Merge branch 'iron' into mergify/bp/iron/pr-849

ros-controls · Nov 27, 2023 · c2df6df · c2df6df
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diff --git a/README.md b/README.md
@@ -3,7 +3,7 @@
 [![Licence](https://img.shields.io/badge/License-Apache%202.0-blue.svg)](https://opensource.org/licenses/Apache-2.0)
 [![codecov](https://codecov.io/gh/ros-controls/ros2_controllers/branch/iron/graph/badge.svg?token=KSdY0tsHm6)](https://codecov.io/gh/ros-controls/ros2_controllers)
 
-Commonly used and generalized controllers for ros2-control framework that are ready to use with many robots, MoveIt2 and Navigation2.
+Commonly used and generalized controllers for ros2-control framework that are ready to use with many robots, MoveIt2 and Nav2.
 
 ## Build status
 

diff --git a/ackermann_steering_controller/CHANGELOG.rst b/ackermann_steering_controller/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package ackermann_steering_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.18.0 (2023-11-21)
+-------------------
+
 3.17.0 (2023-10-31)
 -------------------
 * Improve docs (`#785 <https://github.com/ros-controls/ros2_controllers/issues/785>`_)

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>3.17.0</version>
+  <version>3.18.0</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
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.18.0 (2023-11-21)
+-------------------
+
 3.17.0 (2023-10-31)
 -------------------
 

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>3.17.0</version>
+  <version>3.18.0</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
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.18.0 (2023-11-21)
+-------------------
+
 3.17.0 (2023-10-31)
 -------------------
 * Improve docs (`#785 <https://github.com/ros-controls/ros2_controllers/issues/785>`_)

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>3.17.0</version>
+  <version>3.18.0</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 +2,11 @@
 Changelog for package diff_drive_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.18.0 (2023-11-21)
+-------------------
+* [diff_drive_controller] Fixed typos in diff_drive_controller_parameter.yaml. (`#822 <https://github.com/ros-controls/ros2_controllers/issues/822>`_) (`#824 <https://github.com/ros-controls/ros2_controllers/issues/824>`_)
+* Contributors: Tony Baltovski
+
 3.17.0 (2023-10-31)
 -------------------
 

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>3.17.0</version>
+  <version>3.18.0</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/controllers_index.rst b/doc/controllers_index.rst
@@ -6,24 +6,9 @@
 ros2_controllers
 #################
 
-`GitHub Repository <https://github.com/ros-controls/ros2_controllers>`_
-
-
-Nomenclature
-************
-
-The ros2_control framework uses namespaces to sort controller according to the type of command interface they are using.
-The controllers are using `common hardware interface definitions`_.
-The controllers' namespaces are commanding the following command interface types:
-
-  - ``position_controllers``: ``hardware_interface::HW_IF_POSITION``
-  - ``velocity_controller``: ``hardware_interface::HW_IF_VELOCITY``
-  - ``effort_controllers``: ``hardware_interface::HW_IF_ACCELERATION``
-  - ``effort_controllers``: ``hardware_interface::HW_IF_EFFORT``
-  - ...
-
-.. _common hardware interface definitions: https://github.com/ros-controls/ros2_control/blob/{REPOS_FILE_BRANCH}/hardware_interface/include/hardware_interface/types/hardware_interface_type_values.hpp
+Commonly used and generalized controllers for ros2_control framework that are ready to use with many robots, `MoveIt2 <https://moveit.picknik.ai/main/index.html>`_ and `Nav2 <https://navigation.ros.org/>`_.
 
+`Link to GitHub Repository <https://github.com/ros-controls/ros2_controllers>`_
 
 
 Guidelines and Best Practices
@@ -36,34 +21,54 @@ Guidelines and Best Practices
    *
 
 
-Available Controllers
-*********************
+Controllers for Mobile Robots
+*****************************
 
 .. toctree::
    :titlesonly:
 
    Ackermann Steering Controller <../ackermann_steering_controller/doc/userdoc.rst>
-   Admittance Controller <../admittance_controller/doc/userdoc.rst>
    Bicycle Steering Controller <../bicycle_steering_controller/doc/userdoc.rst>
    Differential Drive Controller <../diff_drive_controller/doc/userdoc.rst>
+   Steering Controllers Library <../steering_controllers_library/doc/userdoc.rst>
+   Tricycle Controller <../tricycle_controller/doc/userdoc.rst>
+   Tricycle Steering Controller <../tricycle_steering_controller/doc/userdoc.rst>
+
+Controllers for Manipulators and Other Robots
+*********************************************
+
+The controllers are using `common hardware interface definitions`_, and may use namespaces depending on the following command interface types:
+
+  - ``position_controllers``: ``hardware_interface::HW_IF_POSITION``
+  - ``velocity_controller``: ``hardware_interface::HW_IF_VELOCITY``
+  - ``effort_controllers``: ``hardware_interface::HW_IF_ACCELERATION``
+  - ``effort_controllers``: ``hardware_interface::HW_IF_EFFORT``
+
+.. _common hardware interface definitions: https://github.com/ros-controls/ros2_control/blob/{REPOS_FILE_BRANCH}/hardware_interface/include/hardware_interface/types/hardware_interface_type_values.hpp
+
+
+.. toctree::
+   :titlesonly:
+
+   Admittance Controller <../admittance_controller/doc/userdoc.rst>
    Effort Controllers <../effort_controllers/doc/userdoc.rst>
    Forward Command Controller <../forward_command_controller/doc/userdoc.rst>
    Gripper Controller <../gripper_controllers/doc/userdoc.rst>
    Joint Trajectory Controller <../joint_trajectory_controller/doc/userdoc.rst>
    Position Controllers <../position_controllers/doc/userdoc.rst>
-   Steering Controllers Library <../steering_controllers_library/doc/userdoc.rst>
-   Tricycle Controller <../tricycle_controller/doc/userdoc.rst>
-   Tricycle Steering Controller <../tricycle_steering_controller/doc/userdoc.rst>
    Velocity Controllers <../velocity_controllers/doc/userdoc.rst>
 
 
-Available Broadcasters
+Broadcasters
 **********************
 
+Broadcasters are used to publish sensor data from hardware components to ROS topics.
+In the sense of ros2_control, broadcasters are still controllers using the same controller interface as the other controllers above.
+
 .. toctree::
    :titlesonly:
 
    Force Torque Sensor Broadcaster <../force_torque_sensor_broadcaster/doc/userdoc.rst>
-   Imu Sensor Broadcaster <../imu_sensor_broadcaster/doc/userdoc.rst>
+   IMU Sensor Broadcaster <../imu_sensor_broadcaster/doc/userdoc.rst>
    Joint State Broadcaster <../joint_state_broadcaster/doc/userdoc.rst>
    Range Sensor Broadcaster <../range_sensor_broadcaster/doc/userdoc.rst>
diff --git a/effort_controllers/CHANGELOG.rst b/effort_controllers/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package effort_controllers
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.18.0 (2023-11-21)
+-------------------
+
 3.17.0 (2023-10-31)
 -------------------
 

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>3.17.0</version>
+  <version>3.18.0</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
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.18.0 (2023-11-21)
+-------------------
+
 3.17.0 (2023-10-31)
 -------------------
 

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>3.17.0</version>
+  <version>3.18.0</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
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.18.0 (2023-11-21)
+-------------------
+* Rearrange controllers overview page (`#846 <https://github.com/ros-controls/ros2_controllers/issues/846>`_) (`#848 <https://github.com/ros-controls/ros2_controllers/issues/848>`_)
+* Contributors: mergify[bot]
+
 3.17.0 (2023-10-31)
 -------------------
 

diff --git a/forward_command_controller/doc/userdoc.rst b/forward_command_controller/doc/userdoc.rst
@@ -5,7 +5,7 @@
 forward_command_controller
 ==========================
 
-This is a base class implementing a feedforward controller. Specific implementations can be found in:
+This is a base class implementing a feedforward controller. Specific implementations of this base class can be found in:
 
 * :ref:`position_controllers_userdoc`
 * :ref:`velocity_controllers_userdoc`

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>3.17.0</version>
+  <version>3.18.0</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
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.18.0 (2023-11-21)
+-------------------
+
 3.17.0 (2023-10-31)
 -------------------
 

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>3.17.0</version>
+  <version>3.18.0</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
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.18.0 (2023-11-21)
+-------------------
+
 3.17.0 (2023-10-31)
 -------------------
 

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>3.17.0</version>
+  <version>3.18.0</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
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.18.0 (2023-11-21)
+-------------------
+
 3.17.0 (2023-10-31)
 -------------------
 

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>3.17.0</version>
+  <version>3.18.0</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 +2,11 @@
 Changelog for package joint_trajectory_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.18.0 (2023-11-21)
+-------------------
+* [JTC] Activate update of dynamic parameters (`#761 <https://github.com/ros-controls/ros2_controllers/issues/761>`_) (`#838 <https://github.com/ros-controls/ros2_controllers/issues/838>`_)
+* Contributors: mergify[bot]
+
 3.17.0 (2023-10-31)
 -------------------
 * Cleanup comments and unnecessary checks (`#803 <https://github.com/ros-controls/ros2_controllers/issues/803>`_)

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>3.17.0</version>
+  <version>3.18.0</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/position_controllers/CHANGELOG.rst b/position_controllers/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package position_controllers
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.18.0 (2023-11-21)
+-------------------
+
 3.17.0 (2023-10-31)
 -------------------
 

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>3.17.0</version>
+  <version>3.18.0</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
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.18.0 (2023-11-21)
+-------------------
+
 3.17.0 (2023-10-31)
 -------------------
 

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>3.17.0</version>
+  <version>3.18.0</version>
   <description>Controller to publish readings of Range sensors.</description>
   <maintainer email="[email protected]">Bence Magyar</maintainer>
   <author email="[email protected]">Florent Chretien</author>

diff --git a/ros2_controllers/CHANGELOG.rst b/ros2_controllers/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package ros2_controllers
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.18.0 (2023-11-21)
+-------------------
+
 3.17.0 (2023-10-31)
 -------------------
 

diff --git a/ros2_controllers/package.xml b/ros2_controllers/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>ros2_controllers</name>
-  <version>3.17.0</version>
+  <version>3.18.0</version>
   <description>Metapackage for ROS2 controllers related packages</description>
   <maintainer email="[email protected]">Bence Magyar</maintainer>
   <maintainer email="[email protected]">Jordan Palacios</maintainer>

diff --git a/ros2_controllers_test_nodes/CHANGELOG.rst b/ros2_controllers_test_nodes/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package ros2_controllers_test_nodes
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.18.0 (2023-11-21)
+-------------------
+
 3.17.0 (2023-10-31)
 -------------------
 * [TestNodes] Optimize output about setup of JTC publisher (`#792 <https://github.com/ros-controls/ros2_controllers/issues/792>`_)

diff --git a/ros2_controllers_test_nodes/package.xml b/ros2_controllers_test_nodes/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>ros2_controllers_test_nodes</name>
-  <version>3.17.0</version>
+  <version>3.18.0</version>
   <description>Demo nodes for showing and testing functionalities of the ros2_control framework.</description>
 
   <maintainer email="[email protected]">Denis Štogl</maintainer>