Merge branch 'master' into add-mecanum-drive-controller

ackermann_steering_controller/package.xml

@@ -4,10 +4,17 @@
   <name>ackermann_steering_controller</name>
   <version>4.16.0</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>
-  <maintainer email="[email protected]">Dr.-Ing. Denis Štogl</maintainer>
-  <maintainer email="[email protected]">dr. sc. Tomislav Petkovic</maintainer>
+  <maintainer email="[email protected]">Denis Štogl</maintainer>
+  <maintainer email="[email protected]">Christoph Froehlich</maintainer>
+  <maintainer email="[email protected]">Sai Kishor Kothakota</maintainer>
+
+  <license>Apache License 2.0</license>
+
+  <url type="website">https://control.ros.org</url>
+  <url type="bugtracker">https://github.com/ros-controls/ros2_controllers/issues</url>
+  <url type="repository">https://github.com/ros-controls/ros2_controllers/</url>
 
   <author email="[email protected]">Dr.-Ing. Denis Štogl</author>
   <author email="[email protected]">dr. sc. Tomislav Petkovic</author>

admittance_controller/package.xml

@@ -4,11 +4,22 @@
   <name>admittance_controller</name>
   <version>4.16.0</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>
-  <maintainer email="[email protected]">Andy Zelenak</maintainer>
+  <maintainer email="[email protected]">Denis Štogl</maintainer>
+  <maintainer email="[email protected]">Christoph Froehlich</maintainer>
+  <maintainer email="[email protected]">Sai Kishor Kothakota</maintainer>
+
   <license>Apache License 2.0</license>
 
+  <url type="website">https://control.ros.org</url>
+  <url type="bugtracker">https://github.com/ros-controls/ros2_controllers/issues</url>
+  <url type="repository">https://github.com/ros-controls/ros2_controllers/</url>
+
+  <author email="[email protected]">Denis Štogl</author>
+  <author email="[email protected]">Andy Zelenak</author>
+  <author email="[email protected]">Paul Gesel</author>
+
   <buildtool_depend>ament_cmake</buildtool_depend>
 
   <depend>backward_ros</depend>

bicycle_steering_controller/package.xml

@@ -4,10 +4,17 @@
   <name>bicycle_steering_controller</name>
   <version>4.16.0</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>
-  <maintainer email="[email protected]">Dr.-Ing. Denis Štogl</maintainer>
-  <maintainer email="[email protected]">dr. sc. Tomislav Petkovic</maintainer>
+  <maintainer email="[email protected]">Denis Štogl</maintainer>
+  <maintainer email="[email protected]">Christoph Froehlich</maintainer>
+  <maintainer email="[email protected]">Sai Kishor Kothakota</maintainer>
+
+  <license>Apache License 2.0</license>
+
+  <url type="website">https://control.ros.org</url>
+  <url type="bugtracker">https://github.com/ros-controls/ros2_controllers/issues</url>
+  <url type="repository">https://github.com/ros-controls/ros2_controllers/</url>
 
   <author email="[email protected]">Dr.-Ing. Denis Štogl</author>
   <author email="[email protected]">dr. sc. Tomislav Petkovic</author>

diff_drive_controller/package.xml

@@ -2,12 +2,24 @@
 <package format="3">
   <name>diff_drive_controller</name>
   <version>4.16.0</version>
-  <description>Controller for a differential drive mobile base.</description>
+  <description>Controller for a differential-drive mobile base.</description>
+
   <maintainer email="[email protected]">Bence Magyar</maintainer>
-  <maintainer email="[email protected]">Jordan Palacios</maintainer>
+  <maintainer email="[email protected]">Denis Štogl</maintainer>
+  <maintainer email="[email protected]">Christoph Froehlich</maintainer>
+  <maintainer email="[email protected]">Sai Kishor Kothakota</maintainer>
 
   <license>Apache License 2.0</license>
 
+  <url type="website">https://control.ros.org</url>
+  <url type="bugtracker">https://github.com/ros-controls/ros2_controllers/issues</url>
+  <url type="repository">https://github.com/ros-controls/ros2_controllers/</url>
+
+  <author email="[email protected]">Bence Magyar</author>
+  <author>Enrique Fernández</author>
+  <author>Manuel Meraz</author>
+  <author email="[email protected]">Jordan Palacios</author>
+
   <buildtool_depend>ament_cmake</buildtool_depend>
   <build_depend>generate_parameter_library</build_depend>
 

doc/controllers_index.rst

@@ -57,6 +57,7 @@ The controllers are using `common hardware interface definitions`_, and may use
    PID Controller <../pid_controller/doc/userdoc.rst>
    Position Controllers <../position_controllers/doc/userdoc.rst>
    Velocity Controllers <../velocity_controllers/doc/userdoc.rst>
+   Gpio Command Controller <../gpio_controllers/doc/userdoc.rst>
 
 
 Broadcasters

doc/release_notes.rst

@@ -63,3 +63,7 @@ steering_controllers_library
 tricycle_controller
 ************************
 * tricycle_controller now uses generate_parameter_library (`#957 <https://github.com/ros-controls/ros2_controllers/pull/957>`_).
+
+gpio_controllers
+************************
+* The GPIO command controller was added 🎉 (`#1251 <https://github.com/ros-controls/ros2_controllers/pull/1251>`_).

effort_controllers/package.xml

@@ -3,11 +3,20 @@
   <name>effort_controllers</name>
   <version>4.16.0</version>
   <description>Generic controller for forwarding commands.</description>
+
   <maintainer email="[email protected]">Bence Magyar</maintainer>
-  <maintainer email="[email protected]">Jordan Palacios</maintainer>
+  <maintainer email="[email protected]">Denis Štogl</maintainer>
+  <maintainer email="[email protected]">Christoph Froehlich</maintainer>
+  <maintainer email="[email protected]">Sai Kishor Kothakota</maintainer>
 
   <license>Apache License 2.0</license>
 
+  <url type="website">https://control.ros.org</url>
+  <url type="bugtracker">https://github.com/ros-controls/ros2_controllers/issues</url>
+  <url type="repository">https://github.com/ros-controls/ros2_controllers/</url>
+
+  <author email="[email protected]">Jordan Palacios</author>
+
   <buildtool_depend>ament_cmake</buildtool_depend>
 
   <depend>backward_ros</depend>

force_torque_sensor_broadcaster/package.xml

@@ -4,11 +4,21 @@
   <name>force_torque_sensor_broadcaster</name>
   <version>4.16.0</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>
-  <maintainer email="[email protected]">Subhas Das</maintainer>
+  <maintainer email="[email protected]">Denis Štogl</maintainer>
+  <maintainer email="[email protected]">Christoph Froehlich</maintainer>
+  <maintainer email="[email protected]">Sai Kishor Kothakota</maintainer>
+
   <license>Apache License 2.0</license>
 
+  <url type="website">https://control.ros.org</url>
+  <url type="bugtracker">https://github.com/ros-controls/ros2_controllers/issues</url>
+  <url type="repository">https://github.com/ros-controls/ros2_controllers/</url>
+
+  <author email="[email protected]">Denis Štogl</author>
+  <author email="[email protected]">Subhas Das</author>
+
   <buildtool_depend>ament_cmake</buildtool_depend>
 
   <depend>backward_ros</depend>

forward_command_controller/package.xml

@@ -3,11 +3,20 @@
   <name>forward_command_controller</name>
   <version>4.16.0</version>
   <description>Generic controller for forwarding commands.</description>
+
   <maintainer email="[email protected]">Bence Magyar</maintainer>
-  <maintainer email="[email protected]">Jordan Palacios</maintainer>
+  <maintainer email="[email protected]">Denis Štogl</maintainer>
+  <maintainer email="[email protected]">Christoph Froehlich</maintainer>
+  <maintainer email="[email protected]">Sai Kishor Kothakota</maintainer>
 
   <license>Apache License 2.0</license>
 
+  <url type="website">https://control.ros.org</url>
+  <url type="bugtracker">https://github.com/ros-controls/ros2_controllers/issues</url>
+  <url type="repository">https://github.com/ros-controls/ros2_controllers/</url>
+
+  <author email="[email protected]">Jordan Palacios</author>
+
   <buildtool_depend>ament_cmake</buildtool_depend>
 
   <depend>backward_ros</depend>

gpio_controllers/CMakeLists.txt

@@ -0,0 +1,115 @@
+cmake_minimum_required(VERSION 3.8)
+project(gpio_controllers)
+
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic -Werror=conversion -Werror=unused-but-set-variable
+  -Werror=return-type -Werror=shadow -Werror=format  -Werror=range-loop-construct
+  -Werror=missing-braces)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(controller_interface REQUIRED)
+find_package(hardware_interface REQUIRED)
+find_package(pluginlib REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(rclcpp_lifecycle REQUIRED)
+find_package(realtime_tools REQUIRED)
+find_package(generate_parameter_library REQUIRED)
+find_package(control_msgs REQUIRED)
+
+
+generate_parameter_library(gpio_command_controller_parameters
+  src/gpio_command_controller_parameters.yaml
+)
+
+add_library(gpio_controllers
+  SHARED
+  src/gpio_command_controller.cpp
+)
+target_include_directories(gpio_controllers PRIVATE include)
+target_link_libraries(gpio_controllers PUBLIC gpio_command_controller_parameters)
+ament_target_dependencies(gpio_controllers PUBLIC
+  builtin_interfaces
+  controller_interface
+  hardware_interface
+  pluginlib
+  rclcpp_lifecycle
+  rcutils
+  realtime_tools
+  control_msgs
+)
+# Causes the visibility macros to use dllexport rather than dllimport,
+# which is appropriate when building the dll but not consuming it.
+target_compile_definitions(gpio_controllers PRIVATE "GPIO_COMMAND_CONTROLLER_BUILDING_DLL")
+pluginlib_export_plugin_description_file(controller_interface gpio_controllers_plugin.xml)
+
+install(
+  DIRECTORY include/
+  DESTINATION include
+)
+
+install(
+  TARGETS
+  gpio_controllers
+  RUNTIME DESTINATION bin
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+)
+
+if(BUILD_TESTING)
+  find_package(ament_cmake_gmock REQUIRED)
+  find_package(controller_manager REQUIRED)
+  find_package(hardware_interface REQUIRED)
+  find_package(ros2_control_test_assets REQUIRED)
+
+  ament_add_gmock(
+    test_load_gpio_command_controller
+    test/test_load_gpio_command_controller.cpp
+  )
+
+  target_include_directories(test_load_gpio_command_controller PRIVATE include)
+  ament_target_dependencies(test_load_gpio_command_controller
+    controller_manager
+    hardware_interface
+    ros2_control_test_assets
+  )
+
+  ament_add_gmock(
+    test_gpio_command_controller
+    test/test_gpio_command_controller.cpp
+  )
+  target_include_directories(test_gpio_command_controller PRIVATE include)
+  target_link_libraries(test_gpio_command_controller
+    gpio_controllers
+  )
+  ament_target_dependencies(test_gpio_command_controller
+    controller_interface
+    hardware_interface
+    rclcpp
+    rclcpp_lifecycle
+    realtime_tools
+    ros2_control_test_assets
+    control_msgs
+  )
+endif()
+
+ament_export_dependencies(
+  controller_interface
+  hardware_interface
+  rclcpp
+  rclcpp_lifecycle
+  realtime_tools
+)
+ament_export_include_directories(
+  include
+)
+ament_export_libraries(
+  gpio_controllers
+)
+ament_package()

gpio_controllers/doc/userdoc.rst

@@ -0,0 +1,57 @@
+.. _gpio_controllers_userdoc:
+
+gpio_controllers
+=====================
+
+This is a collection of controllers for hardware interfaces of type GPIO (``<gpio>`` tag in the URDF).
+
+gpio_command_controller
+-----------------------------
+gpio_command_controller let the user expose command interfaces of given GPIO interfaces and publishes state interfaces of the configured command interfaces.
+
+Description of controller's interfaces
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+- ``/<controller_name>/gpio_states`` [``control_msgs/msg/DynamicJointState``]: Publishes all state interfaces of the given GPIO interfaces.
+- ``/<controller_name>/commands`` [``control_msgs/msg/DynamicJointState``]:  A subscriber for configured command interfaces.
+
+
+Parameters
+^^^^^^^^^^^^^^^^^^^^^^^^
+
+This controller uses the `generate_parameter_library <https://github.com/PickNikRobotics/generate_parameter_library>`_ to handle its parameters. The parameter `definition file located in the src folder <https://github.com/ros-controls/ros2_controllers/blob/{REPOS_FILE_BRANCH}/gpio_controllers/src/gpio_command_controller_parameters.yaml>`_ contains descriptions for all the parameters used by the controller.
+
+.. generate_parameter_library_details::
+  ../src/gpio_command_controller_parameters.yaml
+
+The controller expects at least one GPIO interface and the corresponding command interface names or state interface. However, these Command and State interfaces are optional. The controller behaves as a broadcaster when no Command Interface is present, thereby publishing the configured GPIO state interfaces if set, else the one present in the URDF.
+
+.. note::
+
+  When no state interface is provided in the param file, the controller will try to use state_interfaces from ros2_control's config placed in the URDF for configured gpio interfaces.
+  However, command interfaces will not be configured based on the available URDF setup.
+
+.. code-block:: yaml
+
+    gpio_command_controller:
+      ros__parameters:
+        type: gpio_controllers/GpioCommandController
+        gpios:
+          - Gpio1
+          - Gpio2
+        command_interfaces:
+          Gpio1:
+            - interfaces:
+              - dig.1
+              - dig.2
+              - dig.3
+          Gpio2:
+            - interfaces:
+              - ana.1
+              - ana.2
+        state_interfaces:
+          Gpio2:
+            - interfaces:
+              - ana.1
+              - ana.2
+
+With the above-defined controller configuration, the controller will accept commands for all gpios' interfaces and will only publish the state of Gpio2.

gpio_controllers/gpio_controllers_plugin.xml

@@ -0,0 +1,7 @@
+<library path="gpio_controllers">
+  <class name="gpio_controllers/GpioCommandController" type="gpio_controllers::GpioCommandController" base_class_type="controller_interface::ControllerInterface">
+  <description>
+    The gpio command controller commands a group of gpios using multiple interfaces.
+  </description>
+  </class>
+</library>