From 00172ab5dbd4948df78493e5acd40901a7227976 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Christoph=20Fr=C3=B6hlich?= Date: Tue, 27 Feb 2024 20:07:21 +0100 Subject: [PATCH 01/11] [CI] Code coverage + pre-commit (#1057) --- .../workflows/ci-coverage-build-humble.yml | 66 ------------------- .github/workflows/ci-coverage-build-iron.yml | 66 ------------------- .github/workflows/ci-coverage-build.yml | 66 ------------------- .github/workflows/ci-format.yml | 22 ------- .github/workflows/ci-ros-lint.yml | 64 ------------------ .github/workflows/humble-coverage-build.yml | 17 +++++ .github/workflows/humble-pre-commit.yml | 14 ++++ .github/workflows/iron-coverage-build.yml | 17 +++++ .github/workflows/iron-pre-commit.yml | 14 ++++ .github/workflows/rolling-coverage-build.yml | 17 +++++ .github/workflows/rolling-pre-commit.yml | 14 ++++ .github/workflows/update-pre-commit.yml | 12 ++++ .pre-commit-config.yaml | 49 ++++++++------ .../joint_trajectory_controller.py | 8 +-- .../update_combo.py | 2 +- rqt_joint_trajectory_controller/setup.py | 14 ++++ 16 files changed, 153 insertions(+), 309 deletions(-) delete mode 100644 .github/workflows/ci-coverage-build-humble.yml delete mode 100644 .github/workflows/ci-coverage-build-iron.yml delete mode 100644 .github/workflows/ci-coverage-build.yml delete mode 100644 .github/workflows/ci-format.yml delete mode 100644 .github/workflows/ci-ros-lint.yml create mode 100644 .github/workflows/humble-coverage-build.yml create mode 100644 .github/workflows/humble-pre-commit.yml create mode 100644 .github/workflows/iron-coverage-build.yml create mode 100644 .github/workflows/iron-pre-commit.yml create mode 100644 .github/workflows/rolling-coverage-build.yml create mode 100644 .github/workflows/rolling-pre-commit.yml create mode 100644 .github/workflows/update-pre-commit.yml diff --git a/.github/workflows/ci-coverage-build-humble.yml b/.github/workflows/ci-coverage-build-humble.yml deleted file mode 100644 index 357ee3dfa8..0000000000 --- a/.github/workflows/ci-coverage-build-humble.yml +++ /dev/null @@ -1,66 +0,0 @@ -name: Coverage Build - Humble -on: - workflow_dispatch: - push: - branches: - - humble - pull_request: - branches: - - humble - -jobs: - coverage: - name: coverage build - runs-on: ubuntu-22.04 - strategy: - fail-fast: false - env: - ROS_DISTRO: humble - steps: - - uses: ros-tooling/setup-ros@0.7.1 - with: - required-ros-distributions: ${{ env.ROS_DISTRO }} - - uses: actions/checkout@v4 - - uses: ros-tooling/action-ros-ci@0.3.6 - with: - target-ros2-distro: ${{ env.ROS_DISTRO }} - import-token: ${{ secrets.GITHUB_TOKEN }} - # build all packages listed here - package-name: - ackermann_steering_controller - admittance_controller - bicycle_steering_controller - diff_drive_controller - effort_controllers - force_torque_sensor_broadcaster - forward_command_controller - gripper_controllers - imu_sensor_broadcaster - joint_state_broadcaster - joint_trajectory_controller - pid_controller - position_controllers - range_sensor_broadcaster - steering_controllers_library - tricycle_controller - tricycle_steering_controller - velocity_controllers - - vcs-repo-file-url: | - https://raw.githubusercontent.com/${{ github.repository }}/${{ github.sha }}/ros2_controllers.${{ env.ROS_DISTRO }}.repos?token=${{ secrets.GITHUB_TOKEN }} - colcon-defaults: | - { - "build": { - "mixin": ["coverage-gcc"] - } - } - colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml - - uses: codecov/codecov-action@v4.0.1 - with: - file: ros_ws/lcov/total_coverage.info - flags: unittests - name: codecov-umbrella - - uses: actions/upload-artifact@v4.3.1 - 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 deleted file mode 100644 index 7914a1acb0..0000000000 --- a/.github/workflows/ci-coverage-build-iron.yml +++ /dev/null @@ -1,66 +0,0 @@ -name: Coverage Build - Iron -on: - workflow_dispatch: - push: - branches: - - iron - pull_request: - branches: - - iron - -jobs: - coverage: - name: coverage build - runs-on: ubuntu-22.04 - strategy: - fail-fast: false - env: - ROS_DISTRO: iron - steps: - - uses: ros-tooling/setup-ros@0.7.1 - with: - required-ros-distributions: ${{ env.ROS_DISTRO }} - - uses: actions/checkout@v4 - - uses: ros-tooling/action-ros-ci@0.3.6 - with: - target-ros2-distro: ${{ env.ROS_DISTRO }} - import-token: ${{ secrets.GITHUB_TOKEN }} - # build all packages listed here - package-name: - ackermann_steering_controller - admittance_controller - bicycle_steering_controller - diff_drive_controller - effort_controllers - force_torque_sensor_broadcaster - forward_command_controller - gripper_controllers - imu_sensor_broadcaster - joint_state_broadcaster - joint_trajectory_controller - pid_controller - position_controllers - range_sensor_broadcaster - steering_controllers_library - tricycle_controller - tricycle_steering_controller - velocity_controllers - - vcs-repo-file-url: | - https://raw.githubusercontent.com/${{ github.repository }}/${{ github.sha }}/ros2_controllers.${{ env.ROS_DISTRO }}.repos?token=${{ secrets.GITHUB_TOKEN }} - colcon-defaults: | - { - "build": { - "mixin": ["coverage-gcc"] - } - } - colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml - - uses: codecov/codecov-action@v4.0.1 - with: - file: ros_ws/lcov/total_coverage.info - flags: unittests - name: codecov-umbrella - - uses: actions/upload-artifact@v4.3.1 - 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 deleted file mode 100644 index b96276ca5a..0000000000 --- a/.github/workflows/ci-coverage-build.yml +++ /dev/null @@ -1,66 +0,0 @@ -name: Coverage Build -on: - workflow_dispatch: - push: - branches: - - master - pull_request: - branches: - - master - -jobs: - coverage: - name: coverage build - runs-on: ubuntu-22.04 - strategy: - fail-fast: false - env: - ROS_DISTRO: rolling - steps: - - uses: ros-tooling/setup-ros@0.7.1 - with: - required-ros-distributions: ${{ env.ROS_DISTRO }} - - uses: actions/checkout@v4 - - uses: ros-tooling/action-ros-ci@0.3.6 - with: - target-ros2-distro: ${{ env.ROS_DISTRO }} - import-token: ${{ secrets.GITHUB_TOKEN }} - # build all packages listed here - package-name: - ackermann_steering_controller - admittance_controller - bicycle_steering_controller - diff_drive_controller - effort_controllers - force_torque_sensor_broadcaster - forward_command_controller - gripper_controllers - imu_sensor_broadcaster - joint_state_broadcaster - joint_trajectory_controller - pid_controller - position_controllers - range_sensor_broadcaster - steering_controllers_library - tricycle_controller - tricycle_steering_controller - velocity_controllers - - vcs-repo-file-url: | - https://raw.githubusercontent.com/${{ github.repository }}/${{ github.sha }}/ros2_controllers.${{ env.ROS_DISTRO }}.repos?token=${{ secrets.GITHUB_TOKEN }} - colcon-defaults: | - { - "build": { - "mixin": ["coverage-gcc"] - } - } - colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml - - uses: codecov/codecov-action@v4.0.1 - with: - file: ros_ws/lcov/total_coverage.info - flags: unittests - name: codecov-umbrella - - uses: actions/upload-artifact@v4.3.1 - with: - name: colcon-logs-coverage-rolling - path: ros_ws/log diff --git a/.github/workflows/ci-format.yml b/.github/workflows/ci-format.yml deleted file mode 100644 index 824baf1b77..0000000000 --- a/.github/workflows/ci-format.yml +++ /dev/null @@ -1,22 +0,0 @@ -# This is a format job. Pre-commit has a first-party GitHub action, so we use -# that: https://github.com/pre-commit/action - -name: Format - -on: - pull_request: - -jobs: - pre-commit: - name: Format - runs-on: ubuntu-latest - steps: - - uses: actions/checkout@v4 - - uses: actions/setup-python@v5.0.0 - with: - python-version: '3.10' - - name: Install system hooks - run: sudo apt install -qq clang-format-14 cppcheck - - uses: pre-commit/action@v3.0.1 - with: - extra_args: --all-files --hook-stage manual diff --git a/.github/workflows/ci-ros-lint.yml b/.github/workflows/ci-ros-lint.yml deleted file mode 100644 index df17d11dc4..0000000000 --- a/.github/workflows/ci-ros-lint.yml +++ /dev/null @@ -1,64 +0,0 @@ -name: ROS Lint -on: - pull_request: - -env: - package-name: - ackermann_steering_controller - admittance_controller - bicycle_steering_controller - diff_drive_controller - effort_controllers - force_torque_sensor_broadcaster - forward_command_controller - gripper_controllers - imu_sensor_broadcaster - joint_state_broadcaster - joint_trajectory_controller - pid_controller - position_controllers - range_sensor_broadcaster - ros2_controllers - ros2_controllers_test_nodes - rqt_joint_trajectory_controller - steering_controllers_library - tricycle_controller - tricycle_steering_controller - velocity_controllers - -jobs: - ament_lint: - name: ament_${{ matrix.linter }} - runs-on: ubuntu-latest - strategy: - fail-fast: false - matrix: - linter: [cppcheck, copyright, lint_cmake] - env: - AMENT_CPPCHECK_ALLOW_SLOW_VERSIONS: true - steps: - - uses: actions/checkout@v4 - - uses: ros-tooling/setup-ros@0.7.1 - - uses: ros-tooling/action-ros-lint@v0.1 - with: - distribution: rolling - linter: ${{ matrix.linter }} - package-name: ${{ env.package-name }} - - - ament_lint_100: - name: ament_${{ matrix.linter }} - runs-on: ubuntu-latest - strategy: - fail-fast: false - matrix: - linter: [cpplint] - steps: - - uses: actions/checkout@v4 - - uses: ros-tooling/setup-ros@master - - uses: ros-tooling/action-ros-lint@master - with: - distribution: rolling - linter: cpplint - arguments: "--linelength=100 --filter=-whitespace/newline" - package-name: ${{ env.package-name }} diff --git a/.github/workflows/humble-coverage-build.yml b/.github/workflows/humble-coverage-build.yml new file mode 100644 index 0000000000..0910572227 --- /dev/null +++ b/.github/workflows/humble-coverage-build.yml @@ -0,0 +1,17 @@ +name: Coverage Build - Humble +on: + workflow_dispatch: + push: + branches: + - humble + pull_request: + branches: + - humble + +jobs: + coverage_humble: + uses: ros-controls/ros2_control_ci/.github/workflows/reusable-build-coverage.yml@master + secrets: inherit + with: + ros_distro: humble + os_name: ubuntu-22.04 diff --git a/.github/workflows/humble-pre-commit.yml b/.github/workflows/humble-pre-commit.yml new file mode 100644 index 0000000000..be8c84b05b --- /dev/null +++ b/.github/workflows/humble-pre-commit.yml @@ -0,0 +1,14 @@ +name: Pre-Commit - Humble + +on: + workflow_dispatch: + pull_request: + branches: + - humble + +jobs: + pre-commit: + uses: ros-controls/ros2_control_ci/.github/workflows/reusable-pre-commit.yml@master + with: + ros_distro: humble + os_name: ubuntu-22.04 diff --git a/.github/workflows/iron-coverage-build.yml b/.github/workflows/iron-coverage-build.yml new file mode 100644 index 0000000000..d82c52bf51 --- /dev/null +++ b/.github/workflows/iron-coverage-build.yml @@ -0,0 +1,17 @@ +name: Coverage Build - Iron +on: + workflow_dispatch: + push: + branches: + - iron + pull_request: + branches: + - iron + +jobs: + coverage_iron: + uses: ros-controls/ros2_control_ci/.github/workflows/reusable-build-coverage.yml@master + secrets: inherit + with: + ros_distro: iron + os_name: ubuntu-22.04 diff --git a/.github/workflows/iron-pre-commit.yml b/.github/workflows/iron-pre-commit.yml new file mode 100644 index 0000000000..60ad26d073 --- /dev/null +++ b/.github/workflows/iron-pre-commit.yml @@ -0,0 +1,14 @@ +name: Pre-Commit - Iron + +on: + workflow_dispatch: + pull_request: + branches: + - iron + +jobs: + pre-commit: + uses: ros-controls/ros2_control_ci/.github/workflows/reusable-pre-commit.yml@master + with: + ros_distro: iron + os_name: ubuntu-22.04 diff --git a/.github/workflows/rolling-coverage-build.yml b/.github/workflows/rolling-coverage-build.yml new file mode 100644 index 0000000000..4d4750c54c --- /dev/null +++ b/.github/workflows/rolling-coverage-build.yml @@ -0,0 +1,17 @@ +name: Coverage Build - Rolling +on: + workflow_dispatch: + push: + branches: + - master + pull_request: + branches: + - master + +jobs: + coverage_rolling: + uses: ros-controls/ros2_control_ci/.github/workflows/reusable-build-coverage.yml@master + secrets: inherit + with: + ros_distro: rolling + os_name: ubuntu-22.04 diff --git a/.github/workflows/rolling-pre-commit.yml b/.github/workflows/rolling-pre-commit.yml new file mode 100644 index 0000000000..9c87311bd7 --- /dev/null +++ b/.github/workflows/rolling-pre-commit.yml @@ -0,0 +1,14 @@ +name: Pre-Commit - Rolling + +on: + workflow_dispatch: + pull_request: + branches: + - master + +jobs: + pre-commit: + uses: ros-controls/ros2_control_ci/.github/workflows/reusable-pre-commit.yml@master + with: + ros_distro: rolling + os_name: ubuntu-22.04 diff --git a/.github/workflows/update-pre-commit.yml b/.github/workflows/update-pre-commit.yml new file mode 100644 index 0000000000..8b9545dff1 --- /dev/null +++ b/.github/workflows/update-pre-commit.yml @@ -0,0 +1,12 @@ +name: Auto Update pre-commit +# Update pre-commit config and create PR if changes are detected +# author: Christoph Fröhlich + +on: + workflow_dispatch: + schedule: + - cron: '0 0 * * 0' # Run every Sunday at midnight + +jobs: + auto_update_and_create_pr: + uses: ros-controls/ros2_control_ci/.github/workflows/reusable-update-pre-commit.yml@master diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index 32d194d73d..6da427c6ee 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -1,3 +1,4 @@ + # To use: # # pre-commit run -a @@ -15,7 +16,7 @@ repos: # Standard hooks - repo: https://github.com/pre-commit/pre-commit-hooks - rev: v4.4.0 + rev: v4.5.0 hooks: - id: check-added-large-files - id: check-ast @@ -29,57 +30,57 @@ repos: - id: end-of-file-fixer - id: mixed-line-ending - id: trailing-whitespace + exclude_types: [rst] - id: fix-byte-order-marker + # Python hooks - repo: https://github.com/asottile/pyupgrade - rev: v3.3.1 + rev: v3.15.1 hooks: - id: pyupgrade args: [--py36-plus] - - repo: https://github.com/psf/black - rev: 22.12.0 - hooks: - - id: black - args: ["--line-length=99"] - # PyDocStyle - repo: https://github.com/PyCQA/pydocstyle - rev: 6.2.2 + rev: 6.3.0 hooks: - id: pydocstyle args: ["--ignore=D100,D101,D102,D103,D104,D105,D106,D107,D203,D212,D404"] + - repo: https://github.com/psf/black + rev: 24.2.0 + hooks: + - id: black + args: ["--line-length=99"] + - repo: https://github.com/pycqa/flake8 - rev: 6.0.0 + rev: 7.0.0 hooks: - id: flake8 - args: ["--ignore=E501"] + args: ["--extend-ignore=E501"] # CPP hooks - repo: https://github.com/pre-commit/mirrors-clang-format - rev: v14.0.6 + rev: v17.0.6 hooks: - id: clang-format + args: ['-fallback-style=none', '-i'] - repo: local hooks: - id: ament_cppcheck name: ament_cppcheck description: Static code analysis of C/C++ files. - stages: [commit] - entry: ament_cppcheck + entry: env AMENT_CPPCHECK_ALLOW_SLOW_VERSIONS=1 ament_cppcheck language: system files: \.(h\+\+|h|hh|hxx|hpp|cuh|c|cc|cpp|cu|c\+\+|cxx|tpp|txx)$ - # Maybe use https://github.com/cpplint/cpplint instead - repo: local hooks: - id: ament_cpplint name: ament_cpplint description: Static code analysis of C/C++ files. - stages: [commit] entry: ament_cpplint language: system files: \.(h\+\+|h|hh|hxx|hpp|cuh|c|cc|cpp|cu|c\+\+|cxx|tpp|txx)$ @@ -91,7 +92,6 @@ repos: - id: ament_lint_cmake name: ament_lint_cmake description: Check format of CMakeLists.txt files. - stages: [commit] entry: ament_lint_cmake language: system files: CMakeLists\.txt$ @@ -102,7 +102,6 @@ repos: - id: ament_copyright name: ament_copyright description: Check if copyright notice is available in all files. - stages: [commit] entry: ament_copyright language: system @@ -125,8 +124,18 @@ repos: # Spellcheck in comments and docs # skipping of *.svg files is not working... - repo: https://github.com/codespell-project/codespell - rev: v2.2.2 + rev: v2.2.6 hooks: - id: codespell - args: ['--write-changes', '--uri-ignore-words-list=ist'] + args: ['--write-changes', '--uri-ignore-words-list=ist', '-L manuel'] exclude: CHANGELOG\.rst|\.(svg|pyc|drawio)$ + + - repo: https://github.com/python-jsonschema/check-jsonschema + rev: 0.28.0 + hooks: + - id: check-github-workflows + args: ["--verbose"] + - id: check-github-actions + args: ["--verbose"] + - id: check-dependabot + args: ["--verbose"] diff --git a/rqt_joint_trajectory_controller/rqt_joint_trajectory_controller/joint_trajectory_controller.py b/rqt_joint_trajectory_controller/rqt_joint_trajectory_controller/joint_trajectory_controller.py index 162977cdfe..72c11625e4 100644 --- a/rqt_joint_trajectory_controller/rqt_joint_trajectory_controller/joint_trajectory_controller.py +++ b/rqt_joint_trajectory_controller/rqt_joint_trajectory_controller/joint_trajectory_controller.py @@ -214,9 +214,9 @@ def restore_settings(self, plugin_settings, instance_settings): try: idx = jtc_list.index(jtc_name) jtc_combo.setCurrentIndex(idx) - except (ValueError): + except ValueError: pass - except (ValueError): + except ValueError: pass # def trigger_configuration(self): @@ -427,7 +427,7 @@ def _update_cmd_cb(self): cmd = pos try: cmd = self._joint_pos[name]["command"] - except (KeyError): + except KeyError: pass max_vel = self._robot_joint_limits[name]["max_velocity"] dur.append(max(abs(cmd - pos) / max_vel, self._min_traj_dur)) @@ -445,7 +445,7 @@ def _update_joint_widgets(self): try: joint_pos = self._joint_pos[joint_name]["position"] joint_widgets[id].setValue(joint_pos) - except (KeyError): + except KeyError: pass # Can happen when first connected to controller def _joint_widgets(self): # TODO: Cache instead of compute every time? diff --git a/rqt_joint_trajectory_controller/rqt_joint_trajectory_controller/update_combo.py b/rqt_joint_trajectory_controller/rqt_joint_trajectory_controller/update_combo.py index f0b632322f..6f736910e2 100644 --- a/rqt_joint_trajectory_controller/rqt_joint_trajectory_controller/update_combo.py +++ b/rqt_joint_trajectory_controller/rqt_joint_trajectory_controller/update_combo.py @@ -36,7 +36,7 @@ def update_combo(combo, new_vals): selected_id = -1 try: selected_id = new_vals.index(selected_val) - except (ValueError): + except ValueError: combo.setCurrentIndex(-1) # Re-populate items diff --git a/rqt_joint_trajectory_controller/setup.py b/rqt_joint_trajectory_controller/setup.py index 8bcb07ac54..adb3f94668 100644 --- a/rqt_joint_trajectory_controller/setup.py +++ b/rqt_joint_trajectory_controller/setup.py @@ -1,5 +1,19 @@ #!/usr/bin/env python +# Copyright 2024 Apache License, Version 2.0 +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + from setuptools import setup from glob import glob From 7d38fb9a8c67bc996f12821280c3550c33069602 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Christoph=20Fr=C3=B6hlich?= Date: Fri, 1 Mar 2024 10:37:43 +0100 Subject: [PATCH 02/11] Use CMake target for eigen (#1058) --- admittance_controller/CMakeLists.txt | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/admittance_controller/CMakeLists.txt b/admittance_controller/CMakeLists.txt index b2c10e0ba5..10ca5caa40 100644 --- a/admittance_controller/CMakeLists.txt +++ b/admittance_controller/CMakeLists.txt @@ -11,7 +11,6 @@ set(THIS_PACKAGE_INCLUDE_DEPENDS control_msgs control_toolbox controller_interface - Eigen3 generate_parameter_library geometry_msgs hardware_interface @@ -34,6 +33,7 @@ find_package(backward_ros REQUIRED) foreach(Dependency IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS}) find_package(${Dependency} REQUIRED) endforeach() +find_package(Eigen3 REQUIRED NO_MODULE) generate_parameter_library(admittance_controller_parameters src/admittance_controller_parameters.yaml @@ -49,6 +49,7 @@ target_include_directories(admittance_controller PUBLIC ) target_link_libraries(admittance_controller PUBLIC admittance_controller_parameters + Eigen3::Eigen ) ament_target_dependencies(admittance_controller PUBLIC ${THIS_PACKAGE_INCLUDE_DEPENDS}) From 61617b3f58a2d5915d9ea1121fb1cb362891a46e Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Christoph=20Fr=C3=B6hlich?= Date: Sat, 2 Mar 2024 20:55:12 +0100 Subject: [PATCH 03/11] [JTC] Parse URDF for continuous joints (#949) --- joint_trajectory_controller/CMakeLists.txt | 1 + .../doc/parameters_context.yaml | 7 +- .../joint_trajectory_controller.hpp | 3 + joint_trajectory_controller/package.xml | 1 + .../src/joint_trajectory_controller.cpp | 43 ++- ...oint_trajectory_controller_parameters.yaml | 7 +- .../test/test_assets.hpp | 278 ++++++++++++++++++ .../test/test_trajectory_controller.cpp | 28 +- .../test/test_trajectory_controller_utils.hpp | 24 +- 9 files changed, 360 insertions(+), 32 deletions(-) create mode 100644 joint_trajectory_controller/test/test_assets.hpp diff --git a/joint_trajectory_controller/CMakeLists.txt b/joint_trajectory_controller/CMakeLists.txt index c92d61b3f3..4b0ca82df8 100644 --- a/joint_trajectory_controller/CMakeLists.txt +++ b/joint_trajectory_controller/CMakeLists.txt @@ -19,6 +19,7 @@ set(THIS_PACKAGE_INCLUDE_DEPENDS rsl tl_expected trajectory_msgs + urdf ) find_package(ament_cmake REQUIRED) diff --git a/joint_trajectory_controller/doc/parameters_context.yaml b/joint_trajectory_controller/doc/parameters_context.yaml index 2ffe8aed36..4e4dacf202 100644 --- a/joint_trajectory_controller/doc/parameters_context.yaml +++ b/joint_trajectory_controller/doc/parameters_context.yaml @@ -9,5 +9,10 @@ gains: | .. math:: 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 ``angle_wraparound`` below), + with the desired velocity :math:`v_d`, the measured velocity :math:`v`, the position error :math:`e` (definition see below), the controller period :math:`dt`, and the ``velocity`` or ``effort`` manipulated variable (control variable) :math:`u`, respectively. + + If the joint is of continuous type, the position error :math:`e = normalize(s_d - s)` is normalized between :math:`-\pi, \pi`, + i.e., the shortest rotation to the target position is the desired motion. + 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. diff --git a/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller.hpp b/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller.hpp index 111837cc17..ae370df0a6 100644 --- a/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller.hpp +++ b/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller.hpp @@ -43,6 +43,7 @@ #include "realtime_tools/realtime_server_goal_handle.h" #include "trajectory_msgs/msg/joint_trajectory.hpp" #include "trajectory_msgs/msg/joint_trajectory_point.hpp" +#include "urdf/model.h" // auto-generated by generate_parameter_library #include "joint_trajectory_controller_parameters.hpp" @@ -298,6 +299,8 @@ class JointTrajectoryController : public controller_interface::ControllerInterfa void resize_joint_trajectory_point_command( trajectory_msgs::msg::JointTrajectoryPoint & point, size_t size); + urdf::Model model_; + /** * @brief Assigns the values from a trajectory point interface to a joint interface. * diff --git a/joint_trajectory_controller/package.xml b/joint_trajectory_controller/package.xml index 5aad4cb86e..8457c02aeb 100644 --- a/joint_trajectory_controller/package.xml +++ b/joint_trajectory_controller/package.xml @@ -25,6 +25,7 @@ rsl tl_expected trajectory_msgs + urdf ament_cmake_gmock controller_manager diff --git a/joint_trajectory_controller/src/joint_trajectory_controller.cpp b/joint_trajectory_controller/src/joint_trajectory_controller.cpp index 46544bf875..6cae29e083 100644 --- a/joint_trajectory_controller/src/joint_trajectory_controller.cpp +++ b/joint_trajectory_controller/src/joint_trajectory_controller.cpp @@ -36,6 +36,7 @@ #include "rclcpp_action/create_server.hpp" #include "rclcpp_action/server_goal_handle.hpp" #include "rclcpp_lifecycle/state.hpp" +#include "urdf/model.h" namespace joint_trajectory_controller { @@ -46,6 +47,23 @@ JointTrajectoryController::JointTrajectoryController() controller_interface::CallbackReturn JointTrajectoryController::on_init() { + if (!urdf_.empty()) + { + if (!model_.initString(urdf_)) + { + RCLCPP_ERROR(get_node()->get_logger(), "Failed to parse URDF file"); + } + else + { + RCLCPP_DEBUG(get_node()->get_logger(), "Successfully parsed URDF file"); + } + } + else + { + // empty URDF is used for some tests + RCLCPP_DEBUG(get_node()->get_logger(), "No URDF file given"); + } + try { // Create the parameter listener and get the parameters @@ -684,12 +702,33 @@ controller_interface::CallbackReturn JointTrajectoryController::on_configure( update_pids(); } - // Configure joint position error normalization from ROS parameters (angle_wraparound) + // Configure joint position error normalization (angle_wraparound) joints_angle_wraparound_.resize(dof_); for (size_t i = 0; i < dof_; ++i) { const auto & gains = params_.gains.joints_map.at(params_.joints[i]); - joints_angle_wraparound_[i] = gains.angle_wraparound; + if (gains.angle_wraparound) + { + // TODO(christophfroehlich): remove this warning in a future release (ROS-J) + RCLCPP_WARN( + logger, + "[Deprecated] Parameter 'gains..angle_wraparound' is deprecated. The " + "angle_wraparound is now used if a continuous joint is configured in the URDF."); + joints_angle_wraparound_[i] = true; + } + + if (!urdf_.empty()) + { + auto urdf_joint = model_.getJoint(params_.joints[i]); + if (urdf_joint && urdf_joint->type == urdf::Joint::CONTINUOUS) + { + RCLCPP_DEBUG( + logger, "joint '%s' is of type continuous, use angle_wraparound.", + params_.joints[i].c_str()); + joints_angle_wraparound_[i] = true; + } + // do nothing if joint is not found in the URDF + } } 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 index ded5bb7ca3..b17229cab8 100644 --- a/joint_trajectory_controller/src/joint_trajectory_controller_parameters.yaml +++ b/joint_trajectory_controller/src/joint_trajectory_controller_parameters.yaml @@ -125,11 +125,8 @@ joint_trajectory_controller: angle_wraparound: { type: bool, default_value: false, - description: '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.' + description: "[deprecated] For joints that wrap around (ie. are continuous). + Normalizes position-error to -pi to pi." } constraints: stopped_velocity_tolerance: { diff --git a/joint_trajectory_controller/test/test_assets.hpp b/joint_trajectory_controller/test/test_assets.hpp new file mode 100644 index 0000000000..ccdbaf4c8a --- /dev/null +++ b/joint_trajectory_controller/test/test_assets.hpp @@ -0,0 +1,278 @@ +// Copyright 2023 ros2_control Development Team +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef TEST_ASSETS_HPP_ +#define TEST_ASSETS_HPP_ + +#include + +namespace test_trajectory_controllers +{ +const auto urdf_rrrbot_revolute = + R"( + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +)"; + +const auto urdf_rrrbot_continuous = + R"( + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +)"; + +} // namespace test_trajectory_controllers + +#endif // TEST_ASSETS_HPP_ diff --git a/joint_trajectory_controller/test/test_trajectory_controller.cpp b/joint_trajectory_controller/test/test_trajectory_controller.cpp index 2bfe6f150d..67eb959df2 100644 --- a/joint_trajectory_controller/test/test_trajectory_controller.cpp +++ b/joint_trajectory_controller/test/test_trajectory_controller.cpp @@ -45,6 +45,7 @@ #include "trajectory_msgs/msg/joint_trajectory.hpp" #include "trajectory_msgs/msg/joint_trajectory_point.hpp" +#include "test_assets.hpp" #include "test_trajectory_controller_utils.hpp" using lifecycle_msgs::msg::State; @@ -463,14 +464,15 @@ TEST_P(TrajectoryControllerTestParameterized, hold_on_startup) const double EPS = 1e-6; /** - * @brief check if calculated trajectory error is correct with angle wraparound=true + * @brief check if calculated trajectory error is correct (angle wraparound) for continuous joints */ TEST_P(TrajectoryControllerTestParameterized, compute_error_angle_wraparound_true) { rclcpp::executors::MultiThreadedExecutor executor; std::vector params = {}; SetUpAndActivateTrajectoryController( - executor, params, true, 0.0, 1.0, true /* angle_wraparound */); + executor, params, true, 0.0, 1.0, INITIAL_POS_JOINTS, INITIAL_VEL_JOINTS, INITIAL_ACC_JOINTS, + INITIAL_EFF_JOINTS, test_trajectory_controllers::urdf_rrrbot_continuous); size_t n_joints = joint_names_.size(); @@ -554,14 +556,15 @@ TEST_P(TrajectoryControllerTestParameterized, compute_error_angle_wraparound_tru } /** - * @brief check if calculated trajectory error is correct with angle wraparound=false + * @brief check if calculated trajectory error is correct (no angle wraparound) for revolute joints */ TEST_P(TrajectoryControllerTestParameterized, compute_error_angle_wraparound_false) { rclcpp::executors::MultiThreadedExecutor executor; std::vector params = {}; SetUpAndActivateTrajectoryController( - executor, params, true, 0.0, 1.0, false /* angle_wraparound */); + executor, params, true, 0.0, 1.0, INITIAL_POS_JOINTS, INITIAL_VEL_JOINTS, INITIAL_ACC_JOINTS, + INITIAL_EFF_JOINTS, test_trajectory_controllers::urdf_rrrbot_revolute); size_t n_joints = joint_names_.size(); @@ -636,15 +639,16 @@ TEST_P(TrajectoryControllerTestParameterized, compute_error_angle_wraparound_fal } /** - * @brief check if position error of revolute joints are wrapped around if not configured so + * @brief check if position error of revolute joints aren't wrapped around (state topic) */ TEST_P(TrajectoryControllerTestParameterized, position_error_not_angle_wraparound) { rclcpp::executors::MultiThreadedExecutor executor; constexpr double k_p = 10.0; std::vector params = {}; - bool angle_wraparound = false; - SetUpAndActivateTrajectoryController(executor, params, true, k_p, 0.0, angle_wraparound); + SetUpAndActivateTrajectoryController( + executor, params, true, k_p, 0.0, INITIAL_POS_JOINTS, INITIAL_VEL_JOINTS, INITIAL_ACC_JOINTS, + INITIAL_EFF_JOINTS, test_trajectory_controllers::urdf_rrrbot_revolute); subscribeToState(); size_t n_joints = joint_names_.size(); @@ -737,14 +741,16 @@ TEST_P(TrajectoryControllerTestParameterized, position_error_not_angle_wraparoun } /** - * @brief check if position error of revolute joints are wrapped around if configured so + * @brief check if position error of continuous joints are wrapped around (state topic) */ TEST_P(TrajectoryControllerTestParameterized, position_error_angle_wraparound) { rclcpp::executors::MultiThreadedExecutor executor; constexpr double k_p = 10.0; std::vector params = {}; - SetUpAndActivateTrajectoryController(executor, params, true, k_p, 0.0, true); + SetUpAndActivateTrajectoryController( + executor, params, true, k_p, 0.0, INITIAL_POS_JOINTS, INITIAL_VEL_JOINTS, INITIAL_ACC_JOINTS, + INITIAL_EFF_JOINTS, test_trajectory_controllers::urdf_rrrbot_continuous); size_t n_joints = joint_names_.size(); @@ -1844,7 +1850,7 @@ TEST_P(TrajectoryControllerTestParameterized, test_hw_states_has_offset_first_co std::vector initial_acc_cmd{3, std::numeric_limits::quiet_NaN()}; SetUpAndActivateTrajectoryController( - executor, {is_open_loop_parameters}, true, 0., 1., false, initial_pos_cmd, initial_vel_cmd, + executor, {is_open_loop_parameters}, true, 0., 1., initial_pos_cmd, initial_vel_cmd, initial_acc_cmd); // no call of update method, so the values should be read from state interfaces @@ -1888,7 +1894,7 @@ TEST_P(TrajectoryControllerTestParameterized, test_hw_states_has_offset_later_co initial_acc_cmd.push_back(0.02 + static_cast(i) / 10.0); } SetUpAndActivateTrajectoryController( - executor, {is_open_loop_parameters}, true, 0., 1., false, initial_pos_cmd, initial_vel_cmd, + executor, {is_open_loop_parameters}, true, 0., 1., initial_pos_cmd, initial_vel_cmd, initial_acc_cmd); // no call of update method, so the values should be read from command interfaces diff --git a/joint_trajectory_controller/test/test_trajectory_controller_utils.hpp b/joint_trajectory_controller/test/test_trajectory_controller_utils.hpp index 6978d0e452..baa4111239 100644 --- a/joint_trajectory_controller/test/test_trajectory_controller_utils.hpp +++ b/joint_trajectory_controller/test/test_trajectory_controller_utils.hpp @@ -215,9 +215,10 @@ class TrajectoryControllerTest : public ::testing::Test } void SetUpTrajectoryController( - rclcpp::Executor & executor, const std::vector & parameters = {}) + rclcpp::Executor & executor, const std::vector & parameters = {}, + const std::string & urdf = "") { - auto ret = SetUpTrajectoryControllerLocal(parameters); + auto ret = SetUpTrajectoryControllerLocal(parameters, urdf); if (ret != controller_interface::return_type::OK) { FAIL(); @@ -226,7 +227,7 @@ class TrajectoryControllerTest : public ::testing::Test } controller_interface::return_type SetUpTrajectoryControllerLocal( - const std::vector & parameters = {}) + const std::vector & parameters = {}, const std::string & urdf = "") { traj_controller_ = std::make_shared(); @@ -241,11 +242,10 @@ class TrajectoryControllerTest : public ::testing::Test traj_controller_->set_node_options(node_options); return traj_controller_->init( - controller_name_, "", 0, "", traj_controller_->define_custom_node_options()); + controller_name_, urdf, 0, "", traj_controller_->define_custom_node_options()); } - void SetPidParameters( - double p_value = 0.0, double ff_value = 1.0, bool angle_wraparound_value = false) + void SetPidParameters(double p_value = 0.0, double ff_value = 1.0) { traj_controller_->trigger_declare_parameters(); auto node = traj_controller_->get_node(); @@ -258,20 +258,18 @@ class TrajectoryControllerTest : public ::testing::Test const rclcpp::Parameter k_d(prefix + ".d", 0.0); const rclcpp::Parameter i_clamp(prefix + ".i_clamp", 0.0); const rclcpp::Parameter ff_velocity_scale(prefix + ".ff_velocity_scale", ff_value); - const rclcpp::Parameter angle_wraparound( - prefix + ".angle_wraparound", angle_wraparound_value); - node->set_parameters({k_p, k_i, k_d, i_clamp, ff_velocity_scale, angle_wraparound}); + node->set_parameters({k_p, k_i, k_d, i_clamp, ff_velocity_scale}); } } void SetUpAndActivateTrajectoryController( rclcpp::Executor & executor, const std::vector & parameters = {}, bool separate_cmd_and_state_values = false, double k_p = 0.0, double ff = 1.0, - bool angle_wraparound = false, const std::vector initial_pos_joints = INITIAL_POS_JOINTS, const std::vector initial_vel_joints = INITIAL_VEL_JOINTS, const std::vector initial_acc_joints = INITIAL_ACC_JOINTS, - const std::vector initial_eff_joints = INITIAL_EFF_JOINTS) + const std::vector initial_eff_joints = INITIAL_EFF_JOINTS, + const std::string & urdf = "") { auto has_nonzero_vel_param = std::find_if( @@ -287,10 +285,10 @@ class TrajectoryControllerTest : public ::testing::Test parameters_local.emplace_back("allow_nonzero_velocity_at_trajectory_end", true); } // read-only parameters have to be set before init -> won't be read otherwise - SetUpTrajectoryController(executor, parameters_local); + SetUpTrajectoryController(executor, parameters_local, urdf); // set pid parameters before configure - SetPidParameters(k_p, ff, angle_wraparound); + SetPidParameters(k_p, ff); traj_controller_->get_node()->configure(); ActivateTrajectoryController( From 0b432919aca596fd66ae413a864500e94f64d5e3 Mon Sep 17 00:00:00 2001 From: Sai Kishor Kothakota Date: Mon, 4 Mar 2024 12:57:02 +0100 Subject: [PATCH 04/11] added conditioning to have rolling tags compilable in older versions (#1071) --- .../include/diff_drive_controller/odometry.hpp | 10 ++++++++++ .../src/joint_state_broadcaster.cpp | 1 - .../src/joint_trajectory_controller.cpp | 1 - .../test/test_trajectory_controller.cpp | 1 - pid_controller/src/pid_controller.cpp | 14 ++++++++++++++ .../src/range_sensor_broadcaster.cpp | 3 +++ .../test/test_range_sensor_broadcaster.cpp | 10 ++++++++++ .../steering_odometry.hpp | 16 ++++++++++++++-- .../src/steering_odometry.cpp | 4 ++-- .../include/tricycle_controller/odometry.hpp | 10 ++++++++++ 10 files changed, 63 insertions(+), 7 deletions(-) diff --git a/diff_drive_controller/include/diff_drive_controller/odometry.hpp b/diff_drive_controller/include/diff_drive_controller/odometry.hpp index 83ab270f72..edca431d3d 100644 --- a/diff_drive_controller/include/diff_drive_controller/odometry.hpp +++ b/diff_drive_controller/include/diff_drive_controller/odometry.hpp @@ -25,7 +25,12 @@ #include #include "rclcpp/time.hpp" +// \note The versions conditioning is added here to support the source-compatibility with Humble +#if RCPPUTILS_VERSION_MAJOR >= 2 && RCPPUTILS_VERSION_MINOR >= 6 #include "rcpputils/rolling_mean_accumulator.hpp" +#else +#include "rcppmath/rolling_mean_accumulator.hpp" +#endif namespace diff_drive_controller { @@ -50,7 +55,12 @@ class Odometry void setVelocityRollingWindowSize(size_t velocity_rolling_window_size); private: +// \note The versions conditioning is added here to support the source-compatibility with Humble +#if RCPPUTILS_VERSION_MAJOR >= 2 && RCPPUTILS_VERSION_MINOR >= 6 using RollingMeanAccumulator = rcpputils::RollingMeanAccumulator; +#else + using RollingMeanAccumulator = rcppmath::RollingMeanAccumulator; +#endif void integrateRungeKutta2(double linear, double angular); void integrateExact(double linear, double angular); diff --git a/joint_state_broadcaster/src/joint_state_broadcaster.cpp b/joint_state_broadcaster/src/joint_state_broadcaster.cpp index 3c2192d40e..a53fe2b3c4 100644 --- a/joint_state_broadcaster/src/joint_state_broadcaster.cpp +++ b/joint_state_broadcaster/src/joint_state_broadcaster.cpp @@ -24,7 +24,6 @@ #include "hardware_interface/types/hardware_interface_return_values.hpp" #include "hardware_interface/types/hardware_interface_type_values.hpp" #include "rclcpp/clock.hpp" -#include "rclcpp/event_handler.hpp" #include "rclcpp/qos.hpp" #include "rclcpp/time.hpp" #include "rclcpp_lifecycle/lifecycle_node.hpp" diff --git a/joint_trajectory_controller/src/joint_trajectory_controller.cpp b/joint_trajectory_controller/src/joint_trajectory_controller.cpp index 6cae29e083..5e3d9d1c7d 100644 --- a/joint_trajectory_controller/src/joint_trajectory_controller.cpp +++ b/joint_trajectory_controller/src/joint_trajectory_controller.cpp @@ -29,7 +29,6 @@ #include "hardware_interface/types/hardware_interface_type_values.hpp" #include "joint_trajectory_controller/trajectory.hpp" #include "lifecycle_msgs/msg/state.hpp" -#include "rclcpp/event_handler.hpp" #include "rclcpp/logging.hpp" #include "rclcpp/qos.hpp" #include "rclcpp/time.hpp" diff --git a/joint_trajectory_controller/test/test_trajectory_controller.cpp b/joint_trajectory_controller/test/test_trajectory_controller.cpp index 67eb959df2..f5e9cb7260 100644 --- a/joint_trajectory_controller/test/test_trajectory_controller.cpp +++ b/joint_trajectory_controller/test/test_trajectory_controller.cpp @@ -32,7 +32,6 @@ #include "lifecycle_msgs/msg/state.hpp" #include "rclcpp/clock.hpp" #include "rclcpp/duration.hpp" -#include "rclcpp/event_handler.hpp" #include "rclcpp/executors/multi_threaded_executor.hpp" #include "rclcpp/executors/single_threaded_executor.hpp" #include "rclcpp/node.hpp" diff --git a/pid_controller/src/pid_controller.cpp b/pid_controller/src/pid_controller.cpp index 05fee986dd..19cebbde4e 100644 --- a/pid_controller/src/pid_controller.cpp +++ b/pid_controller/src/pid_controller.cpp @@ -30,10 +30,24 @@ namespace { // utility // Changed services history QoS to keep all so we don't lose any client service calls +// \note The versions conditioning is added here to support the source-compatibility with Humble +#if RCLCPP_VERSION_MAJOR >= 17 rclcpp::QoS qos_services = rclcpp::QoS(rclcpp::QoSInitialization(RMW_QOS_POLICY_HISTORY_KEEP_ALL, 1)) .reliable() .durability_volatile(); +#else +static const rmw_qos_profile_t qos_services = { + RMW_QOS_POLICY_HISTORY_KEEP_ALL, + 1, // message queue depth + RMW_QOS_POLICY_RELIABILITY_RELIABLE, + RMW_QOS_POLICY_DURABILITY_VOLATILE, + RMW_QOS_DEADLINE_DEFAULT, + RMW_QOS_LIFESPAN_DEFAULT, + RMW_QOS_POLICY_LIVELINESS_SYSTEM_DEFAULT, + RMW_QOS_LIVELINESS_LEASE_DURATION_DEFAULT, + false}; +#endif using ControllerCommandMsg = pid_controller::PidController::ControllerReferenceMsg; diff --git a/range_sensor_broadcaster/src/range_sensor_broadcaster.cpp b/range_sensor_broadcaster/src/range_sensor_broadcaster.cpp index b821da8c13..7c6d714be3 100644 --- a/range_sensor_broadcaster/src/range_sensor_broadcaster.cpp +++ b/range_sensor_broadcaster/src/range_sensor_broadcaster.cpp @@ -79,7 +79,10 @@ controller_interface::CallbackReturn RangeSensorBroadcaster::on_configure( realtime_publisher_->msg_.field_of_view = params_.field_of_view; realtime_publisher_->msg_.min_range = params_.min_range; realtime_publisher_->msg_.max_range = params_.max_range; +// \note The versions conditioning is added here to support the source-compatibility with Humble +#if SENSOR_MSGS_VERSION_MAJOR >= 5 realtime_publisher_->msg_.variance = params_.variance; +#endif realtime_publisher_->unlock(); RCLCPP_DEBUG(get_node()->get_logger(), "configure successful"); diff --git a/range_sensor_broadcaster/test/test_range_sensor_broadcaster.cpp b/range_sensor_broadcaster/test/test_range_sensor_broadcaster.cpp index 010f18c1a6..a23d5e3cde 100644 --- a/range_sensor_broadcaster/test/test_range_sensor_broadcaster.cpp +++ b/range_sensor_broadcaster/test/test_range_sensor_broadcaster.cpp @@ -203,7 +203,9 @@ TEST_F(RangeSensorBroadcasterTest, Publish_RangeBroadcaster_Success) EXPECT_THAT(range_msg.field_of_view, ::testing::FloatEq(field_of_view_)); EXPECT_THAT(range_msg.min_range, ::testing::FloatEq(min_range_)); EXPECT_THAT(range_msg.max_range, ::testing::FloatEq(max_range_)); +#if SENSOR_MSGS_VERSION_MAJOR >= 5 EXPECT_THAT(range_msg.variance, ::testing::FloatEq(variance_)); +#endif } TEST_F(RangeSensorBroadcasterTest, Publish_Bandaries_RangeBroadcaster_Success) @@ -224,7 +226,9 @@ TEST_F(RangeSensorBroadcasterTest, Publish_Bandaries_RangeBroadcaster_Success) EXPECT_THAT(range_msg.field_of_view, ::testing::FloatEq(field_of_view_)); EXPECT_THAT(range_msg.min_range, ::testing::FloatEq(min_range_)); EXPECT_THAT(range_msg.max_range, ::testing::FloatEq(max_range_)); +#if SENSOR_MSGS_VERSION_MAJOR >= 5 EXPECT_THAT(range_msg.variance, ::testing::FloatEq(variance_)); +#endif sensor_range_ = 4.0; subscribe_and_get_message(range_msg); @@ -235,7 +239,9 @@ TEST_F(RangeSensorBroadcasterTest, Publish_Bandaries_RangeBroadcaster_Success) EXPECT_THAT(range_msg.field_of_view, ::testing::FloatEq(field_of_view_)); EXPECT_THAT(range_msg.min_range, ::testing::FloatEq(min_range_)); EXPECT_THAT(range_msg.max_range, ::testing::FloatEq(max_range_)); +#if SENSOR_MSGS_VERSION_MAJOR >= 5 EXPECT_THAT(range_msg.variance, ::testing::FloatEq(variance_)); +#endif } TEST_F(RangeSensorBroadcasterTest, Publish_OutOfBandaries_RangeBroadcaster_Success) @@ -257,7 +263,9 @@ TEST_F(RangeSensorBroadcasterTest, Publish_OutOfBandaries_RangeBroadcaster_Succe EXPECT_THAT(range_msg.field_of_view, ::testing::FloatEq(field_of_view_)); EXPECT_THAT(range_msg.min_range, ::testing::FloatEq(min_range_)); EXPECT_THAT(range_msg.max_range, ::testing::FloatEq(max_range_)); +#if SENSOR_MSGS_VERSION_MAJOR >= 5 EXPECT_THAT(range_msg.variance, ::testing::FloatEq(variance_)); +#endif sensor_range_ = 6.0; subscribe_and_get_message(range_msg); @@ -269,7 +277,9 @@ TEST_F(RangeSensorBroadcasterTest, Publish_OutOfBandaries_RangeBroadcaster_Succe EXPECT_THAT(range_msg.field_of_view, ::testing::FloatEq(field_of_view_)); EXPECT_THAT(range_msg.min_range, ::testing::FloatEq(min_range_)); EXPECT_THAT(range_msg.max_range, ::testing::FloatEq(max_range_)); +#if SENSOR_MSGS_VERSION_MAJOR >= 5 EXPECT_THAT(range_msg.variance, ::testing::FloatEq(variance_)); +#endif } int main(int argc, char ** argv) diff --git a/steering_controllers_library/include/steering_controllers_library/steering_odometry.hpp b/steering_controllers_library/include/steering_controllers_library/steering_odometry.hpp index 95bcef7e63..e4a22f6d3b 100644 --- a/steering_controllers_library/include/steering_controllers_library/steering_odometry.hpp +++ b/steering_controllers_library/include/steering_controllers_library/steering_odometry.hpp @@ -24,7 +24,12 @@ #include "realtime_tools/realtime_buffer.h" #include "realtime_tools/realtime_publisher.h" +// \note The versions conditioning is added here to support the source-compatibility with Humble +#if RCPPUTILS_VERSION_MAJOR >= 2 && RCPPUTILS_VERSION_MINOR >= 6 #include "rcpputils/rolling_mean_accumulator.hpp" +#else +#include "rcppmath/rolling_mean_accumulator.hpp" +#endif namespace steering_odometry { @@ -229,6 +234,13 @@ class SteeringOdometry */ void reset_accumulators(); +// \note The versions conditioning is added here to support the source-compatibility with Humble +#if RCPPUTILS_VERSION_MAJOR >= 2 && RCPPUTILS_VERSION_MINOR >= 6 + using RollingMeanAccumulator = rcpputils::RollingMeanAccumulator; +#else + using RollingMeanAccumulator = rcppmath::RollingMeanAccumulator; +#endif + /// Current timestamp: rclcpp::Time timestamp_; @@ -256,8 +268,8 @@ class SteeringOdometry double traction_left_wheel_old_pos_; /// Rolling mean accumulators for the linear and angular velocities: size_t velocity_rolling_window_size_; - rcpputils::RollingMeanAccumulator linear_acc_; - rcpputils::RollingMeanAccumulator angular_acc_; + RollingMeanAccumulator linear_acc_; + RollingMeanAccumulator angular_acc_; }; } // namespace steering_odometry diff --git a/steering_controllers_library/src/steering_odometry.cpp b/steering_controllers_library/src/steering_odometry.cpp index e2ced036ff..aadd047f2e 100644 --- a/steering_controllers_library/src/steering_odometry.cpp +++ b/steering_controllers_library/src/steering_odometry.cpp @@ -324,8 +324,8 @@ void SteeringOdometry::integrate_exact(double linear, double angular) void SteeringOdometry::reset_accumulators() { - linear_acc_ = rcpputils::RollingMeanAccumulator(velocity_rolling_window_size_); - angular_acc_ = rcpputils::RollingMeanAccumulator(velocity_rolling_window_size_); + linear_acc_ = RollingMeanAccumulator(velocity_rolling_window_size_); + angular_acc_ = RollingMeanAccumulator(velocity_rolling_window_size_); } } // namespace steering_odometry diff --git a/tricycle_controller/include/tricycle_controller/odometry.hpp b/tricycle_controller/include/tricycle_controller/odometry.hpp index 62eb51d6cc..13d65a980a 100644 --- a/tricycle_controller/include/tricycle_controller/odometry.hpp +++ b/tricycle_controller/include/tricycle_controller/odometry.hpp @@ -22,7 +22,12 @@ #include #include "rclcpp/time.hpp" +// \note The versions conditioning is added here to support the source-compatibility with Humble +#if RCPPUTILS_VERSION_MAJOR >= 2 && RCPPUTILS_VERSION_MINOR >= 6 #include "rcpputils/rolling_mean_accumulator.hpp" +#else +#include "rcppmath/rolling_mean_accumulator.hpp" +#endif namespace tricycle_controller { @@ -45,7 +50,12 @@ class Odometry void setVelocityRollingWindowSize(size_t velocity_rolling_window_size); private: +// \note The versions conditioning is added here to support the source-compatibility with Humble +#if RCPPUTILS_VERSION_MAJOR >= 2 && RCPPUTILS_VERSION_MINOR >= 6 using RollingMeanAccumulator = rcpputils::RollingMeanAccumulator; +#else + using RollingMeanAccumulator = rcppmath::RollingMeanAccumulator; +#endif void integrateRungeKutta2(double linear, double angular); void integrateExact(double linear, double angular); From 28cb552903a9d17264594efeb148f8b04bda3039 Mon Sep 17 00:00:00 2001 From: "github-actions[bot]" <41898282+github-actions[bot]@users.noreply.github.com> Date: Mon, 11 Mar 2024 13:02:46 +0000 Subject: [PATCH 05/11] Bump version of pre-commit hooks (#1073) --- .pre-commit-config.yaml | 2 +- .../src/joint_trajectory_controller.cpp | 6 ++---- .../test/test_trajectory_controller_utils.hpp | 7 +++---- 3 files changed, 6 insertions(+), 9 deletions(-) diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index 6da427c6ee..dc3b3e837d 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -62,7 +62,7 @@ repos: # CPP hooks - repo: https://github.com/pre-commit/mirrors-clang-format - rev: v17.0.6 + rev: v18.1.0 hooks: - id: clang-format args: ['-fallback-style=none', '-i'] diff --git a/joint_trajectory_controller/src/joint_trajectory_controller.cpp b/joint_trajectory_controller/src/joint_trajectory_controller.cpp index 5e3d9d1c7d..4a4b63cb75 100644 --- a/joint_trajectory_controller/src/joint_trajectory_controller.cpp +++ b/joint_trajectory_controller/src/joint_trajectory_controller.cpp @@ -444,8 +444,7 @@ bool JointTrajectoryController::read_state_from_command_interfaces(JointTrajecto auto interface_has_values = [](const auto & joint_interface) { return std::find_if( - joint_interface.begin(), joint_interface.end(), - [](const auto & interface) + joint_interface.begin(), joint_interface.end(), [](const auto & interface) { return std::isnan(interface.get().get_value()); }) == joint_interface.end(); }; @@ -515,8 +514,7 @@ bool JointTrajectoryController::read_commands_from_command_interfaces( auto interface_has_values = [](const auto & joint_interface) { return std::find_if( - joint_interface.begin(), joint_interface.end(), - [](const auto & interface) + joint_interface.begin(), joint_interface.end(), [](const auto & interface) { return std::isnan(interface.get().get_value()); }) == joint_interface.end(); }; diff --git a/joint_trajectory_controller/test/test_trajectory_controller_utils.hpp b/joint_trajectory_controller/test/test_trajectory_controller_utils.hpp index baa4111239..f049bc65a9 100644 --- a/joint_trajectory_controller/test/test_trajectory_controller_utils.hpp +++ b/joint_trajectory_controller/test/test_trajectory_controller_utils.hpp @@ -273,10 +273,9 @@ class TrajectoryControllerTest : public ::testing::Test { auto has_nonzero_vel_param = std::find_if( - parameters.begin(), parameters.end(), - [](const rclcpp::Parameter & param) { - return param.get_name() == "allow_nonzero_velocity_at_trajectory_end"; - }) != parameters.end(); + parameters.begin(), parameters.end(), [](const rclcpp::Parameter & param) + { return param.get_name() == "allow_nonzero_velocity_at_trajectory_end"; }) != + parameters.end(); std::vector parameters_local = parameters; if (!has_nonzero_vel_param) From ab1e042585d42cb36745fbf84d66144d529c1158 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Christoph=20Fr=C3=B6hlich?= Date: Mon, 18 Mar 2024 07:15:23 +0100 Subject: [PATCH 06/11] Remove action_msg dependency (#1077) --- joint_trajectory_controller/test/test_trajectory_actions.cpp | 1 - 1 file changed, 1 deletion(-) diff --git a/joint_trajectory_controller/test/test_trajectory_actions.cpp b/joint_trajectory_controller/test/test_trajectory_actions.cpp index 87d557df1b..332a30c53a 100644 --- a/joint_trajectory_controller/test/test_trajectory_actions.cpp +++ b/joint_trajectory_controller/test/test_trajectory_actions.cpp @@ -27,7 +27,6 @@ #include #include -#include "action_msgs/msg/goal_status_array.hpp" #include "control_msgs/action/detail/follow_joint_trajectory__struct.hpp" #include "controller_interface/controller_interface.hpp" #include "gtest/gtest.h" From 5a28a2aea9ef76cf32091e43cb7c72461f624ad4 Mon Sep 17 00:00:00 2001 From: "github-actions[bot]" <41898282+github-actions[bot]@users.noreply.github.com> Date: Mon, 18 Mar 2024 06:23:52 +0000 Subject: [PATCH 07/11] Bump version of pre-commit hooks (#1079) --- .pre-commit-config.yaml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index dc3b3e837d..31ba833ba5 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -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: 24.2.0 + rev: 24.3.0 hooks: - id: black args: ["--line-length=99"] @@ -62,7 +62,7 @@ repos: # CPP hooks - repo: https://github.com/pre-commit/mirrors-clang-format - rev: v18.1.0 + rev: v18.1.1 hooks: - id: clang-format args: ['-fallback-style=none', '-i'] From 0c2c458abc8c8e9d547f88661871e036b8eb2437 Mon Sep 17 00:00:00 2001 From: Chris Lalancette Date: Thu, 21 Mar 2024 02:27:53 -0400 Subject: [PATCH 08/11] Fix pid_controller build on ROS 2 Rolling on Ubuntu 24.04 (#1084) --- ackermann_steering_controller/package.xml | 1 + bicycle_steering_controller/package.xml | 1 + pid_controller/package.xml | 1 + pid_controller/src/pid_controller.cpp | 3 +++ tricycle_steering_controller/package.xml | 1 + 5 files changed, 7 insertions(+) diff --git a/ackermann_steering_controller/package.xml b/ackermann_steering_controller/package.xml index 512af88534..a3183af262 100644 --- a/ackermann_steering_controller/package.xml +++ b/ackermann_steering_controller/package.xml @@ -16,6 +16,7 @@ generate_parameter_library + backward_ros control_msgs controller_interface hardware_interface diff --git a/bicycle_steering_controller/package.xml b/bicycle_steering_controller/package.xml index bc560d9bf7..6507700a5d 100644 --- a/bicycle_steering_controller/package.xml +++ b/bicycle_steering_controller/package.xml @@ -16,6 +16,7 @@ generate_parameter_library + backward_ros control_msgs controller_interface hardware_interface diff --git a/pid_controller/package.xml b/pid_controller/package.xml index 9cda85aa03..c1106a0b23 100644 --- a/pid_controller/package.xml +++ b/pid_controller/package.xml @@ -14,6 +14,7 @@ generate_parameter_library angles + backward_ros control_msgs control_toolbox controller_interface diff --git a/pid_controller/src/pid_controller.cpp b/pid_controller/src/pid_controller.cpp index 19cebbde4e..b76926d5a0 100644 --- a/pid_controller/src/pid_controller.cpp +++ b/pid_controller/src/pid_controller.cpp @@ -26,6 +26,9 @@ #include "control_msgs/msg/single_dof_state.hpp" #include "controller_interface/helpers.hpp" +#include "rclcpp/rclcpp.hpp" +#include "rclcpp/version.h" + namespace { // utility diff --git a/tricycle_steering_controller/package.xml b/tricycle_steering_controller/package.xml index bed6e451fa..991aca2c05 100644 --- a/tricycle_steering_controller/package.xml +++ b/tricycle_steering_controller/package.xml @@ -18,6 +18,7 @@ generate_parameter_library + backward_ros control_msgs controller_interface hardware_interface From 3520e850feec4df94435ad27bd1ef92197f103f2 Mon Sep 17 00:00:00 2001 From: Bence Magyar Date: Fri, 22 Mar 2024 12:26:17 +0000 Subject: [PATCH 09/11] Update changelogs --- ackermann_steering_controller/CHANGELOG.rst | 6 ++++++ admittance_controller/CHANGELOG.rst | 5 +++++ bicycle_steering_controller/CHANGELOG.rst | 6 ++++++ diff_drive_controller/CHANGELOG.rst | 5 +++++ effort_controllers/CHANGELOG.rst | 3 +++ force_torque_sensor_broadcaster/CHANGELOG.rst | 3 +++ forward_command_controller/CHANGELOG.rst | 3 +++ gripper_controllers/CHANGELOG.rst | 5 +++++ imu_sensor_broadcaster/CHANGELOG.rst | 3 +++ joint_state_broadcaster/CHANGELOG.rst | 5 +++++ joint_trajectory_controller/CHANGELOG.rst | 8 ++++++++ pid_controller/CHANGELOG.rst | 7 +++++++ position_controllers/CHANGELOG.rst | 3 +++ range_sensor_broadcaster/CHANGELOG.rst | 5 +++++ ros2_controllers/CHANGELOG.rst | 3 +++ ros2_controllers_test_nodes/CHANGELOG.rst | 3 +++ rqt_joint_trajectory_controller/CHANGELOG.rst | 5 +++++ steering_controllers_library/CHANGELOG.rst | 6 ++++++ tricycle_controller/CHANGELOG.rst | 6 ++++++ tricycle_steering_controller/CHANGELOG.rst | 6 ++++++ velocity_controllers/CHANGELOG.rst | 3 +++ 21 files changed, 99 insertions(+) diff --git a/ackermann_steering_controller/CHANGELOG.rst b/ackermann_steering_controller/CHANGELOG.rst index 3b77b7b78f..1ea0329f26 100644 --- a/ackermann_steering_controller/CHANGELOG.rst +++ b/ackermann_steering_controller/CHANGELOG.rst @@ -2,6 +2,12 @@ Changelog for package ackermann_steering_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* Fix pid_controller build on ROS 2 Rolling on Ubuntu 24.04 (`#1084 `_) +* Fix usage of visibility macros (`#1039 `_) +* Contributors: Chris Lalancette, Silvio Traversaro + 4.6.0 (2024-02-12) ------------------ * Add test_depend on `hardware_interface_testing` (`#1018 `_) diff --git a/admittance_controller/CHANGELOG.rst b/admittance_controller/CHANGELOG.rst index 65db88f462..a611753f0f 100644 --- a/admittance_controller/CHANGELOG.rst +++ b/admittance_controller/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package admittance_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* Use CMake target for eigen (`#1058 `_) +* Contributors: Christoph Fröhlich + 4.6.0 (2024-02-12) ------------------ * Add test_depend on `hardware_interface_testing` (`#1018 `_) diff --git a/bicycle_steering_controller/CHANGELOG.rst b/bicycle_steering_controller/CHANGELOG.rst index 16192d9f8a..09cd7e7c6e 100644 --- a/bicycle_steering_controller/CHANGELOG.rst +++ b/bicycle_steering_controller/CHANGELOG.rst @@ -2,6 +2,12 @@ Changelog for package bicycle_steering_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* Fix pid_controller build on ROS 2 Rolling on Ubuntu 24.04 (`#1084 `_) +* Fix usage of visibility macros (`#1039 `_) +* Contributors: Chris Lalancette, Silvio Traversaro + 4.6.0 (2024-02-12) ------------------ * Add test_depend on `hardware_interface_testing` (`#1018 `_) diff --git a/diff_drive_controller/CHANGELOG.rst b/diff_drive_controller/CHANGELOG.rst index 1ec4329fca..63e4226d4f 100644 --- a/diff_drive_controller/CHANGELOG.rst +++ b/diff_drive_controller/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package diff_drive_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* added conditioning to have rolling tags compilable in older versions (`#1071 `_) +* Contributors: Sai Kishor Kothakota + 4.6.0 (2024-02-12) ------------------ * Add test_depend on `hardware_interface_testing` also for diff_drive (`#1021 `_) diff --git a/effort_controllers/CHANGELOG.rst b/effort_controllers/CHANGELOG.rst index ac47c3c2b3..e9cd8953da 100644 --- a/effort_controllers/CHANGELOG.rst +++ b/effort_controllers/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package effort_controllers ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 4.6.0 (2024-02-12) ------------------ * Add test_depend on `hardware_interface_testing` (`#1018 `_) diff --git a/force_torque_sensor_broadcaster/CHANGELOG.rst b/force_torque_sensor_broadcaster/CHANGELOG.rst index c61f166b8e..0bae0e0cbc 100644 --- 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 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 4.6.0 (2024-02-12) ------------------ * Add test_depend on `hardware_interface_testing` (`#1018 `_) diff --git a/forward_command_controller/CHANGELOG.rst b/forward_command_controller/CHANGELOG.rst index 54a428ec3f..07f48d32e4 100644 --- a/forward_command_controller/CHANGELOG.rst +++ b/forward_command_controller/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package forward_command_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 4.6.0 (2024-02-12) ------------------ * Add test_depend on `hardware_interface_testing` (`#1018 `_) diff --git a/gripper_controllers/CHANGELOG.rst b/gripper_controllers/CHANGELOG.rst index 76ea9418d2..9509b8858e 100644 --- a/gripper_controllers/CHANGELOG.rst +++ b/gripper_controllers/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package gripper_controllers ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* Fix usage of visibility macros (`#1039 `_) +* Contributors: Silvio Traversaro + 4.6.0 (2024-02-12) ------------------ * Add test_depend on `hardware_interface_testing` (`#1018 `_) diff --git a/imu_sensor_broadcaster/CHANGELOG.rst b/imu_sensor_broadcaster/CHANGELOG.rst index d906fb897f..28e00cdfa2 100644 --- a/imu_sensor_broadcaster/CHANGELOG.rst +++ b/imu_sensor_broadcaster/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package imu_sensor_broadcaster ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 4.6.0 (2024-02-12) ------------------ * Add test_depend on `hardware_interface_testing` (`#1018 `_) diff --git a/joint_state_broadcaster/CHANGELOG.rst b/joint_state_broadcaster/CHANGELOG.rst index 1444f5f8ab..2580a0f0e6 100644 --- a/joint_state_broadcaster/CHANGELOG.rst +++ b/joint_state_broadcaster/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package joint_state_broadcaster ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* added conditioning to have rolling tags compilable in older versions (`#1071 `_) +* Contributors: Sai Kishor Kothakota + 4.6.0 (2024-02-12) ------------------ * Add test_depend on `hardware_interface_testing` (`#1018 `_) diff --git a/joint_trajectory_controller/CHANGELOG.rst b/joint_trajectory_controller/CHANGELOG.rst index 17b26ad551..2c0467fefb 100644 --- a/joint_trajectory_controller/CHANGELOG.rst +++ b/joint_trajectory_controller/CHANGELOG.rst @@ -2,6 +2,14 @@ Changelog for package joint_trajectory_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* Remove action_msg dependency (`#1077 `_) +* Bump version of pre-commit hooks (`#1073 `_) +* Added conditioning to have rolling tags compilable in older versions (`#1071 `_) +* Parse URDF for continuous joints (`#949 `_) +* Contributors: Christoph Fröhlich, Sai Kishor Kothakota, github-actions[bot] + 4.6.0 (2024-02-12) ------------------ * Fix usage of M_PI on Windows (`#1036 `_) diff --git a/pid_controller/CHANGELOG.rst b/pid_controller/CHANGELOG.rst index 7d5d248576..7948c7f915 100644 --- a/pid_controller/CHANGELOG.rst +++ b/pid_controller/CHANGELOG.rst @@ -2,6 +2,13 @@ Changelog for package pid_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* Fix pid_controller build on ROS 2 Rolling on Ubuntu 24.04 (`#1084 `_) +* Added conditioning to have rolling tags compilable in older versions (`#1071 `_) +* Fix usage of visibility macros (`#1039 `_) +* Contributors: Chris Lalancette, Sai Kishor Kothakota, Silvio Traversaro + 4.6.0 (2024-02-12) ------------------ * Add test_depend on `hardware_interface_testing` (`#1018 `_) diff --git a/position_controllers/CHANGELOG.rst b/position_controllers/CHANGELOG.rst index 6c55f59602..eb02c1f499 100644 --- a/position_controllers/CHANGELOG.rst +++ b/position_controllers/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package position_controllers ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 4.6.0 (2024-02-12) ------------------ * Add test_depend on `hardware_interface_testing` (`#1018 `_) diff --git a/range_sensor_broadcaster/CHANGELOG.rst b/range_sensor_broadcaster/CHANGELOG.rst index 62c87c8717..7d5dedab61 100644 --- a/range_sensor_broadcaster/CHANGELOG.rst +++ b/range_sensor_broadcaster/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package range_sensor_broadcaster ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* added conditioning to have rolling tags compilable in older versions (`#1071 `_) +* Contributors: Sai Kishor Kothakota + 4.6.0 (2024-02-12) ------------------ * Add test_depend on `hardware_interface_testing` (`#1018 `_) diff --git a/ros2_controllers/CHANGELOG.rst b/ros2_controllers/CHANGELOG.rst index fc8ca62020..bcb3d11572 100644 --- a/ros2_controllers/CHANGELOG.rst +++ b/ros2_controllers/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package ros2_controllers ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 4.6.0 (2024-02-12) ------------------ diff --git a/ros2_controllers_test_nodes/CHANGELOG.rst b/ros2_controllers_test_nodes/CHANGELOG.rst index 41a20f3841..a26663e26e 100644 --- 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 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 4.6.0 (2024-02-12) ------------------ diff --git a/rqt_joint_trajectory_controller/CHANGELOG.rst b/rqt_joint_trajectory_controller/CHANGELOG.rst index cd4ae0809e..cc6f7d1313 100644 --- a/rqt_joint_trajectory_controller/CHANGELOG.rst +++ b/rqt_joint_trajectory_controller/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package rqt_joint_trajectory_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* [CI] Code coverage + pre-commit (`#1057 `_) +* Contributors: Christoph Fröhlich + 4.6.0 (2024-02-12) ------------------ diff --git a/steering_controllers_library/CHANGELOG.rst b/steering_controllers_library/CHANGELOG.rst index e8288f1955..f05e310412 100644 --- a/steering_controllers_library/CHANGELOG.rst +++ b/steering_controllers_library/CHANGELOG.rst @@ -2,6 +2,12 @@ Changelog for package steering_controllers_library ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* added conditioning to have rolling tags compilable in older versions (`#1071 `_) +* Fix usage of visibility macros (`#1039 `_) +* Contributors: Sai Kishor Kothakota, Silvio Traversaro + 4.6.0 (2024-02-12) ------------------ * Fix usage of M_PI on Windows (`#1036 `_) diff --git a/tricycle_controller/CHANGELOG.rst b/tricycle_controller/CHANGELOG.rst index cf2a599b20..c37f7537a7 100644 --- a/tricycle_controller/CHANGELOG.rst +++ b/tricycle_controller/CHANGELOG.rst @@ -2,6 +2,12 @@ Changelog for package tricycle_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* added conditioning to have rolling tags compilable in older versions (`#1071 `_) +* Fix usage of visibility macros (`#1039 `_) +* Contributors: Sai Kishor Kothakota, Silvio Traversaro + 4.6.0 (2024-02-12) ------------------ * Fix usage of M_PI on Windows (`#1036 `_) diff --git a/tricycle_steering_controller/CHANGELOG.rst b/tricycle_steering_controller/CHANGELOG.rst index 718df4e014..35dd1b27df 100644 --- a/tricycle_steering_controller/CHANGELOG.rst +++ b/tricycle_steering_controller/CHANGELOG.rst @@ -2,6 +2,12 @@ Changelog for package tricycle_steering_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* Fix pid_controller build on ROS 2 Rolling on Ubuntu 24.04 (`#1084 `_) +* Fix usage of visibility macros (`#1039 `_) +* Contributors: Chris Lalancette, Silvio Traversaro + 4.6.0 (2024-02-12) ------------------ * Add test_depend on `hardware_interface_testing` (`#1018 `_) diff --git a/velocity_controllers/CHANGELOG.rst b/velocity_controllers/CHANGELOG.rst index e6689b23a8..8c8970b704 100644 --- a/velocity_controllers/CHANGELOG.rst +++ b/velocity_controllers/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package velocity_controllers ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 4.6.0 (2024-02-12) ------------------ * Add test_depend on `hardware_interface_testing` (`#1018 `_) From d77a0011f200da524e1a19a2f4b3a4c0ff688809 Mon Sep 17 00:00:00 2001 From: Bence Magyar Date: Fri, 22 Mar 2024 12:26:44 +0000 Subject: [PATCH 10/11] 4.7.0 --- ackermann_steering_controller/CHANGELOG.rst | 4 ++-- ackermann_steering_controller/package.xml | 2 +- admittance_controller/CHANGELOG.rst | 4 ++-- admittance_controller/package.xml | 2 +- bicycle_steering_controller/CHANGELOG.rst | 4 ++-- bicycle_steering_controller/package.xml | 2 +- diff_drive_controller/CHANGELOG.rst | 4 ++-- diff_drive_controller/package.xml | 2 +- effort_controllers/CHANGELOG.rst | 4 ++-- effort_controllers/package.xml | 2 +- force_torque_sensor_broadcaster/CHANGELOG.rst | 4 ++-- force_torque_sensor_broadcaster/package.xml | 2 +- forward_command_controller/CHANGELOG.rst | 4 ++-- forward_command_controller/package.xml | 2 +- gripper_controllers/CHANGELOG.rst | 4 ++-- gripper_controllers/package.xml | 2 +- imu_sensor_broadcaster/CHANGELOG.rst | 4 ++-- imu_sensor_broadcaster/package.xml | 2 +- joint_state_broadcaster/CHANGELOG.rst | 4 ++-- joint_state_broadcaster/package.xml | 2 +- joint_trajectory_controller/CHANGELOG.rst | 4 ++-- joint_trajectory_controller/package.xml | 2 +- pid_controller/CHANGELOG.rst | 4 ++-- pid_controller/package.xml | 2 +- position_controllers/CHANGELOG.rst | 4 ++-- position_controllers/package.xml | 2 +- range_sensor_broadcaster/CHANGELOG.rst | 4 ++-- range_sensor_broadcaster/package.xml | 2 +- ros2_controllers/CHANGELOG.rst | 4 ++-- ros2_controllers/package.xml | 2 +- ros2_controllers_test_nodes/CHANGELOG.rst | 4 ++-- ros2_controllers_test_nodes/package.xml | 2 +- ros2_controllers_test_nodes/setup.py | 2 +- rqt_joint_trajectory_controller/CHANGELOG.rst | 4 ++-- rqt_joint_trajectory_controller/package.xml | 2 +- rqt_joint_trajectory_controller/setup.py | 2 +- steering_controllers_library/CHANGELOG.rst | 4 ++-- steering_controllers_library/package.xml | 2 +- tricycle_controller/CHANGELOG.rst | 4 ++-- tricycle_controller/package.xml | 2 +- tricycle_steering_controller/CHANGELOG.rst | 4 ++-- tricycle_steering_controller/package.xml | 2 +- velocity_controllers/CHANGELOG.rst | 4 ++-- velocity_controllers/package.xml | 2 +- 44 files changed, 65 insertions(+), 65 deletions(-) diff --git a/ackermann_steering_controller/CHANGELOG.rst b/ackermann_steering_controller/CHANGELOG.rst index 1ea0329f26..f14bd8ba01 100644 --- a/ackermann_steering_controller/CHANGELOG.rst +++ b/ackermann_steering_controller/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package ackermann_steering_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +4.7.0 (2024-03-22) +------------------ * Fix pid_controller build on ROS 2 Rolling on Ubuntu 24.04 (`#1084 `_) * Fix usage of visibility macros (`#1039 `_) * Contributors: Chris Lalancette, Silvio Traversaro diff --git a/ackermann_steering_controller/package.xml b/ackermann_steering_controller/package.xml index a3183af262..771494e67f 100644 --- a/ackermann_steering_controller/package.xml +++ b/ackermann_steering_controller/package.xml @@ -2,7 +2,7 @@ ackermann_steering_controller - 4.6.0 + 4.7.0 Steering controller for Ackermann kinematics. Rear fixed wheels are powering the vehicle and front wheels are steering it. Apache License 2.0 Bence Magyar diff --git a/admittance_controller/CHANGELOG.rst b/admittance_controller/CHANGELOG.rst index a611753f0f..7dd8e0b321 100644 --- a/admittance_controller/CHANGELOG.rst +++ b/admittance_controller/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package admittance_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +4.7.0 (2024-03-22) +------------------ * Use CMake target for eigen (`#1058 `_) * Contributors: Christoph Fröhlich diff --git a/admittance_controller/package.xml b/admittance_controller/package.xml index 2c50dde2e7..e9779eda4d 100644 --- a/admittance_controller/package.xml +++ b/admittance_controller/package.xml @@ -2,7 +2,7 @@ admittance_controller - 4.6.0 + 4.7.0 Implementation of admittance controllers for different input and output interface. Denis Štogl Bence Magyar diff --git a/bicycle_steering_controller/CHANGELOG.rst b/bicycle_steering_controller/CHANGELOG.rst index 09cd7e7c6e..de67c5bc72 100644 --- a/bicycle_steering_controller/CHANGELOG.rst +++ b/bicycle_steering_controller/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package bicycle_steering_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +4.7.0 (2024-03-22) +------------------ * Fix pid_controller build on ROS 2 Rolling on Ubuntu 24.04 (`#1084 `_) * Fix usage of visibility macros (`#1039 `_) * Contributors: Chris Lalancette, Silvio Traversaro diff --git a/bicycle_steering_controller/package.xml b/bicycle_steering_controller/package.xml index 6507700a5d..97c12290df 100644 --- a/bicycle_steering_controller/package.xml +++ b/bicycle_steering_controller/package.xml @@ -2,7 +2,7 @@ bicycle_steering_controller - 4.6.0 + 4.7.0 Steering controller with bicycle kinematics. Rear fixed wheel is powering the vehicle and front wheel is steering. Apache License 2.0 Bence Magyar diff --git a/diff_drive_controller/CHANGELOG.rst b/diff_drive_controller/CHANGELOG.rst index 63e4226d4f..ae38961d10 100644 --- a/diff_drive_controller/CHANGELOG.rst +++ b/diff_drive_controller/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package diff_drive_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +4.7.0 (2024-03-22) +------------------ * added conditioning to have rolling tags compilable in older versions (`#1071 `_) * Contributors: Sai Kishor Kothakota diff --git a/diff_drive_controller/package.xml b/diff_drive_controller/package.xml index b0e818dd50..5252803de9 100644 --- a/diff_drive_controller/package.xml +++ b/diff_drive_controller/package.xml @@ -1,7 +1,7 @@ diff_drive_controller - 4.6.0 + 4.7.0 Controller for a differential drive mobile base. Bence Magyar Jordan Palacios diff --git a/effort_controllers/CHANGELOG.rst b/effort_controllers/CHANGELOG.rst index e9cd8953da..306cc24ff6 100644 --- a/effort_controllers/CHANGELOG.rst +++ b/effort_controllers/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package effort_controllers ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +4.7.0 (2024-03-22) +------------------ 4.6.0 (2024-02-12) ------------------ diff --git a/effort_controllers/package.xml b/effort_controllers/package.xml index 52165f6ec1..9acfdd2ddc 100644 --- a/effort_controllers/package.xml +++ b/effort_controllers/package.xml @@ -1,7 +1,7 @@ effort_controllers - 4.6.0 + 4.7.0 Generic controller for forwarding commands. Bence Magyar Jordan Palacios diff --git a/force_torque_sensor_broadcaster/CHANGELOG.rst b/force_torque_sensor_broadcaster/CHANGELOG.rst index 0bae0e0cbc..f4cbbe1bec 100644 --- a/force_torque_sensor_broadcaster/CHANGELOG.rst +++ b/force_torque_sensor_broadcaster/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package force_torque_sensor_broadcaster ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +4.7.0 (2024-03-22) +------------------ 4.6.0 (2024-02-12) ------------------ diff --git a/force_torque_sensor_broadcaster/package.xml b/force_torque_sensor_broadcaster/package.xml index 178a90d5cf..dee37dd565 100644 --- a/force_torque_sensor_broadcaster/package.xml +++ b/force_torque_sensor_broadcaster/package.xml @@ -2,7 +2,7 @@ force_torque_sensor_broadcaster - 4.6.0 + 4.7.0 Controller to publish state of force-torque sensors. Bence Magyar Denis Štogl diff --git a/forward_command_controller/CHANGELOG.rst b/forward_command_controller/CHANGELOG.rst index 07f48d32e4..607ec25f23 100644 --- a/forward_command_controller/CHANGELOG.rst +++ b/forward_command_controller/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package forward_command_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +4.7.0 (2024-03-22) +------------------ 4.6.0 (2024-02-12) ------------------ diff --git a/forward_command_controller/package.xml b/forward_command_controller/package.xml index 9b6c2559f4..1aed0d3c83 100644 --- a/forward_command_controller/package.xml +++ b/forward_command_controller/package.xml @@ -1,7 +1,7 @@ forward_command_controller - 4.6.0 + 4.7.0 Generic controller for forwarding commands. Bence Magyar Jordan Palacios diff --git a/gripper_controllers/CHANGELOG.rst b/gripper_controllers/CHANGELOG.rst index 9509b8858e..bb4d699bd0 100644 --- a/gripper_controllers/CHANGELOG.rst +++ b/gripper_controllers/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package gripper_controllers ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +4.7.0 (2024-03-22) +------------------ * Fix usage of visibility macros (`#1039 `_) * Contributors: Silvio Traversaro diff --git a/gripper_controllers/package.xml b/gripper_controllers/package.xml index a6b83b43ec..7183bc7ebd 100644 --- a/gripper_controllers/package.xml +++ b/gripper_controllers/package.xml @@ -4,7 +4,7 @@ schematypens="http://www.w3.org/2001/XMLSchema"?> gripper_controllers - 4.6.0 + 4.7.0 The gripper_controllers package Bence Magyar diff --git a/imu_sensor_broadcaster/CHANGELOG.rst b/imu_sensor_broadcaster/CHANGELOG.rst index 28e00cdfa2..6a9df05038 100644 --- a/imu_sensor_broadcaster/CHANGELOG.rst +++ b/imu_sensor_broadcaster/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package imu_sensor_broadcaster ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +4.7.0 (2024-03-22) +------------------ 4.6.0 (2024-02-12) ------------------ diff --git a/imu_sensor_broadcaster/package.xml b/imu_sensor_broadcaster/package.xml index 5a4ca12e87..3817b7a536 100644 --- a/imu_sensor_broadcaster/package.xml +++ b/imu_sensor_broadcaster/package.xml @@ -2,7 +2,7 @@ imu_sensor_broadcaster - 4.6.0 + 4.7.0 Controller to publish readings of IMU sensors. Bence Magyar Denis Štogl diff --git a/joint_state_broadcaster/CHANGELOG.rst b/joint_state_broadcaster/CHANGELOG.rst index 2580a0f0e6..9762bcb55c 100644 --- a/joint_state_broadcaster/CHANGELOG.rst +++ b/joint_state_broadcaster/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package joint_state_broadcaster ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +4.7.0 (2024-03-22) +------------------ * added conditioning to have rolling tags compilable in older versions (`#1071 `_) * Contributors: Sai Kishor Kothakota diff --git a/joint_state_broadcaster/package.xml b/joint_state_broadcaster/package.xml index 0bf3db58dd..14f226450e 100644 --- a/joint_state_broadcaster/package.xml +++ b/joint_state_broadcaster/package.xml @@ -1,7 +1,7 @@ joint_state_broadcaster - 4.6.0 + 4.7.0 Broadcaster to publish joint state Bence Magyar Denis Stogl diff --git a/joint_trajectory_controller/CHANGELOG.rst b/joint_trajectory_controller/CHANGELOG.rst index 2c0467fefb..d008380af9 100644 --- a/joint_trajectory_controller/CHANGELOG.rst +++ b/joint_trajectory_controller/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package joint_trajectory_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +4.7.0 (2024-03-22) +------------------ * Remove action_msg dependency (`#1077 `_) * Bump version of pre-commit hooks (`#1073 `_) * Added conditioning to have rolling tags compilable in older versions (`#1071 `_) diff --git a/joint_trajectory_controller/package.xml b/joint_trajectory_controller/package.xml index 8457c02aeb..a44d55a731 100644 --- a/joint_trajectory_controller/package.xml +++ b/joint_trajectory_controller/package.xml @@ -1,7 +1,7 @@ joint_trajectory_controller - 4.6.0 + 4.7.0 Controller for executing joint-space trajectories on a group of joints Bence Magyar Dr. Denis Štogl diff --git a/pid_controller/CHANGELOG.rst b/pid_controller/CHANGELOG.rst index 7948c7f915..82e631a75c 100644 --- a/pid_controller/CHANGELOG.rst +++ b/pid_controller/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package pid_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +4.7.0 (2024-03-22) +------------------ * Fix pid_controller build on ROS 2 Rolling on Ubuntu 24.04 (`#1084 `_) * Added conditioning to have rolling tags compilable in older versions (`#1071 `_) * Fix usage of visibility macros (`#1039 `_) diff --git a/pid_controller/package.xml b/pid_controller/package.xml index c1106a0b23..151862dc11 100644 --- a/pid_controller/package.xml +++ b/pid_controller/package.xml @@ -2,7 +2,7 @@ pid_controller - 4.6.0 + 4.7.0 Controller based on PID implememenation from control_toolbox package. Bence Magyar Denis Štogl diff --git a/position_controllers/CHANGELOG.rst b/position_controllers/CHANGELOG.rst index eb02c1f499..cdb4165691 100644 --- a/position_controllers/CHANGELOG.rst +++ b/position_controllers/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package position_controllers ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +4.7.0 (2024-03-22) +------------------ 4.6.0 (2024-02-12) ------------------ diff --git a/position_controllers/package.xml b/position_controllers/package.xml index 13e80f4d99..b56e3e154a 100644 --- a/position_controllers/package.xml +++ b/position_controllers/package.xml @@ -1,7 +1,7 @@ position_controllers - 4.6.0 + 4.7.0 Generic controller for forwarding commands. Bence Magyar Jordan Palacios diff --git a/range_sensor_broadcaster/CHANGELOG.rst b/range_sensor_broadcaster/CHANGELOG.rst index 7d5dedab61..89365b7754 100644 --- a/range_sensor_broadcaster/CHANGELOG.rst +++ b/range_sensor_broadcaster/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package range_sensor_broadcaster ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +4.7.0 (2024-03-22) +------------------ * added conditioning to have rolling tags compilable in older versions (`#1071 `_) * Contributors: Sai Kishor Kothakota diff --git a/range_sensor_broadcaster/package.xml b/range_sensor_broadcaster/package.xml index 3bbe1d2130..4cdae222a5 100644 --- a/range_sensor_broadcaster/package.xml +++ b/range_sensor_broadcaster/package.xml @@ -2,7 +2,7 @@ range_sensor_broadcaster - 4.6.0 + 4.7.0 Controller to publish readings of Range sensors. Bence Magyar Florent Chretien diff --git a/ros2_controllers/CHANGELOG.rst b/ros2_controllers/CHANGELOG.rst index bcb3d11572..2d7e5f08de 100644 --- a/ros2_controllers/CHANGELOG.rst +++ b/ros2_controllers/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package ros2_controllers ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +4.7.0 (2024-03-22) +------------------ 4.6.0 (2024-02-12) ------------------ diff --git a/ros2_controllers/package.xml b/ros2_controllers/package.xml index 10ae5427e9..fc2e40fb8a 100644 --- a/ros2_controllers/package.xml +++ b/ros2_controllers/package.xml @@ -1,7 +1,7 @@ ros2_controllers - 4.6.0 + 4.7.0 Metapackage for ROS2 controllers related packages Bence Magyar Jordan Palacios diff --git a/ros2_controllers_test_nodes/CHANGELOG.rst b/ros2_controllers_test_nodes/CHANGELOG.rst index a26663e26e..a77c2635e8 100644 --- a/ros2_controllers_test_nodes/CHANGELOG.rst +++ b/ros2_controllers_test_nodes/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package ros2_controllers_test_nodes ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +4.7.0 (2024-03-22) +------------------ 4.6.0 (2024-02-12) ------------------ diff --git a/ros2_controllers_test_nodes/package.xml b/ros2_controllers_test_nodes/package.xml index fb5b3d8bcf..fef330a0c7 100644 --- a/ros2_controllers_test_nodes/package.xml +++ b/ros2_controllers_test_nodes/package.xml @@ -2,7 +2,7 @@ ros2_controllers_test_nodes - 4.6.0 + 4.7.0 Demo nodes for showing and testing functionalities of the ros2_control framework. Denis Štogl diff --git a/ros2_controllers_test_nodes/setup.py b/ros2_controllers_test_nodes/setup.py index 9219fea906..273957f688 100644 --- a/ros2_controllers_test_nodes/setup.py +++ b/ros2_controllers_test_nodes/setup.py @@ -20,7 +20,7 @@ setup( name=package_name, - version="4.6.0", + version="4.7.0", 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 index cc6f7d1313..416c399cc6 100644 --- a/rqt_joint_trajectory_controller/CHANGELOG.rst +++ b/rqt_joint_trajectory_controller/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package rqt_joint_trajectory_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +4.7.0 (2024-03-22) +------------------ * [CI] Code coverage + pre-commit (`#1057 `_) * Contributors: Christoph Fröhlich diff --git a/rqt_joint_trajectory_controller/package.xml b/rqt_joint_trajectory_controller/package.xml index 107d50681c..c7ec8d4666 100644 --- 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"?> rqt_joint_trajectory_controller - 4.6.0 + 4.7.0 Graphical frontend for interacting with joint_trajectory_controller instances. Bence Magyar diff --git a/rqt_joint_trajectory_controller/setup.py b/rqt_joint_trajectory_controller/setup.py index adb3f94668..0339f47b5a 100644 --- a/rqt_joint_trajectory_controller/setup.py +++ b/rqt_joint_trajectory_controller/setup.py @@ -21,7 +21,7 @@ setup( name=package_name, - version="4.6.0", + version="4.7.0", 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 index f05e310412..43e3cc30da 100644 --- a/steering_controllers_library/CHANGELOG.rst +++ b/steering_controllers_library/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package steering_controllers_library ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +4.7.0 (2024-03-22) +------------------ * added conditioning to have rolling tags compilable in older versions (`#1071 `_) * Fix usage of visibility macros (`#1039 `_) * Contributors: Sai Kishor Kothakota, Silvio Traversaro diff --git a/steering_controllers_library/package.xml b/steering_controllers_library/package.xml index 8212f58d91..97d03dc809 100644 --- a/steering_controllers_library/package.xml +++ b/steering_controllers_library/package.xml @@ -2,7 +2,7 @@ steering_controllers_library - 4.6.0 + 4.7.0 Package for steering robot configurations including odometry and interfaces. Apache License 2.0 Bence Magyar diff --git a/tricycle_controller/CHANGELOG.rst b/tricycle_controller/CHANGELOG.rst index c37f7537a7..150a575260 100644 --- a/tricycle_controller/CHANGELOG.rst +++ b/tricycle_controller/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package tricycle_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +4.7.0 (2024-03-22) +------------------ * added conditioning to have rolling tags compilable in older versions (`#1071 `_) * Fix usage of visibility macros (`#1039 `_) * Contributors: Sai Kishor Kothakota, Silvio Traversaro diff --git a/tricycle_controller/package.xml b/tricycle_controller/package.xml index 04995732f2..900f906a11 100644 --- a/tricycle_controller/package.xml +++ b/tricycle_controller/package.xml @@ -2,7 +2,7 @@ tricycle_controller - 4.6.0 + 4.7.0 Controller for a tricycle drive mobile base Bence Magyar Tony Najjar diff --git a/tricycle_steering_controller/CHANGELOG.rst b/tricycle_steering_controller/CHANGELOG.rst index 35dd1b27df..04e3bf43fe 100644 --- a/tricycle_steering_controller/CHANGELOG.rst +++ b/tricycle_steering_controller/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package tricycle_steering_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +4.7.0 (2024-03-22) +------------------ * Fix pid_controller build on ROS 2 Rolling on Ubuntu 24.04 (`#1084 `_) * Fix usage of visibility macros (`#1039 `_) * Contributors: Chris Lalancette, Silvio Traversaro diff --git a/tricycle_steering_controller/package.xml b/tricycle_steering_controller/package.xml index 991aca2c05..ccb973be40 100644 --- a/tricycle_steering_controller/package.xml +++ b/tricycle_steering_controller/package.xml @@ -2,7 +2,7 @@ tricycle_steering_controller - 4.6.0 + 4.7.0 Steering controller with tricycle kinematics. Rear fixed wheels are powering the vehicle and front wheel is steering. Apache License 2.0 Bence Magyar diff --git a/velocity_controllers/CHANGELOG.rst b/velocity_controllers/CHANGELOG.rst index 8c8970b704..e15ecc94e7 100644 --- a/velocity_controllers/CHANGELOG.rst +++ b/velocity_controllers/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package velocity_controllers ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +4.7.0 (2024-03-22) +------------------ 4.6.0 (2024-02-12) ------------------ diff --git a/velocity_controllers/package.xml b/velocity_controllers/package.xml index ff403e178f..a6c28a3cd1 100644 --- a/velocity_controllers/package.xml +++ b/velocity_controllers/package.xml @@ -1,7 +1,7 @@ velocity_controllers - 4.6.0 + 4.7.0 Generic controller for forwarding commands. Bence Magyar Jordan Palacios From 689efe716fd97f4c79638689ececc65fe175b418 Mon Sep 17 00:00:00 2001 From: Sai Kishor Kothakota Date: Wed, 27 Mar 2024 19:23:54 +0100 Subject: [PATCH 11/11] add missing compiler definitions of RCPPUTILS_VERSION (#1089) --- ackermann_steering_controller/CMakeLists.txt | 2 ++ bicycle_steering_controller/CMakeLists.txt | 2 ++ diff_drive_controller/CMakeLists.txt | 2 ++ steering_controllers_library/CMakeLists.txt | 2 ++ tricycle_controller/CMakeLists.txt | 2 ++ tricycle_steering_controller/CMakeLists.txt | 2 ++ 6 files changed, 12 insertions(+) diff --git a/ackermann_steering_controller/CMakeLists.txt b/ackermann_steering_controller/CMakeLists.txt index 71d0cf5f80..a34be3c672 100644 --- a/ackermann_steering_controller/CMakeLists.txt +++ b/ackermann_steering_controller/CMakeLists.txt @@ -24,6 +24,8 @@ find_package(backward_ros REQUIRED) foreach(Dependency IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS}) find_package(${Dependency} REQUIRED) endforeach() +add_compile_definitions(RCPPUTILS_VERSION_MAJOR=${rcpputils_VERSION_MAJOR}) +add_compile_definitions(RCPPUTILS_VERSION_MINOR=${rcpputils_VERSION_MINOR}) generate_parameter_library(ackermann_steering_controller_parameters src/ackermann_steering_controller.yaml diff --git a/bicycle_steering_controller/CMakeLists.txt b/bicycle_steering_controller/CMakeLists.txt index 77d82ed874..6535a73260 100644 --- a/bicycle_steering_controller/CMakeLists.txt +++ b/bicycle_steering_controller/CMakeLists.txt @@ -24,6 +24,8 @@ find_package(backward_ros REQUIRED) foreach(Dependency IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS}) find_package(${Dependency} REQUIRED) endforeach() +add_compile_definitions(RCPPUTILS_VERSION_MAJOR=${rcpputils_VERSION_MAJOR}) +add_compile_definitions(RCPPUTILS_VERSION_MINOR=${rcpputils_VERSION_MINOR}) generate_parameter_library(bicycle_steering_controller_parameters src/bicycle_steering_controller.yaml diff --git a/diff_drive_controller/CMakeLists.txt b/diff_drive_controller/CMakeLists.txt index d67815b5e0..70a54e302c 100644 --- a/diff_drive_controller/CMakeLists.txt +++ b/diff_drive_controller/CMakeLists.txt @@ -25,6 +25,8 @@ find_package(backward_ros REQUIRED) foreach(Dependency IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS}) find_package(${Dependency} REQUIRED) endforeach() +add_compile_definitions(RCPPUTILS_VERSION_MAJOR=${rcpputils_VERSION_MAJOR}) +add_compile_definitions(RCPPUTILS_VERSION_MINOR=${rcpputils_VERSION_MINOR}) generate_parameter_library(diff_drive_controller_parameters src/diff_drive_controller_parameter.yaml diff --git a/steering_controllers_library/CMakeLists.txt b/steering_controllers_library/CMakeLists.txt index b79236e23e..e2bfdbab71 100644 --- a/steering_controllers_library/CMakeLists.txt +++ b/steering_controllers_library/CMakeLists.txt @@ -30,6 +30,8 @@ find_package(backward_ros REQUIRED) foreach(Dependency IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS}) find_package(${Dependency} REQUIRED) endforeach() +add_compile_definitions(RCPPUTILS_VERSION_MAJOR=${rcpputils_VERSION_MAJOR}) +add_compile_definitions(RCPPUTILS_VERSION_MINOR=${rcpputils_VERSION_MINOR}) generate_parameter_library(steering_controllers_library_parameters src/steering_controllers_library.yaml diff --git a/tricycle_controller/CMakeLists.txt b/tricycle_controller/CMakeLists.txt index ea1c4db3c1..e264c1f258 100644 --- a/tricycle_controller/CMakeLists.txt +++ b/tricycle_controller/CMakeLists.txt @@ -29,6 +29,8 @@ find_package(backward_ros REQUIRED) foreach(Dependency IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS}) find_package(${Dependency} REQUIRED) endforeach() +add_compile_definitions(RCPPUTILS_VERSION_MAJOR=${rcpputils_VERSION_MAJOR}) +add_compile_definitions(RCPPUTILS_VERSION_MINOR=${rcpputils_VERSION_MINOR}) generate_parameter_library(tricycle_controller_parameters src/tricycle_controller_parameter.yaml diff --git a/tricycle_steering_controller/CMakeLists.txt b/tricycle_steering_controller/CMakeLists.txt index 21604df0c4..92c2782092 100644 --- a/tricycle_steering_controller/CMakeLists.txt +++ b/tricycle_steering_controller/CMakeLists.txt @@ -24,6 +24,8 @@ find_package(backward_ros REQUIRED) foreach(Dependency IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS}) find_package(${Dependency} REQUIRED) endforeach() +add_compile_definitions(RCPPUTILS_VERSION_MAJOR=${rcpputils_VERSION_MAJOR}) +add_compile_definitions(RCPPUTILS_VERSION_MINOR=${rcpputils_VERSION_MINOR}) generate_parameter_library(tricycle_steering_controller_parameters src/tricycle_steering_controller.yaml