Merge branch 'master' into scaled_jtc

ros-controls · Aug 8, 2024 · 9658347 · 9658347
2 parents 09bea48 + fa301f4
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diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
@@ -37,7 +37,7 @@ repos:
 
   # Python hooks
   - repo: https://github.com/asottile/pyupgrade
-    rev: v3.16.0
+    rev: v3.17.0
     hooks:
     -   id: pyupgrade
         args: [--py36-plus]
@@ -133,7 +133,7 @@ repos:
         exclude: CHANGELOG\.rst|\.(svg|pyc|drawio)$
 
   - repo: https://github.com/python-jsonschema/check-jsonschema
-    rev: 0.28.6
+    rev: 0.29.1
     hooks:
       - id: check-github-workflows
         args: ["--verbose"]

diff --git a/ackermann_steering_controller/CHANGELOG.rst b/ackermann_steering_controller/CHANGELOG.rst
@@ -2,6 +2,15 @@
 Changelog for package ackermann_steering_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.12.0 (2024-07-23)
+-------------------
+* Add missing includes (`#1226 <https://github.com/ros-controls/ros2_controllers/issues/1226>`_)
+* Change the subscription timeout in the tests to 5ms (`#1219 <https://github.com/ros-controls/ros2_controllers/issues/1219>`_)
+* Unused header cleanup (`#1199 <https://github.com/ros-controls/ros2_controllers/issues/1199>`_)
+* Fix WaitSet issue in tests  (`#1206 <https://github.com/ros-controls/ros2_controllers/issues/1206>`_)
+* Fix parallel gripper controller CI (`#1202 <https://github.com/ros-controls/ros2_controllers/issues/1202>`_)
+* Contributors: Christoph Fröhlich, Henry Moore, Sai Kishor Kothakota
+
 4.11.0 (2024-07-09)
 -------------------
 * added changes corresponding to the logger and clock propagation in ResourceManager (`#1184 <https://github.com/ros-controls/ros2_controllers/issues/1184>`_)

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>4.11.0</version>
+  <version>4.12.0</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/admittance_controller/CHANGELOG.rst b/admittance_controller/CHANGELOG.rst
@@ -2,6 +2,14 @@
 Changelog for package admittance_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.12.0 (2024-07-23)
+-------------------
+* Change the subscription timeout in the tests to 5ms (`#1219 <https://github.com/ros-controls/ros2_controllers/issues/1219>`_)
+* Unused header cleanup (`#1199 <https://github.com/ros-controls/ros2_controllers/issues/1199>`_)
+* Fix WaitSet issue in tests  (`#1206 <https://github.com/ros-controls/ros2_controllers/issues/1206>`_)
+* Fix parallel gripper controller CI (`#1202 <https://github.com/ros-controls/ros2_controllers/issues/1202>`_)
+* Contributors: Henry Moore, Sai Kishor Kothakota
+
 4.11.0 (2024-07-09)
 -------------------
 * added changes corresponding to the logger and clock propagation in ResourceManager (`#1184 <https://github.com/ros-controls/ros2_controllers/issues/1184>`_)

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>4.11.0</version>
+  <version>4.12.0</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/admittance_controller/src/admittance_controller.cpp b/admittance_controller/src/admittance_controller.cpp
@@ -476,13 +476,13 @@ void AdmittanceController::read_state_from_hardware(
         state_interfaces_[pos_ind * num_joints_ + joint_ind].get_value();
       nan_position |= std::isnan(state_current.positions[joint_ind]);
     }
-    else if (has_velocity_state_interface_)
+    if (has_velocity_state_interface_)
     {
       state_current.velocities[joint_ind] =
         state_interfaces_[vel_ind * num_joints_ + joint_ind].get_value();
       nan_velocity |= std::isnan(state_current.velocities[joint_ind]);
     }
-    else if (has_acceleration_state_interface_)
+    if (has_acceleration_state_interface_)
     {
       state_current.accelerations[joint_ind] =
         state_interfaces_[acc_ind * num_joints_ + joint_ind].get_value();
@@ -528,15 +528,15 @@ void AdmittanceController::write_state_to_hardware(
       command_interfaces_[pos_ind * num_joints_ + joint_ind].set_value(
         state_commanded.positions[joint_ind]);
     }
-    else if (has_velocity_command_interface_)
+    if (has_velocity_command_interface_)
     {
       command_interfaces_[vel_ind * num_joints_ + joint_ind].set_value(
-        state_commanded.positions[joint_ind]);
+        state_commanded.velocities[joint_ind]);
     }
-    else if (has_acceleration_command_interface_)
+    if (has_acceleration_command_interface_)
     {
       command_interfaces_[acc_ind * num_joints_ + joint_ind].set_value(
-        state_commanded.positions[joint_ind]);
+        state_commanded.accelerations[joint_ind]);
     }
   }
   last_commanded_ = state_commanded;

diff --git a/bicycle_steering_controller/CHANGELOG.rst b/bicycle_steering_controller/CHANGELOG.rst
@@ -2,6 +2,15 @@
 Changelog for package bicycle_steering_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.12.0 (2024-07-23)
+-------------------
+* Add missing includes (`#1226 <https://github.com/ros-controls/ros2_controllers/issues/1226>`_)
+* Change the subscription timeout in the tests to 5ms (`#1219 <https://github.com/ros-controls/ros2_controllers/issues/1219>`_)
+* Unused header cleanup (`#1199 <https://github.com/ros-controls/ros2_controllers/issues/1199>`_)
+* Fix WaitSet issue in tests  (`#1206 <https://github.com/ros-controls/ros2_controllers/issues/1206>`_)
+* Fix parallel gripper controller CI (`#1202 <https://github.com/ros-controls/ros2_controllers/issues/1202>`_)
+* Contributors: Christoph Fröhlich, Henry Moore, Sai Kishor Kothakota
+
 4.11.0 (2024-07-09)
 -------------------
 * added changes corresponding to the logger and clock propagation in ResourceManager (`#1184 <https://github.com/ros-controls/ros2_controllers/issues/1184>`_)

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>4.11.0</version>
+  <version>4.12.0</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/diff_drive_controller/CHANGELOG.rst b/diff_drive_controller/CHANGELOG.rst
@@ -2,6 +2,15 @@
 Changelog for package diff_drive_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.12.0 (2024-07-23)
+-------------------
+* Add missing includes (`#1226 <https://github.com/ros-controls/ros2_controllers/issues/1226>`_)
+* Remove duplicated call to rclcpp::shutdown in test (`#1220 <https://github.com/ros-controls/ros2_controllers/issues/1220>`_)
+* Unused header cleanup (`#1199 <https://github.com/ros-controls/ros2_controllers/issues/1199>`_)
+* Fix WaitSet issue in tests  (`#1206 <https://github.com/ros-controls/ros2_controllers/issues/1206>`_)
+* Fix parallel gripper controller CI (`#1202 <https://github.com/ros-controls/ros2_controllers/issues/1202>`_)
+* Contributors: Christoph Fröhlich, Henry Moore, Noel Jiménez García, Sai Kishor Kothakota
+
 4.11.0 (2024-07-09)
 -------------------
 * added changes corresponding to the logger and clock propagation in ResourceManager (`#1184 <https://github.com/ros-controls/ros2_controllers/issues/1184>`_)

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>4.11.0</version>
+  <version>4.12.0</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/doc/writing_new_controller.rst b/doc/writing_new_controller.rst
@@ -42,7 +42,7 @@ The following is a step-by-step guide to create source files, basic tests, and c
    5. Add a constructor without parameters and the following public methods overriding the ``ControllerInterface`` definition: ``on_init``, ``command_interface_configuration``, ``state_interface_configuration``, ``on_configure``, ``on_activate``, ``on_deactivate``, ``update``.
       For exact definitions check the ``controller_interface/controller_interface.hpp`` header or one of the controllers from `ros2_controllers <https://github.com/ros-controls/ros2_controllers>`_.
 
-   6. (Optional) The NodeOptions of the LifecycleNode can be personalized by overriding the default method ``get_node_options``.
+   6. (Optional) The NodeOptions of the LifecycleNode can be personalized by overriding the default method ``define_custom_node_options``.
 
    7. (Optional) Often, controllers accept lists of joint names and interface names as parameters.
       If so, you can add two protected string vectors to store those values.

diff --git a/effort_controllers/CHANGELOG.rst b/effort_controllers/CHANGELOG.rst
@@ -2,6 +2,13 @@
 Changelog for package effort_controllers
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.12.0 (2024-07-23)
+-------------------
+* Unused header cleanup (`#1199 <https://github.com/ros-controls/ros2_controllers/issues/1199>`_)
+* Fix WaitSet issue in tests  (`#1206 <https://github.com/ros-controls/ros2_controllers/issues/1206>`_)
+* Fix parallel gripper controller CI (`#1202 <https://github.com/ros-controls/ros2_controllers/issues/1202>`_)
+* Contributors: Henry Moore, Sai Kishor Kothakota
+
 4.11.0 (2024-07-09)
 -------------------
 * added changes corresponding to the logger and clock propagation in ResourceManager (`#1184 <https://github.com/ros-controls/ros2_controllers/issues/1184>`_)

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>4.11.0</version>
+  <version>4.12.0</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 +2,15 @@
 Changelog for package force_torque_sensor_broadcaster
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.12.0 (2024-07-23)
+-------------------
+* Add missing includes (`#1226 <https://github.com/ros-controls/ros2_controllers/issues/1226>`_)
+* Change the subscription timeout in the tests to 5ms (`#1219 <https://github.com/ros-controls/ros2_controllers/issues/1219>`_)
+* Unused header cleanup (`#1199 <https://github.com/ros-controls/ros2_controllers/issues/1199>`_)
+* Fix WaitSet issue in tests  (`#1206 <https://github.com/ros-controls/ros2_controllers/issues/1206>`_)
+* Fix parallel gripper controller CI (`#1202 <https://github.com/ros-controls/ros2_controllers/issues/1202>`_)
+* Contributors: Christoph Fröhlich, Henry Moore, Sai Kishor Kothakota
+
 4.11.0 (2024-07-09)
 -------------------
 * added changes corresponding to the logger and clock propagation in ResourceManager (`#1184 <https://github.com/ros-controls/ros2_controllers/issues/1184>`_)

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>4.11.0</version>
+  <version>4.12.0</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 +2,13 @@
 Changelog for package forward_command_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.12.0 (2024-07-23)
+-------------------
+* Unused header cleanup (`#1199 <https://github.com/ros-controls/ros2_controllers/issues/1199>`_)
+* Fix WaitSet issue in tests  (`#1206 <https://github.com/ros-controls/ros2_controllers/issues/1206>`_)
+* Fix parallel gripper controller CI (`#1202 <https://github.com/ros-controls/ros2_controllers/issues/1202>`_)
+* Contributors: Henry Moore, Sai Kishor Kothakota
+
 4.11.0 (2024-07-09)
 -------------------
 * added changes corresponding to the logger and clock propagation in ResourceManager (`#1184 <https://github.com/ros-controls/ros2_controllers/issues/1184>`_)

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>4.11.0</version>
+  <version>4.12.0</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 +2,13 @@
 Changelog for package gripper_controllers
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.12.0 (2024-07-23)
+-------------------
+* Unused header cleanup (`#1199 <https://github.com/ros-controls/ros2_controllers/issues/1199>`_)
+* Fix parallel gripper controller CI (`#1202 <https://github.com/ros-controls/ros2_controllers/issues/1202>`_)
+* Add parallel_gripper_controller, configure gripper speed and effort with hardware interface (`#1002 <https://github.com/ros-controls/ros2_controllers/issues/1002>`_)
+* Contributors: Henry Moore, Paul Gesel, Sai Kishor Kothakota
+
 4.11.0 (2024-07-09)
 -------------------
 * added changes corresponding to the logger and clock propagation in ResourceManager (`#1184 <https://github.com/ros-controls/ros2_controllers/issues/1184>`_)

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>4.11.0</version>
+  <version>4.12.0</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 +2,15 @@
 Changelog for package imu_sensor_broadcaster
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.12.0 (2024-07-23)
+-------------------
+* Add missing includes (`#1226 <https://github.com/ros-controls/ros2_controllers/issues/1226>`_)
+* Change the subscription timeout in the tests to 5ms (`#1219 <https://github.com/ros-controls/ros2_controllers/issues/1219>`_)
+* Unused header cleanup (`#1199 <https://github.com/ros-controls/ros2_controllers/issues/1199>`_)
+* Fix WaitSet issue in tests  (`#1206 <https://github.com/ros-controls/ros2_controllers/issues/1206>`_)
+* Fix parallel gripper controller CI (`#1202 <https://github.com/ros-controls/ros2_controllers/issues/1202>`_)
+* Contributors: Christoph Fröhlich, Henry Moore, Sai Kishor Kothakota
+
 4.11.0 (2024-07-09)
 -------------------
 * added changes corresponding to the logger and clock propagation in ResourceManager (`#1184 <https://github.com/ros-controls/ros2_controllers/issues/1184>`_)

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>4.11.0</version>
+  <version>4.12.0</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 +2,15 @@
 Changelog for package joint_state_broadcaster
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.12.0 (2024-07-23)
+-------------------
+* Add missing includes (`#1226 <https://github.com/ros-controls/ros2_controllers/issues/1226>`_)
+* Change the subscription timeout in the tests to 5ms (`#1219 <https://github.com/ros-controls/ros2_controllers/issues/1219>`_)
+* Unused header cleanup (`#1199 <https://github.com/ros-controls/ros2_controllers/issues/1199>`_)
+* Fix WaitSet issue in tests  (`#1206 <https://github.com/ros-controls/ros2_controllers/issues/1206>`_)
+* Fix parallel gripper controller CI (`#1202 <https://github.com/ros-controls/ros2_controllers/issues/1202>`_)
+* Contributors: Christoph Fröhlich, Henry Moore, Sai Kishor Kothakota
+
 4.11.0 (2024-07-09)
 -------------------
 * added changes corresponding to the logger and clock propagation in ResourceManager (`#1184 <https://github.com/ros-controls/ros2_controllers/issues/1184>`_)

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>4.11.0</version>
+  <version>4.12.0</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 +2,16 @@
 Changelog for package joint_trajectory_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.12.0 (2024-07-23)
+-------------------
+* [JTC] Refactor URDF Model parsing  (`#1227 <https://github.com/ros-controls/ros2_controllers/issues/1227>`_)
+* Use the internal methods instead of using the variables directly (`#1221 <https://github.com/ros-controls/ros2_controllers/issues/1221>`_)
+* Unused header cleanup (`#1199 <https://github.com/ros-controls/ros2_controllers/issues/1199>`_)
+* Fix WaitSet issue in tests  (`#1206 <https://github.com/ros-controls/ros2_controllers/issues/1206>`_)
+* [JTC] Fix test_tolerances_via_actions (`#1209 <https://github.com/ros-controls/ros2_controllers/issues/1209>`_)
+* Fix parallel gripper controller CI (`#1202 <https://github.com/ros-controls/ros2_controllers/issues/1202>`_)
+* Contributors: Christoph Fröhlich, Henry Moore, Sai Kishor Kothakota
+
 4.11.0 (2024-07-09)
 -------------------
 * [JTC] Make goal_time_tolerance overwrite default value only if explicitly set (`#1192 <https://github.com/ros-controls/ros2_controllers/issues/1192>`_)

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>4.11.0</version>
+  <version>4.12.0</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>