Merge branch 'master' into jtc/fix_state_offset_tests

ros-controls · Nov 1, 2023 · ae5bdbd · ae5bdbd
2 parents 85b23a7 + 6e46053
commit ae5bdbd
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diff --git a/.github/workflows/ci-coverage-build.yml b/.github/workflows/ci-coverage-build.yml
@@ -23,13 +23,29 @@ jobs:
         with:
           required-ros-distributions: ${{ env.ROS_DISTRO }}
       - uses: actions/checkout@v4
-      - uses: ros-tooling/[email protected].3
+      - uses: ros-tooling/[email protected].4
         with:
           target-ros2-distro: ${{ env.ROS_DISTRO }}
           import-token: ${{ secrets.GITHUB_TOKEN }}
-          # build all packages listed in the meta package
+          # 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
+            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-not-released.${{ env.ROS_DISTRO }}.repos?token=${{ secrets.GITHUB_TOKEN }}

diff --git a/.github/workflows/reusable-ros-tooling-source-build.yml b/.github/workflows/reusable-ros-tooling-source-build.yml
@@ -32,7 +32,7 @@ jobs:
       - uses: actions/checkout@v4
         with:
           ref: ${{ inputs.ref }}
-      - uses: ros-tooling/[email protected].3
+      - uses: ros-tooling/[email protected].4
         with:
           target-ros2-distro: ${{ inputs.ros_distro }}
           ref: ${{ inputs.ref }}

diff --git a/ackermann_steering_controller/CHANGELOG.rst b/ackermann_steering_controller/CHANGELOG.rst
@@ -2,6 +2,11 @@
 Changelog for package ackermann_steering_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.17.0 (2023-10-31)
+-------------------
+* Improve docs (`#785 <https://github.com/ros-controls/ros2_controllers/issues/785>`_)
+* Contributors: Christoph Fröhlich
+
 3.16.0 (2023-09-20)
 -------------------
 

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>3.16.0</version>
+  <version>3.17.0</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 +2,9 @@
 Changelog for package admittance_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.17.0 (2023-10-31)
+-------------------
+
 3.16.0 (2023-09-20)
 -------------------
 

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>3.16.0</version>
+  <version>3.17.0</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 +2,11 @@
 Changelog for package bicycle_steering_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.17.0 (2023-10-31)
+-------------------
+* Improve docs (`#785 <https://github.com/ros-controls/ros2_controllers/issues/785>`_)
+* Contributors: Christoph Fröhlich
+
 3.16.0 (2023-09-20)
 -------------------
 

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>3.16.0</version>
+  <version>3.17.0</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/codecov.yml b/codecov.yml
@@ -9,6 +9,8 @@ coverage:
     patch: off
 fixes:
   - "ros_ws/src/ros2_controllers/::"
+ignore:
+  - "**/test"
 comment:
   layout: "diff, flags, files"
   behavior: default
diff --git a/diff_drive_controller/CHANGELOG.rst b/diff_drive_controller/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package diff_drive_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.17.0 (2023-10-31)
+-------------------
+
 3.16.0 (2023-09-20)
 -------------------
 

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>3.16.0</version>
+  <version>3.17.0</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
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.17.0 (2023-10-31)
+-------------------
+
 3.16.0 (2023-09-20)
 -------------------
 * [Doc] Add specific documentation on the available fw cmd controllers (`#765 <https://github.com/ros-controls/ros2_controllers/issues/765>`_)

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>3.16.0</version>
+  <version>3.17.0</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
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.17.0 (2023-10-31)
+-------------------
+
 3.16.0 (2023-09-20)
 -------------------
 

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>3.16.0</version>
+  <version>3.17.0</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
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.17.0 (2023-10-31)
+-------------------
+
 3.16.0 (2023-09-20)
 -------------------
 * [Doc] Add specific documentation on the available fw cmd controllers (`#765 <https://github.com/ros-controls/ros2_controllers/issues/765>`_)

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>3.16.0</version>
+  <version>3.17.0</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
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.17.0 (2023-10-31)
+-------------------
+
 3.16.0 (2023-09-20)
 -------------------
 

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>3.16.0</version>
+  <version>3.17.0</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
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.17.0 (2023-10-31)
+-------------------
+
 3.16.0 (2023-09-20)
 -------------------
 

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>3.16.0</version>
+  <version>3.17.0</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
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.17.0 (2023-10-31)
+-------------------
+
 3.16.0 (2023-09-20)
 -------------------
 

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>3.16.0</version>
+  <version>3.17.0</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 +2,13 @@
 Changelog for package joint_trajectory_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.17.0 (2023-10-31)
+-------------------
+* Cleanup comments and unnecessary checks (`#803 <https://github.com/ros-controls/ros2_controllers/issues/803>`_)
+* Update requirements of state interfaces (`#798 <https://github.com/ros-controls/ros2_controllers/issues/798>`_)
+* [JTC] Add tests for acceleration command interface (`#752 <https://github.com/ros-controls/ros2_controllers/issues/752>`_)
+* Contributors: Christoph Fröhlich
+
 3.16.0 (2023-09-20)
 -------------------
 * [Docs] Improve interface description of JTC (`#770 <https://github.com/ros-controls/ros2_controllers/issues/770>`_)

diff --git a/joint_trajectory_controller/doc/userdoc.rst b/joint_trajectory_controller/doc/userdoc.rst
@@ -17,7 +17,7 @@ Waypoints consist of positions, and optionally velocities and accelerations.
 Hardware interface types
 -------------------------------
 
-Currently, joints with hardware interface types ``position``, ``velocity``, ``acceleration``, and ``effort`` (defined `here <https://github.com/ros-controls/ros2_control/blob/{REPOS_FILE_BRANCH}/hardware_interface/include/hardware_interface/types/hardware_interface_type_values.hpp>`_) are supported in the following combinations:
+Currently, joints with hardware interface types ``position``, ``velocity``, ``acceleration``, and ``effort`` (defined `here <https://github.com/ros-controls/ros2_control/blob/{REPOS_FILE_BRANCH}/hardware_interface/include/hardware_interface/types/hardware_interface_type_values.hpp>`_) are supported in the following combinations as command interfaces:
 
 * ``position``
 * ``position``, ``velocity``
@@ -37,10 +37,16 @@ This leads to the following allowed combinations of command and state interfaces
 * With command interface ``velocity``:
 
   * if command interface ``velocity`` is the only one, state interfaces must include  ``position, velocity`` .
-  * no restrictions otherwise.
 
 * With command interface ``effort``, state interfaces must include  ``position, velocity``.
 
+* With command interface ``acceleration``, state interfaces must include  ``position, velocity``.
+
+Further restrictions of state interfaces exist:
+
+* ``velocity`` state interface cannot be used if ``position`` interface  is missing.
+* ``acceleration`` state interface cannot be used if ``position`` and ``velocity`` interfaces are not present."
+
 Example controller configurations can be found :ref:`below <ROS 2 interface>`.
 
 Other features

diff --git a/...trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller.hpp b/...trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller.hpp
@@ -71,15 +71,13 @@ class JointTrajectoryController : public controller_interface::ControllerInterfa
   JointTrajectoryController();
 
   /**
-   * @brief command_interface_configuration This controller requires the position command
-   * interfaces for the controlled joints
+   * @brief command_interface_configuration
    */
   JOINT_TRAJECTORY_CONTROLLER_PUBLIC
   controller_interface::InterfaceConfiguration command_interface_configuration() const override;
 
   /**
-   * @brief command_interface_configuration This controller requires the position and velocity
-   * state interfaces for the controlled joints
+   * @brief command_interface_configuration
    */
   JOINT_TRAJECTORY_CONTROLLER_PUBLIC
   controller_interface::InterfaceConfiguration state_interface_configuration() const override;

diff --git a/joint_trajectory_controller/include/joint_trajectory_controller/validate_jtc_parameters.hpp b/joint_trajectory_controller/include/joint_trajectory_controller/validate_jtc_parameters.hpp
@@ -41,7 +41,7 @@ tl::expected<void, std::string> command_interface_type_combinations(
   {
     return tl::make_unexpected(
       "'velocity' command interface can be used either alone or 'position' "
-      "interface has to be present");
+      "command interface has to be present");
   }
 
   if (
@@ -51,7 +51,7 @@ tl::expected<void, std::string> command_interface_type_combinations(
   {
     return tl::make_unexpected(
       "'acceleration' command interface can only be used if 'velocity' and "
-      "'position' interfaces are present");
+      "'position' command interfaces are present");
   }
 
   if (

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>3.16.0</version>
+  <version>3.17.0</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]">Jordan Palacios</maintainer>

diff --git a/joint_trajectory_controller/src/joint_trajectory_controller.cpp b/joint_trajectory_controller/src/joint_trajectory_controller.cpp
@@ -652,17 +652,7 @@ controller_interface::CallbackReturn JointTrajectoryController::on_configure(
   // get parameters from the listener in case they were updated
   params_ = param_listener_->get_params();
 
-  // Check if the DoF has changed
-  if ((dof_ > 0) && (params_.joints.size() != dof_))
-  {
-    RCLCPP_ERROR(
-      logger,
-      "The JointTrajectoryController does not support restarting with a different number of DOF");
-    // TODO(andyz): update vector lengths if num. joints did change and re-initialize them so we
-    // can continue
-    return CallbackReturn::FAILURE;
-  }
-
+  // get degrees of freedom
   dof_ = params_.joints.size();
 
   // TODO(destogl): why is this here? Add comment or move
@@ -692,12 +682,6 @@ controller_interface::CallbackReturn JointTrajectoryController::on_configure(
     return CallbackReturn::FAILURE;
   }
 
-  //  // Specialized, child controllers set interfaces before calling configure function.
-  //  if (command_interface_types_.empty())
-  //  {
-  //   command_interface_types_ = get_node()->get_parameter("command_interfaces").as_string_array();
-  //  }
-
   if (params_.command_interfaces.empty())
   {
     RCLCPP_ERROR(logger, "'command_interfaces' parameter is empty.");

diff --git a/position_controllers/CHANGELOG.rst b/position_controllers/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package position_controllers
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.17.0 (2023-10-31)
+-------------------
+
 3.16.0 (2023-09-20)
 -------------------
 * [Doc] Add specific documentation on the available fw cmd controllers (`#765 <https://github.com/ros-controls/ros2_controllers/issues/765>`_)

diff --git a/position_controllers/package.xml b/position_controllers/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>position_controllers</name>
-  <version>3.16.0</version>
+  <version>3.17.0</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/range_sensor_broadcaster/CHANGELOG.rst b/range_sensor_broadcaster/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package range_sensor_broadcaster
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.17.0 (2023-10-31)
+-------------------
+
 3.16.0 (2023-09-20)
 -------------------
 

diff --git a/range_sensor_broadcaster/package.xml b/range_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>range_sensor_broadcaster</name>
-  <version>3.16.0</version>
+  <version>3.17.0</version>
   <description>Controller to publish readings of Range sensors.</description>
   <maintainer email="[email protected]">Bence Magyar</maintainer>
   <author email="[email protected]">Florent Chretien</author>