Merge branch 'humble' into mergify/bp/humble/pr-533

.github/workflows/ci-coverage-build-humble.yml

@@ -0,0 +1,65 @@
+name: Coverage Build - Humble
+on:
+  workflow_dispatch:
+  push:
+    branches:
+      - humble
+  pull_request:
+    branches:
+      - humble
+
+jobs:
+  coverage:
+    name: coverage build
+    runs-on: ubuntu-22.04
+    strategy:
+      fail-fast: false
+    env:
+      ROS_DISTRO: humble
+    steps:
+      - uses: ros-tooling/[email protected]
+        with:
+          required-ros-distributions: ${{ env.ROS_DISTRO }}
+      - uses: actions/checkout@v4
+      - uses: ros-tooling/[email protected]
+        with:
+          target-ros2-distro: ${{ env.ROS_DISTRO }}
+          import-token: ${{ secrets.GITHUB_TOKEN }}
+          # build all packages listed here
+          package-name:
+            ackermann_steering_controller
+            admittance_controller
+            bicycle_steering_controller
+            diff_drive_controller
+            effort_controllers
+            force_torque_sensor_broadcaster
+            forward_command_controller
+            gripper_controllers
+            imu_sensor_broadcaster
+            joint_state_broadcaster
+            joint_trajectory_controller
+            position_controllers
+            range_sensor_broadcaster
+            steering_controllers_library
+            tricycle_controller
+            tricycle_steering_controller
+            velocity_controllers
+
+          vcs-repo-file-url: |
+            https://raw.githubusercontent.com/${{ github.repository }}/${{ github.sha }}/ros2_controllers.${{ env.ROS_DISTRO }}.repos?token=${{ secrets.GITHUB_TOKEN }}
+          colcon-defaults: |
+            {
+              "build": {
+                "mixin": ["coverage-gcc"]
+              }
+            }
+          colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
+      - uses: codecov/[email protected]
+        with:
+          file: ros_ws/lcov/total_coverage.info
+          flags: unittests
+          name: codecov-umbrella
+      - uses: actions/[email protected]
+        with:
+          name: colcon-logs-coverage-humble
+          path: ros_ws/log

.github/workflows/ci-ros-lint.yml

@@ -26,6 +26,7 @@ jobs:
           joint_trajectory_controller
           gripper_controllers
           position_controllers
+          range_sensor_broadcaster
           ros2_controllers
           ros2_controllers_test_nodes
           tricycle_controller
@@ -56,6 +57,7 @@ jobs:
           joint_trajectory_controller
           gripper_controllers
           position_controllers
+          range_sensor_broadcaster
           ros2_controllers
           ros2_controllers_test_nodes
           tricycle_controller

.github/workflows/reusable-ros-tooling-source-build.yml

@@ -37,7 +37,26 @@ jobs:
           target-ros2-distro: ${{ inputs.ros_distro }}
           # build all packages listed in the meta package
           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
+            ros2_controllers
+            ros2_controllers_test_nodes
+            rqt_joint_trajectory_controller
+            steering_controllers_library
+            tricycle_controller
+            tricycle_steering_controller
+            velocity_controllers
 
           vcs-repo-file-url: |
             https://raw.githubusercontent.com/ros2/ros2/${{ inputs.ros2_repo_branch }}/ros2.repos

.github/workflows/rolling-binary-build-main.yml

@@ -6,9 +6,13 @@ on:
   workflow_dispatch:
     branches:
       - master
+      - '*feature*'
+      - '*feature/**'
   pull_request:
     branches:
       - master
+      - '*feature*'
+      - '*feature/**'
   push:
     branches:
       - master

.github/workflows/rolling-binary-build-testing.yml

@@ -6,9 +6,13 @@ on:
   workflow_dispatch:
     branches:
       - master
+      - '*feature*'
+      - '*feature/**'
   pull_request:
     branches:
       - master
+      - '*feature*'
+      - '*feature/**'
   push:
     branches:
       - master

.github/workflows/rolling-semi-binary-build-main.yml

@@ -5,9 +5,13 @@ on:
   workflow_dispatch:
     branches:
       - master
+      - '*feature*'
+      - '*feature/**'
   pull_request:
     branches:
       - master
+      - '*feature*'
+      - '*feature/**'
   push:
     branches:
       - master

.github/workflows/rolling-semi-binary-build-testing.yml

@@ -5,9 +5,13 @@ on:
   workflow_dispatch:
     branches:
       - master
+      - '*feature*'
+      - '*feature/**'
   pull_request:
     branches:
       - master
+      - '*feature*'
+      - '*feature/**'
   push:
     branches:
       - master

README.md

@@ -1,6 +1,9 @@
 # ros2_controllers
 
-Commonly used and generalized controllers for ros2-control framework that are ready to use with many robots, MoveIt2 and Navigation2.
+[![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/humble/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 Nav2.
 
 ## Build status
 

ackermann_steering_controller/CHANGELOG.rst

@@ -2,6 +2,26 @@
 Changelog for package ackermann_steering_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.29.0 (2023-12-05)
+-------------------
+
+2.28.0 (2023-11-30)
+-------------------
+
+2.27.0 (2023-11-14)
+-------------------
+* Improve docs (`#785 <https://github.com/ros-controls/ros2_controllers/issues/785>`_) (`#786 <https://github.com/ros-controls/ros2_controllers/issues/786>`_)
+* Contributors: mergify[bot]
+
+2.26.0 (2023-10-03)
+-------------------
+
+2.25.0 (2023-09-15)
+-------------------
+
+2.24.0 (2023-08-07)
+-------------------
+
 2.23.0 (2023-06-23)
 -------------------
 

ackermann_steering_controller/doc/userdoc.rst

@@ -19,4 +19,6 @@ This controller uses the `generate_parameter_library <https://github.com/PickNik
 
 For an exemplary parameterization see the ``test`` folder of the controller's package.
 
+Additionally to the parameters of the :ref:`Steering Controller Library <doc/ros2_controllers/steering_controllers_library/doc/userdoc:parameters>`, this controller adds the following parameters:
+
 .. generate_parameter_library_details:: ../src/ackermann_steering_controller.yaml

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>2.23.0</version>
+  <version>2.29.0</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>

admittance_controller/CHANGELOG.rst

@@ -2,6 +2,30 @@
 Changelog for package admittance_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.29.0 (2023-12-05)
+-------------------
+
+2.28.0 (2023-11-30)
+-------------------
+
+2.27.0 (2023-11-14)
+-------------------
+
+2.26.0 (2023-10-03)
+-------------------
+
+2.25.0 (2023-09-15)
+-------------------
+* Update docs for diff drive controller (`#751 <https://github.com/ros-controls/ros2_controllers/issues/751>`_) (`#753 <https://github.com/ros-controls/ros2_controllers/issues/753>`_)
+* Contributors: Christoph Fröhlich
+
+2.24.0 (2023-08-07)
+-------------------
+* Activate AdmittanceControllerTestParameterizedInvalidParameters (`#711 <https://github.com/ros-controls/ros2_controllers/issues/711>`_) (`#733 <https://github.com/ros-controls/ros2_controllers/issues/733>`_)
+* Fix file name for include guard (backport `#681 <https://github.com/ros-controls/ros2_controllers/issues/681>`_)
+* Fix out of bound access in admittance controller (`#721 <https://github.com/ros-controls/ros2_controllers/issues/721>`_) (`#722 <https://github.com/ros-controls/ros2_controllers/issues/722>`_)
+* Contributors: Christoph Fröhlich
+
 2.23.0 (2023-06-23)
 -------------------
 * Renovate load controller tests (`#569 <https://github.com/ros-controls/ros2_controllers/issues/569>`_) (`#677 <https://github.com/ros-controls/ros2_controllers/issues/677>`_)

admittance_controller/doc/userdoc.rst

@@ -11,7 +11,7 @@ The controller implements ``ChainedControllerInterface``, so it is possible to a
 The controller requires an external kinematics plugin to function. The `kinematics_interface <https://github.com/ros-controls/kinematics_interface>`_ repository provides an interface and an implementation that the admittance controller can use.
 
 
-ROS2 interface of the controller
+ROS 2 interface of the controller
 ---------------------------------
 
 Parameters

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>2.23.0</version>
+  <version>2.29.0</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>

admittance_controller/test/test_admittance_controller.cpp

@@ -67,10 +67,18 @@ INSTANTIATE_TEST_SUITE_P(
     // wrong length selected axes
     std::make_tuple(
       std::string("admittance.selected_axes"),
-      rclcpp::ParameterValue(std::vector<double>() = {1, 2, 3})),
-    // invalid robot description
-    std::make_tuple(
-      std::string("robot_description"), rclcpp::ParameterValue(std::string() = "bad_robot"))));
+      rclcpp::ParameterValue(std::vector<double>() = {1, 2, 3}))
+    // invalid robot description.
+    // TODO(anyone): deactivated, because SetUpController returns SUCCESS here?
+    // ,std::make_tuple(
+    //   std::string("robot_description"), rclcpp::ParameterValue(std::string() = "bad_robot")))
+    ));
+
+// Test on_init returns ERROR when a parameter is invalid
+TEST_P(AdmittanceControllerTestParameterizedInvalidParameters, invalid_parameters)
+{
+  ASSERT_EQ(SetUpController(), controller_interface::return_type::ERROR);
+}
 
 TEST_F(AdmittanceControllerTest, all_parameters_set_configure_success)
 {

admittance_controller/test/test_admittance_controller.hpp

@@ -27,7 +27,6 @@
 
 #include "gmock/gmock.h"
 
-#include "6d_robot_description.hpp"
 #include "admittance_controller/admittance_controller.hpp"
 #include "control_msgs/msg/admittance_controller_state.hpp"
 #include "geometry_msgs/msg/transform_stamped.hpp"
@@ -38,6 +37,7 @@
 #include "rclcpp/utilities.hpp"
 #include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp"
 #include "semantic_components/force_torque_sensor.hpp"
+#include "test_asset_6d_robot_description.hpp"
 #include "tf2_ros/transform_broadcaster.h"
 #include "trajectory_msgs/msg/joint_trajectory.hpp"
 
@@ -454,9 +454,15 @@ class AdmittanceControllerTestParameterizedInvalidParameters
   static void TearDownTestCase() { AdmittanceControllerTest::TearDownTestCase(); }
 
 protected:
-  void SetUpController()
+  controller_interface::return_type SetUpController()
   {
-    AdmittanceControllerTest::SetUpController("test_admittance_controller");
+    auto param_name = std::get<0>(GetParam());
+    auto param_value = std::get<1>(GetParam());
+    std::vector<rclcpp::Parameter> parameter_overrides;
+    rclcpp::Parameter param(param_name, param_value);
+    parameter_overrides.push_back(param);
+    return AdmittanceControllerTest::SetUpController(
+      "test_admittance_controller", parameter_overrides);
   }
 };
 

admittance_controller/test/6d_robot_description.hpp → admittance_controller/test/test_asset_6d_robot_description.hpp

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef ROS2_CONTROL_TEST_ASSETS__6D_ROBOT_DESCRIPTION_HPP_
-#define ROS2_CONTROL_TEST_ASSETS__6D_ROBOT_DESCRIPTION_HPP_
+#ifndef TEST_ASSET_6D_ROBOT_DESCRIPTION_HPP_
+#define TEST_ASSET_6D_ROBOT_DESCRIPTION_HPP_
 
 #include <string>
 
@@ -310,4 +310,4 @@ const auto valid_6d_robot_srdf =
 
 }  // namespace ros2_control_test_assets
 
-#endif  // ROS2_CONTROL_TEST_ASSETS__6D_ROBOT_DESCRIPTION_HPP_
+#endif  // TEST_ASSET_6D_ROBOT_DESCRIPTION_HPP_

bicycle_steering_controller/CHANGELOG.rst

@@ -2,6 +2,26 @@
 Changelog for package bicycle_steering_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.29.0 (2023-12-05)
+-------------------
+
+2.28.0 (2023-11-30)
+-------------------
+
+2.27.0 (2023-11-14)
+-------------------
+* Improve docs (`#785 <https://github.com/ros-controls/ros2_controllers/issues/785>`_) (`#786 <https://github.com/ros-controls/ros2_controllers/issues/786>`_)
+* Contributors: mergify[bot]
+
+2.26.0 (2023-10-03)
+-------------------
+
+2.25.0 (2023-09-15)
+-------------------
+
+2.24.0 (2023-08-07)
+-------------------
+
 2.23.0 (2023-06-23)
 -------------------
 

bicycle_steering_controller/doc/userdoc.rst

@@ -20,4 +20,6 @@ This controller uses the `generate_parameter_library <https://github.com/PickNik
 
 For an exemplary parameterization see the ``test`` folder of the controller's package.
 
+Additionally to the parameters of the :ref:`Steering Controller Library <doc/ros2_controllers/steering_controllers_library/doc/userdoc:parameters>`, this controller adds the following parameters:
+
 .. generate_parameter_library_details:: ../src/bicycle_steering_controller.yaml

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>2.23.0</version>
+  <version>2.29.0</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>

codecov.yml

@@ -9,6 +9,8 @@ coverage:
     patch: off
 fixes:
   - "ros_ws/src/ros2_controllers/::"
+ignore:
+  - "**/test"
 comment:
   layout: "diff, flags, files"
   behavior: default