Merge branch 'iron' into mergify/bp/iron/pr-957

ros-controls · Feb 18, 2024 · c065a7e · c065a7e
2 parents fc2aaf9 + b1955c6
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diff --git a/.github/workflows/ci-coverage-build-humble.yml b/.github/workflows/ci-coverage-build-humble.yml
@@ -21,7 +21,7 @@ jobs:
         with:
           required-ros-distributions: ${{ env.ROS_DISTRO }}
       - uses: actions/checkout@v4
-      - uses: ros-tooling/[email protected].5
+      - uses: ros-tooling/[email protected].6
         with:
           target-ros2-distro: ${{ env.ROS_DISTRO }}
           import-token: ${{ secrets.GITHUB_TOKEN }}
@@ -54,12 +54,12 @@ jobs:
               }
             }
           colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
-      - uses: codecov/codecov-action@v3.1.4
+      - uses: codecov/codecov-action@v4.0.1
         with:
           file: ros_ws/lcov/total_coverage.info
           flags: unittests
           name: codecov-umbrella
-      - uses: actions/upload-artifact@v4.2.0
+      - uses: actions/upload-artifact@v4.3.1
         with:
           name: colcon-logs-coverage-humble
           path: ros_ws/log
diff --git a/.github/workflows/ci-coverage-build-iron.yml b/.github/workflows/ci-coverage-build-iron.yml
@@ -21,7 +21,7 @@ jobs:
         with:
           required-ros-distributions: ${{ env.ROS_DISTRO }}
       - uses: actions/checkout@v4
-      - uses: ros-tooling/[email protected].5
+      - uses: ros-tooling/[email protected].6
         with:
           target-ros2-distro: ${{ env.ROS_DISTRO }}
           import-token: ${{ secrets.GITHUB_TOKEN }}
@@ -54,12 +54,12 @@ jobs:
               }
             }
           colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
-      - uses: codecov/codecov-action@v3.1.4
+      - uses: codecov/codecov-action@v4.0.1
         with:
           file: ros_ws/lcov/total_coverage.info
           flags: unittests
           name: codecov-umbrella
-      - uses: actions/upload-artifact@v4.2.0
+      - uses: actions/upload-artifact@v4.3.1
         with:
           name: colcon-logs-coverage-iron
           path: ros_ws/log
diff --git a/.github/workflows/ci-coverage-build.yml b/.github/workflows/ci-coverage-build.yml
@@ -21,7 +21,7 @@ jobs:
         with:
           required-ros-distributions: ${{ env.ROS_DISTRO }}
       - uses: actions/checkout@v4
-      - uses: ros-tooling/[email protected].5
+      - uses: ros-tooling/[email protected].6
         with:
           target-ros2-distro: ${{ env.ROS_DISTRO }}
           import-token: ${{ secrets.GITHUB_TOKEN }}
@@ -54,12 +54,12 @@ jobs:
               }
             }
           colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
-      - uses: codecov/codecov-action@v3.1.4
+      - uses: codecov/codecov-action@v4.0.1
         with:
           file: ros_ws/lcov/total_coverage.info
           flags: unittests
           name: codecov-umbrella
-      - uses: actions/upload-artifact@v4.2.0
+      - uses: actions/upload-artifact@v4.3.1
         with:
           name: colcon-logs-coverage-rolling
           path: ros_ws/log
diff --git a/.github/workflows/ci-format.yml b/.github/workflows/ci-format.yml
@@ -17,6 +17,6 @@ jobs:
         python-version: '3.10'
     - name: Install system hooks
       run: sudo apt install -qq clang-format-14 cppcheck
-    - uses: pre-commit/[email protected].0
+    - uses: pre-commit/[email protected].1
       with:
         extra_args: --all-files --hook-stage manual
diff --git a/.github/workflows/humble-debian-build.yml b/.github/workflows/humble-debian-build.yml
@@ -0,0 +1,30 @@
+name: Debian Humble Build
+on:
+  workflow_dispatch:
+  pull_request:
+    branches:
+      - humble
+  schedule:
+    # Run every day to detect flakiness and broken dependencies
+    - cron: '03 1 * * *'
+
+
+jobs:
+  humble_debian:
+    name: Humble debian build
+    runs-on: ubuntu-latest
+    env:
+      ROS_DISTRO: humble
+    container: ghcr.io/ros-controls/ros:humble-debian
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          path: src/ros2_controllers
+      - name: Build and test
+        shell: bash
+        run: |
+          source /opt/ros2_ws/install/setup.bash
+          vcs import src < src/ros2_controllers/ros2_controllers.${{ env.ROS_DISTRO }}.repos
+          colcon build --packages-skip rqt_controller_manager rqt_joint_trajectory_controller
+          colcon test --packages-skip rqt_controller_manager rqt_joint_trajectory_controller control_msgs controller_manager_msgs
+          colcon test-result --verbose
diff --git a/.github/workflows/humble-rhel-binary-build.yml b/.github/workflows/humble-rhel-binary-build.yml
@@ -0,0 +1,31 @@
+name: RHEL Humble Binary Build
+on:
+  workflow_dispatch:
+  pull_request:
+    branches:
+      - humble
+  schedule:
+    # Run every day to detect flakiness and broken dependencies
+    - cron: '03 1 * * *'
+
+jobs:
+  humble_rhel_binary:
+    name: Humble RHEL binary build
+    runs-on: ubuntu-latest
+    env:
+      ROS_DISTRO: humble
+    container: ghcr.io/ros-controls/ros:humble-rhel
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          path: src/ros2_controllers
+      - name: Install dependencies
+        run: |
+          rosdep update
+          rosdep install -iyr --from-path src/ros2_controllers || true
+      - name: Build and test
+        run: |
+          source /opt/ros/${{ env.ROS_DISTRO }}/setup.bash
+          colcon build --packages-skip rqt_joint_trajectory_controller
+          colcon test --packages-skip rqt_joint_trajectory_controller
+          colcon test-result --verbose
diff --git a/.github/workflows/iron-debian-build.yml b/.github/workflows/iron-debian-build.yml
@@ -0,0 +1,30 @@
+name: Debian Iron Build
+on:
+  workflow_dispatch:
+  pull_request:
+    branches:
+      - iron
+  schedule:
+    # Run every day to detect flakiness and broken dependencies
+    - cron: '03 1 * * *'
+
+
+jobs:
+  iron_debian:
+    name: Iron debian build
+    runs-on: ubuntu-latest
+    env:
+      ROS_DISTRO: iron
+    container: ghcr.io/ros-controls/ros:iron-debian
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          path: src/ros2_controllers
+      - name: Build and test
+        shell: bash
+        run: |
+          source /opt/ros2_ws/install/setup.bash
+          vcs import src < src/ros2_controllers/ros2_controllers.${{ env.ROS_DISTRO }}.repos
+          colcon build --packages-skip rqt_controller_manager rqt_joint_trajectory_controller
+          colcon test --packages-skip rqt_controller_manager rqt_joint_trajectory_controller control_msgs controller_manager_msgs
+          colcon test-result --verbose
diff --git a/.github/workflows/iron-rhel-binary-build.yml b/.github/workflows/iron-rhel-binary-build.yml
@@ -1,7 +1,7 @@
-name: Iron RHEL Binary Build
+name: RHEL Iron Binary Build
 on:
   workflow_dispatch:
-  push:
+  pull_request:
     branches:
       - iron
   schedule:
@@ -20,9 +20,15 @@ jobs:
       - uses: actions/checkout@v4
         with:
           path: src/ros2_controllers
-      - run: |
+      - name: Install dependencies
+        run: |
           rosdep update
-          rosdep install -iy --from-path src/ros2_controllers
+          rosdep install -iyr --from-path src/ros2_controllers || true
+      - name: Build and test
+      # source also underlay workspace with generate_parameter_library on rhel9
+        run: |
           source /opt/ros/${{ env.ROS_DISTRO }}/setup.bash
-          colcon build
-          colcon test
+          source /opt/ros2_ws/install/setup.bash
+          colcon build --packages-skip rqt_joint_trajectory_controller
+          colcon test --packages-skip rqt_joint_trajectory_controller
+          colcon test-result --verbose
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].5
+      - uses: ros-tooling/[email protected].6
         with:
           target-ros2-distro: ${{ inputs.ros_distro }}
           ref: ${{ inputs.ref }}
@@ -63,7 +63,7 @@ jobs:
             https://raw.githubusercontent.com/ros2/ros2/${{ 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/upload-artifact@v4.2.0
+      - uses: actions/upload-artifact@v4.3.1
         with:
           name: colcon-logs-ubuntu-22.04
           path: ros_ws/log
diff --git a/.github/workflows/rolling-debian-build.yml b/.github/workflows/rolling-debian-build.yml
@@ -0,0 +1,30 @@
+name: Debian Rolling Build
+on:
+  workflow_dispatch:
+  pull_request:
+    branches:
+      - master
+  schedule:
+    # Run every day to detect flakiness and broken dependencies
+    - cron: '03 1 * * *'
+
+
+jobs:
+  rolling_debian:
+    name: Rolling debian build
+    runs-on: ubuntu-latest
+    env:
+      ROS_DISTRO: rolling
+    container: ghcr.io/ros-controls/ros:rolling-debian
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          path: src/ros2_controllers
+      - name: Build and test
+        shell: bash
+        run: |
+          source /opt/ros2_ws/install/setup.bash
+          vcs import src < src/ros2_controllers/ros2_controllers.${{ env.ROS_DISTRO }}.repos
+          colcon build --packages-skip rqt_controller_manager rqt_joint_trajectory_controller
+          colcon test --packages-skip rqt_controller_manager rqt_joint_trajectory_controller
+          colcon test-result --verbose
diff --git a/.github/workflows/rolling-rhel-binary-build.yml b/.github/workflows/rolling-rhel-binary-build.yml
@@ -1,7 +1,7 @@
-name: Rolling RHEL Binary Build
+name: RHEL Rolling Binary Build
 on:
   workflow_dispatch:
-  push:
+  pull_request:
     branches:
       - master
   schedule:
@@ -20,9 +20,15 @@ jobs:
       - uses: actions/checkout@v4
         with:
           path: src/ros2_controllers
-      - run: |
+      - name: Install dependencies
+        run: |
           rosdep update
-          rosdep install -iy --from-path src/ros2_controllers
+          rosdep install -iyr --from-path src/ros2_controllers || true
+      - name: Build and test
+        # source also underlay workspace with generate_parameter_library on rhel9
+        run: |
           source /opt/ros/${{ env.ROS_DISTRO }}/setup.bash
-          colcon build
-          colcon test
+          source /opt/ros2_ws/install/setup.bash
+          colcon build --packages-skip rqt_joint_trajectory_controller
+          colcon test --packages-skip rqt_joint_trajectory_controller
+          colcon test-result --verbose
diff --git a/README.md b/README.md
@@ -9,9 +9,9 @@ Commonly used and generalized controllers for ros2-control framework that are re
 
 ROS2 Distro | Branch | Build status | Documentation | Released packages
 :---------: | :----: | :----------: | :-----------: | :---------------:
-**Rolling** | [`rolling`](https://github.com/ros-controls/ros2_controllers/tree/rolling) | [![Rolling Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/rolling-binary-build-main.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_controllers/actions/workflows/rolling-binary-build-main.yml?branch=master) <br /> [![Rolling Semi-Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/rolling-semi-binary-build-main.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_controllers/actions/workflows/rolling-semi-binary-build-main.yml?branch=master) |  | [ros2_controllers](https://index.ros.org/p/ros2_controllers/#rolling)
-**Iron** | [`iron`](https://github.com/ros-controls/ros2_controllers/tree/iron) | [![Iron Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/iron-binary-build-main.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_controllers/actions/workflows/iron-binary-build-main.yml?branch=master) <br /> [![Iron Semi-Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/iron-semi-binary-build-main.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_controllers/actions/workflows/iron-semi-binary-build-main.yml?branch=master) |  | [ros2_controllers](https://index.ros.org/p/ros2_controllers/#iron)
-**Humble** | [`humble`](https://github.com/ros-controls/ros2_controllers/tree/humble) | [![Humble Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/humble-binary-build-main.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_controllers/actions/workflows/humble-binary-build-main.yml?branch=master) <br /> [![Humble Semi-Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/humble-semi-binary-build-main.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_controllers/actions/workflows/humble-semi-binary-build-main.yml?branch=master) |  | [ros2_controllers](https://index.ros.org/p/ros2_controllers/#humble)
+**Rolling** | [`rolling`](https://github.com/ros-controls/ros2_controllers/tree/rolling) | [![Rolling Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/rolling-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_controllers/actions/workflows/rolling-binary-build.yml?branch=master) <br /> [![Rolling Semi-Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/rolling-semi-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_controllers/actions/workflows/rolling-semi-binary-build.yml?branch=master) | [control.ros.org](https://control.ros.org/master/doc/ros2_controllers/doc/controllers_index.html) | [ros2_controllers](https://index.ros.org/p/ros2_controllers/#rolling)
+**Iron** | [`iron`](https://github.com/ros-controls/ros2_controllers/tree/iron) | [![Iron Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/iron-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_controllers/actions/workflows/iron-binary-build.yml?branch=master) <br /> [![Iron Semi-Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/iron-semi-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_controllers/actions/workflows/iron-semi-binary-build.yml?branch=master) | [control.ros.org](https://control.ros.org/iron/doc/ros2_controllers/doc/controllers_index.html) | [ros2_controllers](https://index.ros.org/p/ros2_controllers/#iron)
+**Humble** | [`humble`](https://github.com/ros-controls/ros2_controllers/tree/humble) | [![Humble Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/humble-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_controllers/actions/workflows/humble-binary-build.yml?branch=master) <br /> [![Humble Semi-Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/humble-semi-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_controllers/actions/workflows/humble-semi-binary-build.yml?branch=master) | [control.ros.org](https://control.ros.org/humble/doc/ros2_controllers/doc/controllers_index.html) | [ros2_controllers](https://index.ros.org/p/ros2_controllers/#humble)
 
 ### Explanation of different build types
 

diff --git a/ackermann_steering_controller/CHANGELOG.rst b/ackermann_steering_controller/CHANGELOG.rst
@@ -2,6 +2,12 @@
 Changelog for package ackermann_steering_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.22.0 (2024-02-12)
+-------------------
+* Add test_depend on `hardware_interface_testing` (backport `#1018 <https://github.com/ros-controls/ros2_controllers/issues/1018>`_) (`#1020 <https://github.com/ros-controls/ros2_controllers/issues/1020>`_)
+* Add tests for `interface_configuration_type` consistently (backport `#899 <https://github.com/ros-controls/ros2_controllers/issues/899>`_) (`#1007 <https://github.com/ros-controls/ros2_controllers/issues/1007>`_)
+* Contributors: mergify[bot]
+
 3.21.0 (2024-01-20)
 -------------------
 

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>3.21.0</version>
+  <version>3.22.0</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>
@@ -27,6 +27,7 @@
 
   <test_depend>ament_cmake_gmock</test_depend>
   <test_depend>controller_manager</test_depend>
+  <test_depend>hardware_interface_testing</test_depend>
   <test_depend>hardware_interface</test_depend>
   <test_depend>ros2_control_test_assets</test_depend>
 

diff --git a/ackermann_steering_controller/test/test_ackermann_steering_controller.cpp b/ackermann_steering_controller/test/test_ackermann_steering_controller.cpp
@@ -46,41 +46,43 @@ TEST_F(AckermannSteeringControllerTest, all_parameters_set_configure_success)
   ASSERT_EQ(controller_->ackermann_params_.rear_wheel_track, rear_wheel_track_);
 }
 
-TEST_F(AckermannSteeringControllerTest, check_exported_intefaces)
+TEST_F(AckermannSteeringControllerTest, check_exported_interfaces)
 {
   SetUpController();
 
   ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS);
 
-  auto command_intefaces = controller_->command_interface_configuration();
-  ASSERT_EQ(command_intefaces.names.size(), joint_command_values_.size());
+  auto cmd_if_conf = controller_->command_interface_configuration();
+  ASSERT_EQ(cmd_if_conf.names.size(), joint_command_values_.size());
   EXPECT_EQ(
-    command_intefaces.names[CMD_TRACTION_RIGHT_WHEEL],
+    cmd_if_conf.names[CMD_TRACTION_RIGHT_WHEEL],
     rear_wheels_names_[0] + "/" + traction_interface_name_);
   EXPECT_EQ(
-    command_intefaces.names[CMD_TRACTION_LEFT_WHEEL],
+    cmd_if_conf.names[CMD_TRACTION_LEFT_WHEEL],
     rear_wheels_names_[1] + "/" + traction_interface_name_);
   EXPECT_EQ(
-    command_intefaces.names[CMD_STEER_RIGHT_WHEEL],
+    cmd_if_conf.names[CMD_STEER_RIGHT_WHEEL],
     front_wheels_names_[0] + "/" + steering_interface_name_);
   EXPECT_EQ(
-    command_intefaces.names[CMD_STEER_LEFT_WHEEL],
+    cmd_if_conf.names[CMD_STEER_LEFT_WHEEL],
     front_wheels_names_[1] + "/" + steering_interface_name_);
+  EXPECT_EQ(cmd_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL);
 
-  auto state_intefaces = controller_->state_interface_configuration();
-  ASSERT_EQ(state_intefaces.names.size(), joint_state_values_.size());
+  auto state_if_conf = controller_->state_interface_configuration();
+  ASSERT_EQ(state_if_conf.names.size(), joint_state_values_.size());
   EXPECT_EQ(
-    state_intefaces.names[STATE_TRACTION_RIGHT_WHEEL],
+    state_if_conf.names[STATE_TRACTION_RIGHT_WHEEL],
     controller_->rear_wheels_state_names_[0] + "/" + traction_interface_name_);
   EXPECT_EQ(
-    state_intefaces.names[STATE_TRACTION_LEFT_WHEEL],
+    state_if_conf.names[STATE_TRACTION_LEFT_WHEEL],
     controller_->rear_wheels_state_names_[1] + "/" + traction_interface_name_);
   EXPECT_EQ(
-    state_intefaces.names[STATE_STEER_RIGHT_WHEEL],
+    state_if_conf.names[STATE_STEER_RIGHT_WHEEL],
     controller_->front_wheels_state_names_[0] + "/" + steering_interface_name_);
   EXPECT_EQ(
-    state_intefaces.names[STATE_STEER_LEFT_WHEEL],
+    state_if_conf.names[STATE_STEER_LEFT_WHEEL],
     controller_->front_wheels_state_names_[1] + "/" + steering_interface_name_);
+  EXPECT_EQ(state_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL);
 
   // check ref itfsTIME
   auto reference_interfaces = controller_->export_reference_interfaces();

diff --git a/ackermann_steering_controller/test/test_ackermann_steering_controller.hpp b/ackermann_steering_controller/test/test_ackermann_steering_controller.hpp
@@ -62,7 +62,7 @@ class TestableAckermannSteeringController
 : public ackermann_steering_controller::AckermannSteeringController
 {
   FRIEND_TEST(AckermannSteeringControllerTest, all_parameters_set_configure_success);
-  FRIEND_TEST(AckermannSteeringControllerTest, check_exported_intefaces);
+  FRIEND_TEST(AckermannSteeringControllerTest, check_exported_interfaces);
   FRIEND_TEST(AckermannSteeringControllerTest, activate_success);
   FRIEND_TEST(AckermannSteeringControllerTest, update_success);
   FRIEND_TEST(AckermannSteeringControllerTest, deactivate_success);