Merge branch 'master' into jtc/dynamic_parameters

ros-controls · Sep 25, 2023 · aea166f · aea166f
2 parents 1e94b12 + 79c6d1c
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diff --git a/.github/workflows/ci-coverage-build.yml b/.github/workflows/ci-coverage-build.yml
@@ -42,7 +42,7 @@ jobs:
           file: ros_ws/lcov/total_coverage.info
           flags: unittests
           name: codecov-umbrella
-      - uses: actions/[email protected].2
+      - uses: actions/[email protected].3
         with:
           name: colcon-logs-coverage-rolling
           path: ros_ws/log
diff --git a/.github/workflows/reusable-ros-tooling-source-build.yml b/.github/workflows/reusable-ros-tooling-source-build.yml
@@ -44,7 +44,7 @@ jobs:
             https://raw.githubusercontent.com/ros2/ros2/${{ inputs.ros2_repo_branch }}/ros2.repos
             https://raw.githubusercontent.com/${{ github.repository }}/${{ github.sha }}/ros2_controllers.${{ inputs.ros_distro }}.repos?token=${{ secrets.GITHUB_TOKEN }}
           colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
-      - uses: actions/[email protected].2
+      - uses: actions/[email protected].3
         with:
           name: colcon-logs-ubuntu-22.04
           path: ros_ws/log
diff --git a/ackermann_steering_controller/CHANGELOG.rst b/ackermann_steering_controller/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package ackermann_steering_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.16.0 (2023-09-20)
+-------------------
+
 3.15.0 (2023-09-11)
 -------------------
 

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>3.15.0</version>
+  <version>3.16.0</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>

diff --git a/admittance_controller/CHANGELOG.rst b/admittance_controller/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package admittance_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.16.0 (2023-09-20)
+-------------------
+
 3.15.0 (2023-09-11)
 -------------------
 * Update docs for diff drive controller (`#751 <https://github.com/ros-controls/ros2_controllers/issues/751>`_)

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>3.15.0</version>
+  <version>3.16.0</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>

diff --git a/bicycle_steering_controller/CHANGELOG.rst b/bicycle_steering_controller/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package bicycle_steering_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.16.0 (2023-09-20)
+-------------------
+
 3.15.0 (2023-09-11)
 -------------------
 

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>3.15.0</version>
+  <version>3.16.0</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>

diff --git a/diff_drive_controller/CHANGELOG.rst b/diff_drive_controller/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package diff_drive_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.16.0 (2023-09-20)
+-------------------
+
 3.15.0 (2023-09-11)
 -------------------
 * Update docs for diff drive controller (`#751 <https://github.com/ros-controls/ros2_controllers/issues/751>`_)

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>3.15.0</version>
+  <version>3.16.0</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 +2,11 @@
 Changelog for package effort_controllers
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+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>`_)
+* Contributors: Christoph Fröhlich
+
 3.15.0 (2023-09-11)
 -------------------
 

diff --git a/effort_controllers/doc/userdoc.rst b/effort_controllers/doc/userdoc.rst
@@ -7,7 +7,41 @@ effort_controllers
 
 This is a collection of controllers that work using the "effort" joint command interface but may accept different joint-level commands at the controller level, e.g. controlling the effort on a certain joint to achieve a set position.
 
-Hardware interface type
------------------------
+The package contains the following controllers:
 
-These controllers work with joints using the "effort" command interface.
+effort_controllers/JointGroupEffortController
+-------------------------------------------------
+
+This is specialization of the :ref:`forward_command_controller <forward_command_controller_userdoc>` that works using the "effort" joint interface.
+
+
+ROS 2 interface of the controller
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+Topics
+,,,,,,,,,,,,,,,,,,
+
+~/commands (input topic) [std_msgs::msg::Float64MultiArray]
+  Joints' effort commands
+
+
+Parameters
+,,,,,,,,,,,,,,,,,,
+This controller overrides the interface parameter from :ref:`forward_command_controller <forward_command_controller_userdoc>`, and the
+``joints`` parameter is the only one that is required.
+
+An example parameter file is given here
+
+.. code-block:: yaml
+
+  controller_manager:
+    ros__parameters:
+      update_rate: 100  # Hz
+
+      effort_controller:
+        type: effort_controllers/JointGroupEffortController
+
+  effort_controller:
+    ros__parameters:
+      joints:
+        - slider_to_cart
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>3.15.0</version>
+  <version>3.16.0</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
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.16.0 (2023-09-20)
+-------------------
+
 3.15.0 (2023-09-11)
 -------------------
 * [ForceTorqueSensorBroadcaster] Create ParamListener and get parameters on configure (`#698 <https://github.com/ros-controls/ros2_controllers/issues/698>`_)

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>3.15.0</version>
+  <version>3.16.0</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>

diff --git a/forward_command_controller/CHANGELOG.rst b/forward_command_controller/CHANGELOG.rst
@@ -2,6 +2,11 @@
 Changelog for package forward_command_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+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>`_)
+* Contributors: Christoph Fröhlich
+
 3.15.0 (2023-09-11)
 -------------------
 

diff --git a/forward_command_controller/doc/userdoc.rst b/forward_command_controller/doc/userdoc.rst
@@ -16,8 +16,18 @@ Hardware interface type
 
 This controller can be used for every type of command interface.
 
+
+ROS 2 interface of the controller
+---------------------------------
+
+Topics
+^^^^^^^
+
+~/commands (input topic) [std_msgs::msg::Float64MultiArray]
+  Target joint commands
+
 Parameters
-------------
+^^^^^^^^^^^^^^
 
 This controller uses the `generate_parameter_library <https://github.com/PickNikRobotics/generate_parameter_library>`_ to handle its parameters.
 

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>3.15.0</version>
+  <version>3.16.0</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
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.16.0 (2023-09-20)
+-------------------
+
 3.15.0 (2023-09-11)
 -------------------
 * Add test for effort gripper controller (`#769 <https://github.com/ros-controls/ros2_controllers/issues/769>`_)

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>3.15.0</version>
+  <version>3.16.0</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
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.16.0 (2023-09-20)
+-------------------
+
 3.15.0 (2023-09-11)
 -------------------
 

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>3.15.0</version>
+  <version>3.16.0</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
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.16.0 (2023-09-20)
+-------------------
+
 3.15.0 (2023-09-11)
 -------------------
 

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>3.15.0</version>
+  <version>3.16.0</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 +2,15 @@
 Changelog for package joint_trajectory_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.16.0 (2023-09-20)
+-------------------
+* [Docs] Improve interface description of JTC (`#770 <https://github.com/ros-controls/ros2_controllers/issues/770>`_)
+* [JTC] Add time-out for trajectory interfaces (`#609 <https://github.com/ros-controls/ros2_controllers/issues/609>`_)
+* [JTC] Rename parameter: normalize_error to angle_wraparound (`#772 <https://github.com/ros-controls/ros2_controllers/issues/772>`_)
+* [JTC] Fix hold position mode with goal_time>0 (`#758 <https://github.com/ros-controls/ros2_controllers/issues/758>`_)
+* [JTC] Add note on goal_time=0 in docs (`#773 <https://github.com/ros-controls/ros2_controllers/issues/773>`_)
+* Contributors: Christoph Fröhlich
+
 3.15.0 (2023-09-11)
 -------------------
 * [JTC] Make most parameters read-only (`#771 <https://github.com/ros-controls/ros2_controllers/issues/771>`_)

diff --git a/joint_trajectory_controller/doc/parameters.rst b/joint_trajectory_controller/doc/parameters.rst
@@ -68,6 +68,16 @@ allow_nonzero_velocity_at_trajectory_end (boolean)
 
   Default: true
 
+cmd_timeout (double)
+  Timeout after which the input command is considered stale.
+  Timeout is counted from the end of the trajectory (the last point).
+  ``cmd_timeout`` must be greater than ``constraints.goal_time``,
+  otherwise ignored.
+
+  If zero, timeout is deactivated"
+
+  Default: 0.0
+
 constraints (structure)
   Default values for tolerances if no explicit values are states in JointTrajectory message.
 
@@ -102,7 +112,7 @@ gains (structure)
 
      u = k_{ff} v_d + k_p e + k_i \sum e dt + k_d (v_d - v)
 
-  with the desired velocity :math:`v_d`, the measured velocity :math:`v`, the position error :math:`e` (definition see below),
+  with the desired velocity :math:`v_d`, the measured velocity :math:`v`, the position error :math:`e` (definition see ``angle_wraparound`` below),
   the controller period :math:`dt`, and the ``velocity`` or ``effort`` manipulated variable (control variable) :math:`u`, respectively.
 
 gains.<joint_name>.p (double)
@@ -130,10 +140,12 @@ gains.<joint_name>.ff_velocity_scale (double)
 
   Default: 0.0
 
-gains.<joint_name>.normalize_error (bool)
+gains.<joint_name>.angle_wraparound (bool)
+  For joints that wrap around (without end stop, ie. are continuous),
+  where the shortest rotation to the target position is the desired motion.
   If true, the position error :math:`e = normalize(s_d - s)` is normalized between :math:`-\pi, \pi`.
   Otherwise  :math:`e = s_d - s` is used, with the desired position :math:`s_d` and the measured
-  position :math:`s` from the state interface. Use this for revolute joints without end stop,
-  where the shortest rotation to the target position is the desired motion.
+  position :math:`s` from the state interface.
+
 
   Default: false
diff --git a/joint_trajectory_controller/doc/userdoc.rst b/joint_trajectory_controller/doc/userdoc.rst
@@ -14,16 +14,24 @@ Waypoints consist of positions, and optionally velocities and accelerations.
 
 *Parts of this documentation were originally published in the ROS 1 wiki under the* `CC BY 3.0 license <https://creativecommons.org/licenses/by/3.0/>`_. *Citations are given in the respective section, but were adapted for the ROS 2 implementation.* [#f1]_
 
-Hardware interface type [#f1]_
+Hardware interface types
 -------------------------------
 
-Currently joints with position, velocity, acceleration, and effort interfaces are supported. The joints can have one or more command interfaces, where the following control laws are applied at the same time:
+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:
+
+* ``position``
+* ``position``, ``velocity``
+* ``position``, ``velocity``, ``acceleration``
+* ``velocity``
+* ``effort``
+
+This means that the joints can have one or more command interfaces, where the following control laws are applied at the same time:
 
 * For command interfaces ``position``, the desired positions are simply forwarded to the joints,
 * For command interfaces ``acceleration``, desired accelerations are simply forwarded to the joints.
-* For ``velocity`` (``effort``) command interfaces, the position+velocity trajectory following error is mapped to ``velocity`` (``effort``) commands through a PID loop (:ref:`parameters`).
+* For ``velocity`` (``effort``) command interfaces, the position+velocity trajectory following error is mapped to ``velocity`` (``effort``) commands through a PID loop if it is configured (:ref:`parameters`).
 
-This leads to the the following allowed combinations of command and state interfaces:
+This leads to the following allowed combinations of command and state interfaces:
 
 * With command interface ``position``, there are no restrictions for state interfaces.
 * With command interface ``velocity``:
@@ -32,12 +40,9 @@ This leads to the the following allowed combinations of command and state interf
   * no restrictions otherwise.
 
 * With command interface ``effort``, state interfaces must include  ``position, velocity``.
-* With command interface ``acceleration``, there are no restrictions for state interfaces.
 
 Example controller configurations can be found :ref:`below <ROS 2 interface>`.
 
-Similarly to the trajectory representation case above, it's possible to support new hardware interfaces, or alternative mappings to an already supported interface (eg. a proxy controller for generating effort commands).
-
 Other features
 --------------
 
@@ -118,14 +123,8 @@ States
 ,,,,,,,,,,,,,,,,,,
 
 The state interfaces are defined with ``joints`` and ``state_interfaces`` parameters as follows: ``<joint>/<state_interface>``.
-Supported state interfaces are ``position``, ``velocity``, ``acceleration`` and ``effort`` as defined in the `hardware_interface/hardware_interface_type_values.hpp <https://github.com/ros-controls/ros2_control/blob/{REPOS_FILE_BRANCH}/hardware_interface/include/hardware_interface/types/hardware_interface_type_values.hpp>`_.
-
-Legal combinations of state interfaces are:
 
-* ``position``
-* ``position`` and ``velocity``
-* ``position``, ``velocity`` and ``acceleration``
-* ``effort``
+Legal combinations of state interfaces are given in section `Hardware Interface Types`_.
 
 Commands
 ,,,,,,,,,