Merge branch 'iron' into mergify/bp/iron/pr-716

ros-controls · Jul 15, 2024 · 89a392e · 89a392e
2 parents 72e0f26 + 101b0cb
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diff --git a/ackermann_steering_controller/CHANGELOG.rst b/ackermann_steering_controller/CHANGELOG.rst
@@ -2,6 +2,14 @@
 Changelog for package ackermann_steering_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.25.0 (2024-07-09)
+-------------------
+* Fix steering controllers library kinematics (`#1150 <https://github.com/ros-controls/ros2_controllers/issues/1150>`_) (`#1195 <https://github.com/ros-controls/ros2_controllers/issues/1195>`_)
+* [Steering controllers library] Reference interfaces are body twist (`#1168 <https://github.com/ros-controls/ros2_controllers/issues/1168>`_) (`#1174 <https://github.com/ros-controls/ros2_controllers/issues/1174>`_)
+* 🚀 Add PID controller 🎉 (backport `#434 <https://github.com/ros-controls/ros2_controllers/issues/434>`_, `#975 <https://github.com/ros-controls/ros2_controllers/issues/975>`_, `#899 <https://github.com/ros-controls/ros2_controllers/issues/899>`_, `#1084 <https://github.com/ros-controls/ros2_controllers/issues/1084>`_, `#951 <https://github.com/ros-controls/ros2_controllers/issues/951>`_) (`#1163 <https://github.com/ros-controls/ros2_controllers/issues/1163>`_)
+* Fix steering controllers library code documentation and naming (`#1149 <https://github.com/ros-controls/ros2_controllers/issues/1149>`_) (`#1165 <https://github.com/ros-controls/ros2_controllers/issues/1165>`_)
+* Contributors: mergify[bot]
+
 3.24.0 (2024-05-14)
 -------------------
 * Add parameter check for geometric values (`#1120 <https://github.com/ros-controls/ros2_controllers/issues/1120>`_) (`#1126 <https://github.com/ros-controls/ros2_controllers/issues/1126>`_)

diff --git a/ackermann_steering_controller/package.xml b/ackermann_steering_controller/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>ackermann_steering_controller</name>
-  <version>3.24.0</version>
+  <version>3.25.0</version>
   <description>Steering controller for Ackermann kinematics. Rear fixed wheels are powering the vehicle and front wheels are steering it.</description>
   <license>Apache License 2.0</license>
   <maintainer email="[email protected]">Bence Magyar</maintainer>

diff --git a/ackermann_steering_controller/test/test_ackermann_steering_controller.cpp b/ackermann_steering_controller/test/test_ackermann_steering_controller.cpp
@@ -173,6 +173,7 @@ TEST_F(AckermannSteeringControllerTest, test_update_logic)
     controller_->update(rclcpp::Time(0, 0, RCL_ROS_TIME), rclcpp::Duration::from_seconds(0.01)),
     controller_interface::return_type::OK);
 
+  // we test with open_loop=false, but steering angle was not updated (is zero) -> same commands
   EXPECT_NEAR(
     controller_->command_interfaces_[CMD_TRACTION_RIGHT_WHEEL].get_value(), 0.22222222222222224,
     COMMON_THRESHOLD);
@@ -211,8 +212,9 @@ TEST_F(AckermannSteeringControllerTest, test_update_logic_chained)
   ASSERT_EQ(
     controller_->update(rclcpp::Time(0, 0, RCL_ROS_TIME), rclcpp::Duration::from_seconds(0.01)),
     controller_interface::return_type::OK);
-  EXPECT_NEAR(
 
+  // we test with open_loop=false, but steering angle was not updated (is zero) -> same commands
+  EXPECT_NEAR(
     controller_->command_interfaces_[STATE_TRACTION_RIGHT_WHEEL].get_value(), 0.22222222222222224,
     COMMON_THRESHOLD);
   EXPECT_NEAR(
@@ -261,6 +263,7 @@ TEST_F(AckermannSteeringControllerTest, receive_message_and_publish_updated_stat
     controller_->update(rclcpp::Time(0, 0, RCL_ROS_TIME), rclcpp::Duration::from_seconds(0.01)),
     controller_interface::return_type::OK);
 
+  // we test with open_loop=false, but steering angle was not updated (is zero) -> same commands
   EXPECT_NEAR(
     controller_->command_interfaces_[CMD_TRACTION_RIGHT_WHEEL].get_value(), 0.22222222222222224,
     COMMON_THRESHOLD);
@@ -276,6 +279,7 @@ TEST_F(AckermannSteeringControllerTest, receive_message_and_publish_updated_stat
 
   subscribe_and_get_messages(msg);
 
+  // we test with open_loop=false, but steering angle was not updated (is zero) -> same commands
   EXPECT_NEAR(
     msg.linear_velocity_command[CMD_TRACTION_RIGHT_WHEEL], 0.22222222222222224, COMMON_THRESHOLD);
   EXPECT_NEAR(

diff --git a/admittance_controller/CHANGELOG.rst b/admittance_controller/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package admittance_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.25.0 (2024-07-09)
+-------------------
+
 3.24.0 (2024-05-14)
 -------------------
 

diff --git a/admittance_controller/package.xml b/admittance_controller/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>admittance_controller</name>
-  <version>3.24.0</version>
+  <version>3.25.0</version>
   <description>Implementation of admittance controllers for different input and output interface.</description>
   <maintainer email="[email protected]">Denis Štogl</maintainer>
   <maintainer email="[email protected]">Bence Magyar</maintainer>

diff --git a/bicycle_steering_controller/CHANGELOG.rst b/bicycle_steering_controller/CHANGELOG.rst
@@ -2,6 +2,14 @@
 Changelog for package bicycle_steering_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.25.0 (2024-07-09)
+-------------------
+* Fix steering controllers library kinematics (`#1150 <https://github.com/ros-controls/ros2_controllers/issues/1150>`_) (`#1195 <https://github.com/ros-controls/ros2_controllers/issues/1195>`_)
+* [Steering controllers library] Reference interfaces are body twist (`#1168 <https://github.com/ros-controls/ros2_controllers/issues/1168>`_) (`#1174 <https://github.com/ros-controls/ros2_controllers/issues/1174>`_)
+* 🚀 Add PID controller 🎉 (backport `#434 <https://github.com/ros-controls/ros2_controllers/issues/434>`_, `#975 <https://github.com/ros-controls/ros2_controllers/issues/975>`_, `#899 <https://github.com/ros-controls/ros2_controllers/issues/899>`_, `#1084 <https://github.com/ros-controls/ros2_controllers/issues/1084>`_, `#951 <https://github.com/ros-controls/ros2_controllers/issues/951>`_) (`#1163 <https://github.com/ros-controls/ros2_controllers/issues/1163>`_)
+* Fix steering controllers library code documentation and naming (`#1149 <https://github.com/ros-controls/ros2_controllers/issues/1149>`_) (`#1165 <https://github.com/ros-controls/ros2_controllers/issues/1165>`_)
+* Contributors: mergify[bot]
+
 3.24.0 (2024-05-14)
 -------------------
 * Add parameter check for geometric values (`#1120 <https://github.com/ros-controls/ros2_controllers/issues/1120>`_) (`#1126 <https://github.com/ros-controls/ros2_controllers/issues/1126>`_)

diff --git a/bicycle_steering_controller/package.xml b/bicycle_steering_controller/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>bicycle_steering_controller</name>
-  <version>3.24.0</version>
+  <version>3.25.0</version>
   <description>Steering controller with bicycle kinematics. Rear fixed wheel is powering the vehicle and front wheel is steering.</description>
   <license>Apache License 2.0</license>
   <maintainer email="[email protected]">Bence Magyar</maintainer>

diff --git a/bicycle_steering_controller/test/test_bicycle_steering_controller.cpp b/bicycle_steering_controller/test/test_bicycle_steering_controller.cpp
@@ -158,7 +158,7 @@ TEST_F(BicycleSteeringControllerTest, test_update_logic)
     controller_interface::return_type::OK);
 
   EXPECT_NEAR(
-    controller_->command_interfaces_[CMD_TRACTION_WHEEL].get_value(), 0.253221, COMMON_THRESHOLD);
+    controller_->command_interfaces_[CMD_TRACTION_WHEEL].get_value(), 0.1 / 0.45, COMMON_THRESHOLD);
   EXPECT_NEAR(
     controller_->command_interfaces_[CMD_STEER_WHEEL].get_value(), 1.4179821977774734,
     COMMON_THRESHOLD);
@@ -190,7 +190,7 @@ TEST_F(BicycleSteeringControllerTest, test_update_logic_chained)
     controller_interface::return_type::OK);
 
   EXPECT_NEAR(
-    controller_->command_interfaces_[CMD_TRACTION_WHEEL].get_value(), 0.253221, COMMON_THRESHOLD);
+    controller_->command_interfaces_[CMD_TRACTION_WHEEL].get_value(), 0.1 / 0.45, COMMON_THRESHOLD);
   EXPECT_NEAR(
     controller_->command_interfaces_[CMD_STEER_WHEEL].get_value(), 1.4179821977774734,
     COMMON_THRESHOLD);
@@ -237,22 +237,22 @@ TEST_F(BicycleSteeringControllerTest, receive_message_and_publish_updated_status
   EXPECT_EQ(msg.linear_velocity_command[0], 1.1);
   EXPECT_EQ(msg.steering_angle_command[0], 2.2);
 
-  publish_commands();
+  publish_commands(0.1, 0.2);
   ASSERT_TRUE(controller_->wait_for_commands(executor));
 
   ASSERT_EQ(
     controller_->update(rclcpp::Time(0, 0, RCL_ROS_TIME), rclcpp::Duration::from_seconds(0.01)),
     controller_interface::return_type::OK);
 
   EXPECT_NEAR(
-    controller_->command_interfaces_[CMD_TRACTION_WHEEL].get_value(), 0.253221, COMMON_THRESHOLD);
+    controller_->command_interfaces_[CMD_TRACTION_WHEEL].get_value(), 0.1 / 0.45, COMMON_THRESHOLD);
   EXPECT_NEAR(
     controller_->command_interfaces_[CMD_STEER_WHEEL].get_value(), 1.4179821977774734,
     COMMON_THRESHOLD);
 
   subscribe_and_get_messages(msg);
 
-  EXPECT_NEAR(msg.linear_velocity_command[0], 0.253221, COMMON_THRESHOLD);
+  EXPECT_NEAR(msg.linear_velocity_command[0], 0.1 / 0.45, COMMON_THRESHOLD);
   EXPECT_NEAR(msg.steering_angle_command[0], 1.4179821977774734, COMMON_THRESHOLD);
 }
 

diff --git a/diff_drive_controller/CHANGELOG.rst b/diff_drive_controller/CHANGELOG.rst
@@ -2,6 +2,12 @@
 Changelog for package diff_drive_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.25.0 (2024-07-09)
+-------------------
+* Add mobile robot kinematics 101 and improve steering library docs (`#954 <https://github.com/ros-controls/ros2_controllers/issues/954>`_) (`#1161 <https://github.com/ros-controls/ros2_controllers/issues/1161>`_)
+* Bump version of pre-commit hooks (`#1157 <https://github.com/ros-controls/ros2_controllers/issues/1157>`_) (`#1159 <https://github.com/ros-controls/ros2_controllers/issues/1159>`_)
+* Contributors: mergify[bot]
+
 3.24.0 (2024-05-14)
 -------------------
 * Remove non-existing parameter (`#1119 <https://github.com/ros-controls/ros2_controllers/issues/1119>`_) (`#1127 <https://github.com/ros-controls/ros2_controllers/issues/1127>`_)

diff --git a/diff_drive_controller/package.xml b/diff_drive_controller/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>diff_drive_controller</name>
-  <version>3.24.0</version>
+  <version>3.25.0</version>
   <description>Controller for a differential drive mobile base.</description>
   <maintainer email="[email protected]">Bence Magyar</maintainer>
   <maintainer email="[email protected]">Jordan Palacios</maintainer>

diff --git a/effort_controllers/CHANGELOG.rst b/effort_controllers/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package effort_controllers
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.25.0 (2024-07-09)
+-------------------
+
 3.24.0 (2024-05-14)
 -------------------
 

diff --git a/effort_controllers/package.xml b/effort_controllers/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>effort_controllers</name>
-  <version>3.24.0</version>
+  <version>3.25.0</version>
   <description>Generic controller for forwarding commands.</description>
   <maintainer email="[email protected]">Bence Magyar</maintainer>
   <maintainer email="[email protected]">Jordan Palacios</maintainer>

diff --git a/force_torque_sensor_broadcaster/CHANGELOG.rst b/force_torque_sensor_broadcaster/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package force_torque_sensor_broadcaster
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.25.0 (2024-07-09)
+-------------------
+
 3.24.0 (2024-05-14)
 -------------------
 

diff --git a/force_torque_sensor_broadcaster/package.xml b/force_torque_sensor_broadcaster/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>force_torque_sensor_broadcaster</name>
-  <version>3.24.0</version>
+  <version>3.25.0</version>
   <description>Controller to publish state of force-torque sensors.</description>
   <maintainer email="[email protected]">Bence Magyar</maintainer>
   <maintainer email="[email protected]">Denis Štogl</maintainer>

diff --git a/forward_command_controller/CHANGELOG.rst b/forward_command_controller/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package forward_command_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.25.0 (2024-07-09)
+-------------------
+
 3.24.0 (2024-05-14)
 -------------------
 

diff --git a/forward_command_controller/package.xml b/forward_command_controller/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>forward_command_controller</name>
-  <version>3.24.0</version>
+  <version>3.25.0</version>
   <description>Generic controller for forwarding commands.</description>
   <maintainer email="[email protected]">Bence Magyar</maintainer>
   <maintainer email="[email protected]">Jordan Palacios</maintainer>

diff --git a/gripper_controllers/CHANGELOG.rst b/gripper_controllers/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package gripper_controllers
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.25.0 (2024-07-09)
+-------------------
+
 3.24.0 (2024-05-14)
 -------------------
 

diff --git a/gripper_controllers/package.xml b/gripper_controllers/package.xml
@@ -4,7 +4,7 @@
   schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>gripper_controllers</name>
-  <version>3.24.0</version>
+  <version>3.25.0</version>
   <description>The gripper_controllers package</description>
   <maintainer email="[email protected]">Bence Magyar</maintainer>
 

diff --git a/imu_sensor_broadcaster/CHANGELOG.rst b/imu_sensor_broadcaster/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package imu_sensor_broadcaster
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.25.0 (2024-07-09)
+-------------------
+
 3.24.0 (2024-05-14)
 -------------------
 

diff --git a/imu_sensor_broadcaster/package.xml b/imu_sensor_broadcaster/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>imu_sensor_broadcaster</name>
-  <version>3.24.0</version>
+  <version>3.25.0</version>
   <description>Controller to publish readings of IMU sensors.</description>
   <maintainer email="[email protected]">Bence Magyar</maintainer>
   <maintainer email="[email protected]">Denis Štogl</maintainer>

diff --git a/joint_state_broadcaster/CHANGELOG.rst b/joint_state_broadcaster/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package joint_state_broadcaster
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.25.0 (2024-07-09)
+-------------------
+
 3.24.0 (2024-05-14)
 -------------------
 

diff --git a/joint_state_broadcaster/package.xml b/joint_state_broadcaster/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>joint_state_broadcaster</name>
-  <version>3.24.0</version>
+  <version>3.25.0</version>
   <description>Broadcaster to publish joint state</description>
   <maintainer email="[email protected]">Bence Magyar</maintainer>
   <maintainer email="[email protected]">Denis Stogl</maintainer>

diff --git a/joint_trajectory_controller/CHANGELOG.rst b/joint_trajectory_controller/CHANGELOG.rst
@@ -2,6 +2,11 @@
 Changelog for package joint_trajectory_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.25.0 (2024-07-09)
+-------------------
+* JTC trajectory end time validation fix (`#1090 <https://github.com/ros-controls/ros2_controllers/issues/1090>`_) (`#1141 <https://github.com/ros-controls/ros2_controllers/issues/1141>`_)
+* Contributors: mergify[bot]
+
 3.24.0 (2024-05-14)
 -------------------
 

diff --git a/joint_trajectory_controller/package.xml b/joint_trajectory_controller/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>joint_trajectory_controller</name>
-  <version>3.24.0</version>
+  <version>3.25.0</version>
   <description>Controller for executing joint-space trajectories on a group of joints</description>
   <maintainer email="[email protected]">Bence Magyar</maintainer>
   <maintainer email="[email protected]">Dr. Denis Štogl</maintainer>