Merge branch 'master' into jtc/cleanup

ros-controls · Jan 4, 2024 · 922255b · 922255b
2 parents 6f67f65 + 2b52f0b
commit 922255b
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Showing 29 changed files with 165 additions and 53 deletions.
diff --git a/ackermann_steering_controller/CMakeLists.txt b/ackermann_steering_controller/CMakeLists.txt
@@ -2,7 +2,8 @@ cmake_minimum_required(VERSION 3.16)
 project(ackermann_steering_controller LANGUAGES CXX)
 
 if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
-  add_compile_options(-Wall -Wextra -Wpedantic -Wconversion)
+  add_compile_options(-Wall -Wextra -Wpedantic -Werror=conversion -Werror=unused-but-set-variable
+                      -Werror=return-type -Werror=shadow -Werror=format)
 endif()
 
 # find dependencies

diff --git a/admittance_controller/CMakeLists.txt b/admittance_controller/CMakeLists.txt
@@ -2,7 +2,8 @@ cmake_minimum_required(VERSION 3.16)
 project(admittance_controller LANGUAGES CXX)
 
 if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
-  add_compile_options(-Wall -Wextra -Wpedantic -Wconversion)
+  add_compile_options(-Wall -Wextra -Wpedantic -Werror=conversion -Werror=unused-but-set-variable
+                      -Werror=return-type -Werror=shadow -Werror=format)
 endif()
 
 set(THIS_PACKAGE_INCLUDE_DEPENDS

diff --git a/bicycle_steering_controller/CMakeLists.txt b/bicycle_steering_controller/CMakeLists.txt
@@ -2,7 +2,8 @@ cmake_minimum_required(VERSION 3.16)
 project(bicycle_steering_controller LANGUAGES CXX)
 
 if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
-  add_compile_options(-Wall -Wextra -Wpedantic -Wconversion)
+  add_compile_options(-Wall -Wextra -Wpedantic -Werror=conversion -Werror=unused-but-set-variable
+                      -Werror=return-type -Werror=shadow -Werror=format)
 endif()
 
 # find dependencies

diff --git a/diff_drive_controller/CMakeLists.txt b/diff_drive_controller/CMakeLists.txt
@@ -2,7 +2,7 @@ cmake_minimum_required(VERSION 3.16)
 project(diff_drive_controller LANGUAGES CXX)
 
 if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
-  add_compile_options(-Wall -Wextra -Wconversion)
+  add_compile_options(-Wall -Wextra -Werror=conversion -Werror=unused-but-set-variable -Werror=return-type -Werror=shadow -Werror=format)
 endif()
 
 set(THIS_PACKAGE_INCLUDE_DEPENDS

diff --git a/effort_controllers/CMakeLists.txt b/effort_controllers/CMakeLists.txt
@@ -2,7 +2,8 @@ cmake_minimum_required(VERSION 3.16)
 project(effort_controllers LANGUAGES CXX)
 
 if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
-  add_compile_options(-Wall -Wextra -Wpedantic -Wconversion)
+  add_compile_options(-Wall -Wextra -Wpedantic -Werror=conversion -Werror=unused-but-set-variable
+                      -Werror=return-type -Werror=shadow -Werror=format)
 endif()
 
 set(THIS_PACKAGE_INCLUDE_DEPENDS

diff --git a/force_torque_sensor_broadcaster/CMakeLists.txt b/force_torque_sensor_broadcaster/CMakeLists.txt
@@ -2,7 +2,8 @@ cmake_minimum_required(VERSION 3.16)
 project(force_torque_sensor_broadcaster LANGUAGES CXX)
 
 if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
-  add_compile_options(-Wall -Wextra -Wpedantic -Wconversion)
+  add_compile_options(-Wall -Wextra -Wpedantic -Werror=conversion -Werror=unused-but-set-variable
+                      -Werror=return-type -Werror=shadow -Werror=format)
 endif()
 
 set(THIS_PACKAGE_INCLUDE_DEPENDS

diff --git a/forward_command_controller/CMakeLists.txt b/forward_command_controller/CMakeLists.txt
@@ -2,7 +2,8 @@ cmake_minimum_required(VERSION 3.16)
 project(forward_command_controller LANGUAGES CXX)
 
 if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
-  add_compile_options(-Wall -Wextra -Wpedantic -Wconversion)
+  add_compile_options(-Wall -Wextra -Wpedantic -Werror=conversion -Werror=unused-but-set-variable
+                      -Werror=return-type -Werror=shadow -Werror=format)
 endif()
 
 set(THIS_PACKAGE_INCLUDE_DEPENDS

diff --git a/gripper_controllers/CMakeLists.txt b/gripper_controllers/CMakeLists.txt
@@ -7,7 +7,7 @@ if(APPLE OR WIN32)
 endif()
 
 if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
-  add_compile_options(-Wall -Wextra -Wconversion)
+  add_compile_options(-Wall -Wextra -Werror=conversion -Werror=unused-but-set-variable -Werror=return-type -Werror=shadow -Werror=format)
 endif()
 
 set(THIS_PACKAGE_INCLUDE_DEPENDS

diff --git a/imu_sensor_broadcaster/CMakeLists.txt b/imu_sensor_broadcaster/CMakeLists.txt
@@ -2,7 +2,8 @@ cmake_minimum_required(VERSION 3.16)
 project(imu_sensor_broadcaster LANGUAGES CXX)
 
 if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
-  add_compile_options(-Wall -Wextra -Wpedantic -Wconversion)
+  add_compile_options(-Wall -Wextra -Wpedantic -Werror=conversion -Werror=unused-but-set-variable
+                      -Werror=return-type -Werror=shadow -Werror=format)
 endif()
 
 set(THIS_PACKAGE_INCLUDE_DEPENDS

diff --git a/joint_state_broadcaster/CMakeLists.txt b/joint_state_broadcaster/CMakeLists.txt
@@ -2,7 +2,8 @@ cmake_minimum_required(VERSION 3.16)
 project(joint_state_broadcaster LANGUAGES CXX)
 
 if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
-  add_compile_options(-Wall -Wextra -Wconversion)
+  add_compile_options(-Wall -Wextra -Wpedantic -Werror=conversion -Werror=unused-but-set-variable
+                      -Werror=return-type -Werror=shadow -Werror=format)
 endif()
 
 set(THIS_PACKAGE_INCLUDE_DEPENDS

diff --git a/joint_trajectory_controller/CMakeLists.txt b/joint_trajectory_controller/CMakeLists.txt
@@ -2,7 +2,7 @@ cmake_minimum_required(VERSION 3.16)
 project(joint_trajectory_controller LANGUAGES CXX)
 
 if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
-  add_compile_options(-Wall -Wextra -Wconversion)
+  add_compile_options(-Wall -Wextra -Werror=conversion -Werror=unused-but-set-variable -Werror=return-type -Werror=shadow -Werror=format)
 endif()
 
 set(THIS_PACKAGE_INCLUDE_DEPENDS

diff --git a/joint_trajectory_controller/doc/userdoc.rst b/joint_trajectory_controller/doc/userdoc.rst
@@ -193,6 +193,7 @@ Further information
 
    Trajectory Representation <trajectory.rst>
    joint_trajectory_controller Parameters <parameters.rst>
+   rqt_joint_trajectory_controller <../../rqt_joint_trajectory_controller/doc/userdoc.rst>
 
 
 .. rubric:: Footnote

diff --git a/...trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller.hpp b/...trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller.hpp
@@ -16,10 +16,9 @@
 #define JOINT_TRAJECTORY_CONTROLLER__JOINT_TRAJECTORY_CONTROLLER_HPP_
 
 #include <chrono>
+#include <functional>  // for std::reference_wrapper
 #include <memory>
-#include <mutex>
 #include <string>
-#include <utility>
 #include <vector>
 
 #include "control_msgs/action/follow_joint_trajectory.hpp"
@@ -30,15 +29,15 @@
 #include "hardware_interface/types/hardware_interface_type_values.hpp"
 #include "joint_trajectory_controller/interpolation_methods.hpp"
 #include "joint_trajectory_controller/tolerances.hpp"
+#include "joint_trajectory_controller/trajectory.hpp"
 #include "joint_trajectory_controller/visibility_control.h"
 #include "rclcpp/duration.hpp"
 #include "rclcpp/subscription.hpp"
 #include "rclcpp/time.hpp"
 #include "rclcpp/timer.hpp"
 #include "rclcpp_action/server.hpp"
-#include "rclcpp_action/types.hpp"
-#include "rclcpp_lifecycle/lifecycle_publisher.hpp"
 #include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp"
+#include "rclcpp_lifecycle/state.hpp"
 #include "realtime_tools/realtime_buffer.h"
 #include "realtime_tools/realtime_publisher.h"
 #include "realtime_tools/realtime_server_goal_handle.h"
@@ -50,19 +49,8 @@
 
 using namespace std::chrono_literals;  // NOLINT
 
-namespace rclcpp_action
-{
-template <typename ActionT>
-class ServerGoalHandle;
-}  // namespace rclcpp_action
-namespace rclcpp_lifecycle
-{
-class State;
-}  // namespace rclcpp_lifecycle
-
 namespace joint_trajectory_controller
 {
-class Trajectory;
 
 class JointTrajectoryController : public controller_interface::ControllerInterface
 {

diff --git a/joint_trajectory_controller/include/joint_trajectory_controller/tolerances.hpp b/joint_trajectory_controller/include/joint_trajectory_controller/tolerances.hpp
@@ -30,9 +30,6 @@
 #ifndef JOINT_TRAJECTORY_CONTROLLER__TOLERANCES_HPP_
 #define JOINT_TRAJECTORY_CONTROLLER__TOLERANCES_HPP_
 
-#include <cassert>
-#include <cmath>
-#include <string>
 #include <vector>
 
 #include "control_msgs/action/follow_joint_trajectory.hpp"

diff --git a/joint_trajectory_controller/src/joint_trajectory_controller.cpp b/joint_trajectory_controller/src/joint_trajectory_controller.cpp
@@ -14,12 +14,10 @@
 
 #include "joint_trajectory_controller/joint_trajectory_controller.hpp"
 
-#include <stddef.h>
 #include <chrono>
 #include <functional>
 #include <memory>
-#include <ostream>
-#include <ratio>
+
 #include <string>
 #include <vector>
 
@@ -33,15 +31,11 @@
 #include "lifecycle_msgs/msg/state.hpp"
 #include "rclcpp/event_handler.hpp"
 #include "rclcpp/logging.hpp"
-#include "rclcpp/parameter.hpp"
 #include "rclcpp/qos.hpp"
 #include "rclcpp/time.hpp"
 #include "rclcpp_action/create_server.hpp"
 #include "rclcpp_action/server_goal_handle.hpp"
-#include "rclcpp_lifecycle/lifecycle_node.hpp"
-#include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp"
 #include "rclcpp_lifecycle/state.hpp"
-#include "std_msgs/msg/header.hpp"
 
 namespace joint_trajectory_controller
 {

diff --git a/joint_trajectory_controller/test/test_trajectory_controller.cpp b/joint_trajectory_controller/test/test_trajectory_controller.cpp
@@ -14,7 +14,6 @@
 
 #include <stddef.h>
 
-#include <array>
 #include <chrono>
 #include <cmath>
 #include <future>
@@ -30,7 +29,6 @@
 #include "builtin_interfaces/msg/time.hpp"
 #include "controller_interface/controller_interface.hpp"
 #include "hardware_interface/resource_manager.hpp"
-#include "joint_trajectory_controller/joint_trajectory_controller.hpp"
 #include "lifecycle_msgs/msg/state.hpp"
 #include "rclcpp/clock.hpp"
 #include "rclcpp/duration.hpp"
@@ -44,9 +42,6 @@
 #include "rclcpp/subscription.hpp"
 #include "rclcpp/time.hpp"
 #include "rclcpp/utilities.hpp"
-#include "rclcpp_lifecycle/lifecycle_node.hpp"
-#include "rclcpp_lifecycle/state.hpp"
-#include "std_msgs/msg/header.hpp"
 #include "trajectory_msgs/msg/joint_trajectory.hpp"
 #include "trajectory_msgs/msg/joint_trajectory_point.hpp"
 

diff --git a/joint_trajectory_controller/test/test_trajectory_controller_utils.hpp b/joint_trajectory_controller/test/test_trajectory_controller_utils.hpp
@@ -25,7 +25,6 @@
 
 #include "hardware_interface/types/hardware_interface_type_values.hpp"
 #include "joint_trajectory_controller/joint_trajectory_controller.hpp"
-#include "joint_trajectory_controller/trajectory.hpp"
 
 namespace
 {

diff --git a/pid_controller/CMakeLists.txt b/pid_controller/CMakeLists.txt
@@ -2,7 +2,7 @@ cmake_minimum_required(VERSION 3.16)
 project(pid_controller LANGUAGES CXX)
 
 if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
-  add_compile_options(-Wall -Wextra)
+  add_compile_options(-Wall -Wextra -Werror=conversion -Werror=unused-but-set-variable -Werror=return-type -Werror=shadow -Werror=format)
 endif()
 
 set(THIS_PACKAGE_INCLUDE_DEPENDS

diff --git a/pid_controller/src/pid_controller.cpp b/pid_controller/src/pid_controller.cpp
@@ -171,10 +171,10 @@ controller_interface::CallbackReturn PidController::on_configure(
   if (params_.use_external_measured_states)
   {
     auto measured_state_callback =
-      [&](const std::shared_ptr<ControllerMeasuredStateMsg> msg) -> void
+      [&](const std::shared_ptr<ControllerMeasuredStateMsg> state_msg) -> void
     {
       // TODO(destogl): Sort the input values based on joint and interface names
-      measured_state_.writeFromNonRT(msg);
+      measured_state_.writeFromNonRT(state_msg);
     };
     measured_state_subscriber_ = get_node()->create_subscription<ControllerMeasuredStateMsg>(
       "~/measured_state", subscribers_qos, measured_state_callback);

diff --git a/position_controllers/CMakeLists.txt b/position_controllers/CMakeLists.txt
@@ -2,7 +2,8 @@ cmake_minimum_required(VERSION 3.16)
 project(position_controllers LANGUAGES CXX)
 
 if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
-  add_compile_options(-Wall -Wextra -Wpedantic -Wconversion)
+  add_compile_options(-Wall -Wextra -Wpedantic -Werror=conversion -Werror=unused-but-set-variable
+                      -Werror=return-type -Werror=shadow -Werror=format)
 endif()
 
 set(THIS_PACKAGE_INCLUDE_DEPENDS

diff --git a/range_sensor_broadcaster/CMakeLists.txt b/range_sensor_broadcaster/CMakeLists.txt
@@ -8,7 +8,7 @@ if(NOT CMAKE_CXX_STANDARD)
 endif()
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  add_compile_options(-Wall -Wextra -Wpedantic)
+  add_compile_options(-Wall -Wextra -Wpedantic -Werror=unused-but-set-variable -Werror=return-type -Werror=shadow -Werror=format)
 endif()
 
 set(THIS_PACKAGE_INCLUDE_DEPENDS

diff --git a/rqt_joint_trajectory_controller/doc/rqt_joint_trajectory_controller.png b/rqt_joint_trajectory_controller/doc/rqt_joint_trajectory_controller.png
diff --git a/rqt_joint_trajectory_controller/doc/userdoc.rst b/rqt_joint_trajectory_controller/doc/userdoc.rst
@@ -0,0 +1,12 @@
+:github_url: https://github.com/ros-controls/ros2_controllers/blob/{REPOS_FILE_BRANCH}/rqt_joint_trajectory_controller/doc/userdoc.rst
+
+.. _rqt_joint_trajectory_controller_userdoc:
+
+rqt_joint_trajectory_controller
+===============================
+
+rqt_joint_trajectory_controller is a GUI plugin for rqt that allows to command a joint_trajectory_controller.
+
+.. image:: rqt_joint_trajectory_controller.png
+  :width: 400
+  :alt: rqt_joint_trajectory_controller
diff --git a/steering_controllers_library/CMakeLists.txt b/steering_controllers_library/CMakeLists.txt
@@ -2,7 +2,8 @@ cmake_minimum_required(VERSION 3.16)
 project(steering_controllers_library LANGUAGES CXX)
 
 if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
-  add_compile_options(-Wall -Wextra -Wpedantic -Wconversion)
+  add_compile_options(-Wall -Wextra -Wpedantic -Werror=conversion -Werror=unused-but-set-variable
+                      -Werror=return-type -Werror=shadow -Werror=format)
 endif()
 
 # find dependencies
@@ -67,6 +68,9 @@ if(BUILD_TESTING)
     controller_interface
     hardware_interface
   )
+  ament_add_gmock(test_steering_odometry test/test_steering_odometry.cpp)
+  target_link_libraries(test_steering_odometry steering_controllers_library)
+
 endif()
 
 install(

diff --git a/steering_controllers_library/src/steering_odometry.cpp b/steering_controllers_library/src/steering_odometry.cpp
@@ -270,8 +270,8 @@ std::tuple<std::vector<double>, std::vector<double>> SteeringOdometry::get_comma
       double denominator_first_member = 2 * wheelbase_ * std::cos(alpha);
       double denominator_second_member = wheel_track_ * std::sin(alpha);
 
-      double alpha_r = std::atan2(numerator, denominator_first_member - denominator_second_member);
-      double alpha_l = std::atan2(numerator, denominator_first_member + denominator_second_member);
+      double alpha_r = std::atan2(numerator, denominator_first_member + denominator_second_member);
+      double alpha_l = std::atan2(numerator, denominator_first_member - denominator_second_member);
       steering_commands = {alpha_r, alpha_l};
     }
     return std::make_tuple(traction_commands, steering_commands);