/realtime_buffer.h"
-#include "realtime_tools/realtime_publisher.h"
+#include "realtime_tools/realtime_buffer.hpp"
+#include "realtime_tools/realtime_publisher.hpp"
 #include "semantic_components/force_torque_sensor.hpp"
 
 namespace admittance_controller

diff --git a/diff_drive_controller/include/diff_drive_controller/diff_drive_controller.hpp b/diff_drive_controller/include/diff_drive_controller/diff_drive_controller.hpp
@@ -33,8 +33,8 @@
 #include "nav_msgs/msg/odometry.hpp"
 #include "odometry.hpp"
 #include "rclcpp_lifecycle/state.hpp"
-#include "realtime_tools/realtime_box.h"
-#include "realtime_tools/realtime_publisher.h"
+#include "realtime_tools/realtime_box.hpp"
+#include "realtime_tools/realtime_publisher.hpp"
 #include "tf2_msgs/msg/tf_message.hpp"
 
 // auto-generated by generate_parameter_library

diff --git a/...r_broadcaster/include/force_torque_sensor_broadcaster/force_torque_sensor_broadcaster.hpp b/...r_broadcaster/include/force_torque_sensor_broadcaster/force_torque_sensor_broadcaster.hpp
@@ -28,7 +28,7 @@
 #include "force_torque_sensor_broadcaster_parameters.hpp"
 #include "geometry_msgs/msg/wrench_stamped.hpp"
 #include "rclcpp_lifecycle/state.hpp"
-#include "realtime_tools/realtime_publisher.h"
+#include "realtime_tools/realtime_publisher.hpp"
 #include "semantic_components/force_torque_sensor.hpp"
 
 namespace force_torque_sensor_broadcaster

diff --git a/forward_command_controller/include/forward_command_controller/forward_controllers_base.hpp b/forward_command_controller/include/forward_command_controller/forward_controllers_base.hpp
@@ -23,7 +23,7 @@
 #include "forward_command_controller/visibility_control.h"
 #include "rclcpp/subscription.hpp"
 #include "rclcpp_lifecycle/state.hpp"
-#include "realtime_tools/realtime_buffer.h"
+#include "realtime_tools/realtime_buffer.hpp"
 #include "std_msgs/msg/float64_multi_array.hpp"
 
 namespace forward_command_controller

diff --git a/gpio_controllers/include/gpio_controllers/gpio_command_controller.hpp b/gpio_controllers/include/gpio_controllers/gpio_command_controller.hpp
@@ -26,8 +26,8 @@
 #include "gpio_controllers/visibility_control.h"
 #include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp"
 #include "rclcpp_lifecycle/state.hpp"
-#include "realtime_tools/realtime_buffer.h"
-#include "realtime_tools/realtime_publisher.h"
+#include "realtime_tools/realtime_buffer.hpp"
+#include "realtime_tools/realtime_publisher.hpp"
 
 namespace gpio_controllers
 {

diff --git a/gpio_controllers/package.xml b/gpio_controllers/package.xml
@@ -4,10 +4,21 @@
   <name>gpio_controllers</name>
   <version>4.15.0</version>
   <description>Controllers to interact with gpios.</description>
-  <maintainer email="[email protected]">Maciej Bednarczyk</maintainer>
-  <maintainer email="[email protected]">Wiktor Bajor</maintainer>
+
+  <maintainer email="[email protected]">Bence Magyar</maintainer>
+  <maintainer email="[email protected]">Denis Štogl</maintainer>
+  <maintainer email="[email protected]">Christoph Froehlich</maintainer>
+  <maintainer email="[email protected]">Sai Kishor Kothakota</maintainer>
+
   <license>Apache License 2.0</license>
 
+  <url type="website">https://control.ros.org</url>
+  <url type="bugtracker">https://github.com/ros-controls/ros2_controllers/issues</url>
+  <url type="repository">https://github.com/ros-controls/ros2_controllers/</url>
+
+  <author email="[email protected]">Maciej Bednarczyk</author>
+  <author email="[email protected]">Wiktor Bajor</author>
+
   <buildtool_depend>ament_cmake</buildtool_depend>
 
   <depend>controller_interface</depend>
@@ -22,6 +33,7 @@
 
   <test_depend>ament_cmake_gmock</test_depend>
   <test_depend>controller_manager</test_depend>
+  <test_depend>hardware_interface_testing</test_depend>
   <test_depend>ros2_control_test_assets</test_depend>
 
   <export>

diff --git a/gripper_controllers/include/gripper_controllers/gripper_action_controller.hpp b/gripper_controllers/include/gripper_controllers/gripper_action_controller.hpp
@@ -37,8 +37,8 @@
 #include "gripper_controllers/visibility_control.hpp"
 #include "hardware_interface/loaned_command_interface.hpp"
 #include "hardware_interface/loaned_state_interface.hpp"
-#include "realtime_tools/realtime_buffer.h"
-#include "realtime_tools/realtime_server_goal_handle.h"
+#include "realtime_tools/realtime_buffer.hpp"
+#include "realtime_tools/realtime_server_goal_handle.hpp"
 
 // Project
 #include "gripper_controllers/hardware_interface_adapter.hpp"

diff --git a/imu_sensor_broadcaster/include/imu_sensor_broadcaster/imu_sensor_broadcaster.hpp b/imu_sensor_broadcaster/include/imu_sensor_broadcaster/imu_sensor_broadcaster.hpp
@@ -26,7 +26,7 @@
 // auto-generated by generate_parameter_library
 #include "imu_sensor_broadcaster_parameters.hpp"
 #include "rclcpp_lifecycle/state.hpp"
-#include "realtime_tools/realtime_publisher.h"
+#include "realtime_tools/realtime_publisher.hpp"
 #include "semantic_components/imu_sensor.hpp"
 #include "sensor_msgs/msg/imu.hpp"
 

diff --git a/joint_state_broadcaster/include/joint_state_broadcaster/joint_state_broadcaster.hpp b/joint_state_broadcaster/include/joint_state_broadcaster/joint_state_broadcaster.hpp
@@ -25,7 +25,7 @@
 #include "joint_state_broadcaster/visibility_control.h"
 // auto-generated by generate_parameter_library
 #include "joint_state_broadcaster_parameters.hpp"
-#include "realtime_tools/realtime_publisher.h"
+#include "realtime_tools/realtime_publisher.hpp"
 #include "sensor_msgs/msg/joint_state.hpp"
 #include "urdf/model.h"
 

diff --git a/...trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller.hpp b/...trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller.hpp
@@ -36,9 +36,9 @@
 #include "rclcpp/timer.hpp"
 #include "rclcpp_action/server.hpp"
 #include "rclcpp_lifecycle/state.hpp"
-#include "realtime_tools/realtime_buffer.h"
-#include "realtime_tools/realtime_publisher.h"
-#include "realtime_tools/realtime_server_goal_handle.h"
+#include "realtime_tools/realtime_buffer.hpp"
+#include "realtime_tools/realtime_publisher.hpp"
+#include "realtime_tools/realtime_server_goal_handle.hpp"
 #include "trajectory_msgs/msg/joint_trajectory.hpp"
 #include "trajectory_msgs/msg/joint_trajectory_point.hpp"
 

diff --git a/mecanum_drive_controller/include/mecanum_drive_controller/mecanum_drive_controller.hpp b/mecanum_drive_controller/include/mecanum_drive_controller/mecanum_drive_controller.hpp
@@ -29,8 +29,8 @@
 #include "mecanum_drive_controller_parameters.hpp"
 #include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp"
 #include "rclcpp_lifecycle/state.hpp"
-#include "realtime_tools/realtime_buffer.h"
-#include "realtime_tools/realtime_publisher.h"
+#include "realtime_tools/realtime_buffer.hpp"
+#include "realtime_tools/realtime_publisher.hpp"
 #include "std_srvs/srv/set_bool.hpp"
 
 #include "control_msgs/msg/mecanum_drive_controller_state.hpp"

diff --git a/mecanum_drive_controller/include/mecanum_drive_controller/odometry.hpp b/mecanum_drive_controller/include/mecanum_drive_controller/odometry.hpp
@@ -16,8 +16,8 @@
 #define MECANUM_DRIVE_CONTROLLER__ODOMETRY_HPP_
 
 #include "geometry_msgs/msg/twist.hpp"
-#include "realtime_tools/realtime_buffer.h"
-#include "realtime_tools/realtime_publisher.h"
+#include "realtime_tools/realtime_buffer.hpp"
+#include "realtime_tools/realtime_publisher.hpp"
 
 #define PLANAR_POINT_DIM 3
 

diff --git a/...per_controller/include/parallel_gripper_controller/parallel_gripper_action_controller.hpp b/...per_controller/include/parallel_gripper_controller/parallel_gripper_action_controller.hpp
@@ -37,8 +37,8 @@
 #include "hardware_interface/loaned_command_interface.hpp"
 #include "hardware_interface/loaned_state_interface.hpp"
 #include "parallel_gripper_controller/visibility_control.hpp"
-#include "realtime_tools/realtime_buffer.h"
-#include "realtime_tools/realtime_server_goal_handle.h"
+#include "realtime_tools/realtime_buffer.hpp"
+#include "realtime_tools/realtime_server_goal_handle.hpp"
 
 // Project
 #include "parallel_gripper_action_controller_parameters.hpp"

diff --git a/pid_controller/include/pid_controller/pid_controller.hpp b/pid_controller/include/pid_controller/pid_controller.hpp
@@ -29,8 +29,8 @@
 #include "pid_controller/visibility_control.h"
 #include "pid_controller_parameters.hpp"
 #include "rclcpp_lifecycle/state.hpp"
-#include "realtime_tools/realtime_buffer.h"
-#include "realtime_tools/realtime_publisher.h"
+#include "realtime_tools/realtime_buffer.hpp"
+#include "realtime_tools/realtime_publisher.hpp"
 #include "std_srvs/srv/set_bool.hpp"
 
 namespace pid_controller

diff --git a/pose_broadcaster/include/pose_broadcaster/pose_broadcaster.hpp b/pose_broadcaster/include/pose_broadcaster/pose_broadcaster.hpp
@@ -25,7 +25,7 @@
 #include "pose_broadcaster_parameters.hpp"
 #include "rclcpp/publisher.hpp"
 #include "rclcpp_lifecycle/state.hpp"
-#include "realtime_tools/realtime_publisher.h"
+#include "realtime_tools/realtime_publisher.hpp"
 #include "semantic_components/pose_sensor.hpp"
 #include "tf2_msgs/msg/tf_message.hpp"
 

diff --git a/range_sensor_broadcaster/include/range_sensor_broadcaster/range_sensor_broadcaster.hpp b/range_sensor_broadcaster/include/range_sensor_broadcaster/range_sensor_broadcaster.hpp
@@ -25,7 +25,7 @@
 #include "range_sensor_broadcaster/visibility_control.h"
 #include "range_sensor_broadcaster_parameters.hpp"
 #include "rclcpp_lifecycle/state.hpp"
-#include "realtime_tools/realtime_publisher.h"
+#include "realtime_tools/realtime_publisher.hpp"
 #include "semantic_components/range_sensor.hpp"
 #include "sensor_msgs/msg/range.hpp"
 

diff --git a/...ntrollers_test_nodes/ros2_controllers_test_nodes/publisher_forward_position_controller.py b/...ntrollers_test_nodes/ros2_controllers_test_nodes/publisher_forward_position_controller.py
@@ -70,14 +70,10 @@ def main(args=None):
 
     try:
         rclpy.spin(publisher_forward_position)
-    except KeyboardInterrupt:
+    except (KeyboardInterrupt, rclpy.executors.ExternalShutdownException):
         print("Keyboard interrupt received. Shutting down node.")
     except Exception as e:
         print(f"Unhandled exception: {e}")
-    finally:
-        if rclpy.ok():
-            publisher_forward_position.destroy_node()
-            rclpy.shutdown()
 
 
 if __name__ == "__main__":

diff --git a/...ntrollers_test_nodes/ros2_controllers_test_nodes/publisher_joint_trajectory_controller.py b/...ntrollers_test_nodes/ros2_controllers_test_nodes/publisher_joint_trajectory_controller.py
@@ -186,14 +186,10 @@ def main(args=None):
 
     try:
         rclpy.spin(publisher_joint_trajectory)
-    except KeyboardInterrupt:
+    except (KeyboardInterrupt, rclpy.executors.ExternalShutdownException):
         print("Keyboard interrupt received. Shutting down node.")
     except Exception as e:
         print(f"Unhandled exception: {e}")
-    finally:
-        if rclpy.ok():
-            publisher_joint_trajectory.destroy_node()
-            rclpy.shutdown()
 
 
 if __name__ == "__main__":

diff --git a/...controllers_library/include/steering_controllers_library/steering_controllers_library.hpp b/...controllers_library/include/steering_controllers_library/steering_controllers_library.hpp
@@ -23,8 +23,8 @@
 #include "controller_interface/chainable_controller_interface.hpp"
 #include "hardware_interface/handle.hpp"
 #include "rclcpp_lifecycle/state.hpp"
-#include "realtime_tools/realtime_buffer.h"
-#include "realtime_tools/realtime_publisher.h"
+#include "realtime_tools/realtime_buffer.hpp"
+#include "realtime_tools/realtime_publisher.hpp"
 #include "steering_controllers_library/steering_odometry.hpp"
 #include "steering_controllers_library/visibility_control.h"
 #include "steering_controllers_library_parameters.hpp"

diff --git a/tricycle_controller/include/tricycle_controller/tricycle_controller.hpp b/tricycle_controller/include/tricycle_controller/tricycle_controller.hpp
@@ -33,8 +33,8 @@
 #include "geometry_msgs/msg/twist_stamped.hpp"
 #include "nav_msgs/msg/odometry.hpp"
 #include "rclcpp_lifecycle/state.hpp"
-#include "realtime_tools/realtime_box.h"
-#include "realtime_tools/realtime_publisher.h"
+#include "realtime_tools/realtime_box.hpp"
+#include "realtime_tools/realtime_publisher.hpp"
 #include "std_srvs/srv/empty.hpp"
 #include "tf2_msgs/msg/tf_message.hpp"
 #include "tricycle_controller/odometry.hpp"