From 51a6cae690fbcc39dd584d27ee9f6bf577563b16 Mon Sep 17 00:00:00 2001 From: Henry Moore Date: Fri, 5 Jul 2024 22:35:55 +0000 Subject: [PATCH 01/22] clean up headers for admittance controller Signed-off-by: Henry Moore Signed-off-by: Henry Moore --- .../admittance_controller/admittance_controller.hpp | 8 -------- .../admittance_controller/admittance_rule.hpp | 13 +++---------- .../admittance_controller/admittance_rule_impl.hpp | 5 +++-- admittance_controller/src/admittance_controller.cpp | 4 ---- .../test/test_admittance_controller.cpp | 2 -- .../test/test_admittance_controller.hpp | 7 +++---- .../test/test_asset_6d_robot_description.hpp | 2 -- 7 files changed, 9 insertions(+), 32 deletions(-) diff --git a/admittance_controller/include/admittance_controller/admittance_controller.hpp b/admittance_controller/include/admittance_controller/admittance_controller.hpp index 6ff6cdae7a..9be6c3298c 100644 --- a/admittance_controller/include/admittance_controller/admittance_controller.hpp +++ b/admittance_controller/include/admittance_controller/admittance_controller.hpp @@ -17,7 +17,6 @@ #ifndef ADMITTANCE_CONTROLLER__ADMITTANCE_CONTROLLER_HPP_ #define ADMITTANCE_CONTROLLER__ADMITTANCE_CONTROLLER_HPP_ -#include #include #include #include @@ -29,21 +28,14 @@ #include "admittance_controller/visibility_control.h" #include "control_msgs/msg/admittance_controller_state.hpp" #include "controller_interface/chainable_controller_interface.hpp" -#include "geometry_msgs/msg/pose_stamped.hpp" -#include "geometry_msgs/msg/transform_stamped.hpp" -#include "geometry_msgs/msg/wrench_stamped.hpp" #include "hardware_interface/types/hardware_interface_type_values.hpp" -#include "pluginlib/class_loader.hpp" #include "rclcpp/duration.hpp" #include "rclcpp/time.hpp" -#include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp" #include "rclcpp_lifecycle/state.hpp" #include "realtime_tools/realtime_buffer.h" #include "realtime_tools/realtime_publisher.h" #include "semantic_components/force_torque_sensor.hpp" -#include "trajectory_msgs/msg/joint_trajectory.hpp" - namespace admittance_controller { using ControllerStateMsg = control_msgs::msg::AdmittanceControllerState; diff --git a/admittance_controller/include/admittance_controller/admittance_rule.hpp b/admittance_controller/include/admittance_controller/admittance_rule.hpp index 36c027491c..7223dbe9d1 100644 --- a/admittance_controller/include/admittance_controller/admittance_rule.hpp +++ b/admittance_controller/include/admittance_controller/admittance_rule.hpp @@ -18,23 +18,16 @@ #define ADMITTANCE_CONTROLLER__ADMITTANCE_RULE_HPP_ #include -#include -#include + #include #include #include +#include "admittance_controller_parameters.hpp" #include "control_msgs/msg/admittance_controller_state.hpp" -#include "control_toolbox/filters.hpp" -#include "controller_interface/controller_interface.hpp" -#include "geometry_msgs/msg/wrench_stamped.hpp" +#include "controller_interface/controller_interface_base.hpp" #include "kinematics_interface/kinematics_interface.hpp" #include "pluginlib/class_loader.hpp" -#include "tf2_eigen/tf2_eigen.hpp" -#include "tf2_geometry_msgs/tf2_geometry_msgs.hpp" -#include "tf2_kdl/tf2_kdl.hpp" -#include "tf2_ros/buffer.h" -#include "tf2_ros/transform_listener.h" #include "trajectory_msgs/msg/joint_trajectory_point.hpp" namespace admittance_controller diff --git a/admittance_controller/include/admittance_controller/admittance_rule_impl.hpp b/admittance_controller/include/admittance_controller/admittance_rule_impl.hpp index 9b03924882..77f1277b35 100644 --- a/admittance_controller/include/admittance_controller/admittance_rule_impl.hpp +++ b/admittance_controller/include/admittance_controller/admittance_rule_impl.hpp @@ -22,9 +22,10 @@ #include #include +#include +#include + #include "rclcpp/duration.hpp" -#include "rclcpp/utilities.hpp" -#include "tf2_ros/transform_listener.h" namespace admittance_controller { diff --git a/admittance_controller/src/admittance_controller.cpp b/admittance_controller/src/admittance_controller.cpp index c6a8168736..6e29b574a2 100644 --- a/admittance_controller/src/admittance_controller.cpp +++ b/admittance_controller/src/admittance_controller.cpp @@ -16,17 +16,13 @@ #include "admittance_controller/admittance_controller.hpp" -#include #include -#include #include #include #include #include "admittance_controller/admittance_rule_impl.hpp" #include "geometry_msgs/msg/wrench.hpp" -#include "rcutils/logging_macros.h" -#include "tf2_ros/buffer.h" #include "trajectory_msgs/msg/joint_trajectory_point.hpp" namespace admittance_controller diff --git a/admittance_controller/test/test_admittance_controller.cpp b/admittance_controller/test/test_admittance_controller.cpp index 6b03249df8..4c51a6d57a 100644 --- a/admittance_controller/test/test_admittance_controller.cpp +++ b/admittance_controller/test/test_admittance_controller.cpp @@ -16,9 +16,7 @@ #include "test_admittance_controller.hpp" -#include #include -#include #include // Test on_init returns ERROR when a required parameter is missing diff --git a/admittance_controller/test/test_admittance_controller.hpp b/admittance_controller/test/test_admittance_controller.hpp index 19908d7f9f..f30387b953 100644 --- a/admittance_controller/test/test_admittance_controller.hpp +++ b/admittance_controller/test/test_admittance_controller.hpp @@ -17,6 +17,8 @@ #ifndef TEST_ADMITTANCE_CONTROLLER_HPP_ #define TEST_ADMITTANCE_CONTROLLER_HPP_ +#include + #include #include #include @@ -25,21 +27,18 @@ #include #include -#include "gmock/gmock.h" +#include "geometry_msgs/msg/pose_stamped.hpp" #include "admittance_controller/admittance_controller.hpp" #include "control_msgs/msg/admittance_controller_state.hpp" #include "geometry_msgs/msg/transform_stamped.hpp" #include "hardware_interface/loaned_command_interface.hpp" #include "hardware_interface/loaned_state_interface.hpp" -#include "hardware_interface/types/hardware_interface_return_values.hpp" #include "rclcpp/parameter_value.hpp" -#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" // TODO(anyone): replace the state and command message types using ControllerCommandWrenchMsg = geometry_msgs::msg::WrenchStamped; diff --git a/admittance_controller/test/test_asset_6d_robot_description.hpp b/admittance_controller/test/test_asset_6d_robot_description.hpp index 4d38df7c30..11412ebbab 100644 --- a/admittance_controller/test/test_asset_6d_robot_description.hpp +++ b/admittance_controller/test/test_asset_6d_robot_description.hpp @@ -15,8 +15,6 @@ #ifndef TEST_ASSET_6D_ROBOT_DESCRIPTION_HPP_ #define TEST_ASSET_6D_ROBOT_DESCRIPTION_HPP_ -#include - namespace ros2_control_test_assets { const auto valid_6d_robot_urdf = From dacefe83fa41b75cff1699e5c83a63db72756ea6 Mon Sep 17 00:00:00 2001 From: Henry Moore Date: Fri, 5 Jul 2024 22:50:30 +0000 Subject: [PATCH 02/22] clean up headers for ackermann controller Signed-off-by: Henry Moore Signed-off-by: Henry Moore --- .../test/test_ackermann_steering_controller.cpp | 2 -- .../test/test_ackermann_steering_controller.hpp | 8 ++------ .../test_ackermann_steering_controller_preceeding.cpp | 2 -- 3 files changed, 2 insertions(+), 10 deletions(-) diff --git a/ackermann_steering_controller/test/test_ackermann_steering_controller.cpp b/ackermann_steering_controller/test/test_ackermann_steering_controller.cpp index 718e6f5856..7357bfdaba 100644 --- a/ackermann_steering_controller/test/test_ackermann_steering_controller.cpp +++ b/ackermann_steering_controller/test/test_ackermann_steering_controller.cpp @@ -14,10 +14,8 @@ #include "test_ackermann_steering_controller.hpp" -#include #include #include -#include #include class AckermannSteeringControllerTest diff --git a/ackermann_steering_controller/test/test_ackermann_steering_controller.hpp b/ackermann_steering_controller/test/test_ackermann_steering_controller.hpp index 363db793d5..16fc8a1c75 100644 --- a/ackermann_steering_controller/test/test_ackermann_steering_controller.hpp +++ b/ackermann_steering_controller/test/test_ackermann_steering_controller.hpp @@ -15,22 +15,18 @@ #ifndef TEST_ACKERMANN_STEERING_CONTROLLER_HPP_ #define TEST_ACKERMANN_STEERING_CONTROLLER_HPP_ +#include + #include -#include #include #include -#include #include #include #include "ackermann_steering_controller/ackermann_steering_controller.hpp" -#include "gmock/gmock.h" #include "hardware_interface/loaned_command_interface.hpp" #include "hardware_interface/loaned_state_interface.hpp" -#include "hardware_interface/types/hardware_interface_return_values.hpp" -#include "rclcpp/parameter_value.hpp" #include "rclcpp/time.hpp" -#include "rclcpp/utilities.hpp" #include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp" using ControllerStateMsg = diff --git a/ackermann_steering_controller/test/test_ackermann_steering_controller_preceeding.cpp b/ackermann_steering_controller/test/test_ackermann_steering_controller_preceeding.cpp index 1a16bed838..96dd20d80e 100644 --- a/ackermann_steering_controller/test/test_ackermann_steering_controller_preceeding.cpp +++ b/ackermann_steering_controller/test/test_ackermann_steering_controller_preceeding.cpp @@ -14,10 +14,8 @@ #include "test_ackermann_steering_controller.hpp" -#include #include #include -#include #include class AckermannSteeringControllerTest From ac60f990d4e6a6b4f87f4a8cdfb338c06fece196 Mon Sep 17 00:00:00 2001 From: Henry Moore Date: Fri, 5 Jul 2024 22:54:07 +0000 Subject: [PATCH 03/22] clean up headers for bicycle controller Signed-off-by: Henry Moore Signed-off-by: Henry Moore --- .../test/test_bicycle_steering_controller.cpp | 2 -- .../test/test_bicycle_steering_controller.hpp | 8 ++------ .../test/test_bicycle_steering_controller_preceeding.cpp | 2 -- 3 files changed, 2 insertions(+), 10 deletions(-) diff --git a/bicycle_steering_controller/test/test_bicycle_steering_controller.cpp b/bicycle_steering_controller/test/test_bicycle_steering_controller.cpp index 9904f791b6..0bf470240c 100644 --- a/bicycle_steering_controller/test/test_bicycle_steering_controller.cpp +++ b/bicycle_steering_controller/test/test_bicycle_steering_controller.cpp @@ -14,10 +14,8 @@ #include "test_bicycle_steering_controller.hpp" -#include #include #include -#include #include class BicycleSteeringControllerTest diff --git a/bicycle_steering_controller/test/test_bicycle_steering_controller.hpp b/bicycle_steering_controller/test/test_bicycle_steering_controller.hpp index dcdb7ed169..8ff030e678 100644 --- a/bicycle_steering_controller/test/test_bicycle_steering_controller.hpp +++ b/bicycle_steering_controller/test/test_bicycle_steering_controller.hpp @@ -15,22 +15,18 @@ #ifndef TEST_BICYCLE_STEERING_CONTROLLER_HPP_ #define TEST_BICYCLE_STEERING_CONTROLLER_HPP_ +#include + #include -#include #include #include -#include #include #include #include "bicycle_steering_controller/bicycle_steering_controller.hpp" -#include "gmock/gmock.h" #include "hardware_interface/loaned_command_interface.hpp" #include "hardware_interface/loaned_state_interface.hpp" -#include "hardware_interface/types/hardware_interface_return_values.hpp" -#include "rclcpp/parameter_value.hpp" #include "rclcpp/time.hpp" -#include "rclcpp/utilities.hpp" #include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp" using ControllerStateMsg = diff --git a/bicycle_steering_controller/test/test_bicycle_steering_controller_preceeding.cpp b/bicycle_steering_controller/test/test_bicycle_steering_controller_preceeding.cpp index bc3a182753..0bc03f4886 100644 --- a/bicycle_steering_controller/test/test_bicycle_steering_controller_preceeding.cpp +++ b/bicycle_steering_controller/test/test_bicycle_steering_controller_preceeding.cpp @@ -14,10 +14,8 @@ #include "test_bicycle_steering_controller.hpp" -#include #include #include -#include #include class BicycleSteeringControllerTest From 16fc928b8c5cc43c0f298ea52ea3f3699b944e1e Mon Sep 17 00:00:00 2001 From: Henry Moore Date: Fri, 5 Jul 2024 22:56:35 +0000 Subject: [PATCH 04/22] clean up headers for diff drive controller Signed-off-by: Henry Moore Signed-off-by: Henry Moore --- .../include/diff_drive_controller/diff_drive_controller.hpp | 4 ---- diff_drive_controller/test/test_diff_drive_controller.cpp | 2 -- 2 files changed, 6 deletions(-) diff --git a/diff_drive_controller/include/diff_drive_controller/diff_drive_controller.hpp b/diff_drive_controller/include/diff_drive_controller/diff_drive_controller.hpp index 72b38f7d2d..ac34b81eca 100644 --- a/diff_drive_controller/include/diff_drive_controller/diff_drive_controller.hpp +++ b/diff_drive_controller/include/diff_drive_controller/diff_drive_controller.hpp @@ -30,15 +30,11 @@ #include "diff_drive_controller/odometry.hpp" #include "diff_drive_controller/speed_limiter.hpp" #include "diff_drive_controller/visibility_control.h" -#include "geometry_msgs/msg/twist.hpp" #include "geometry_msgs/msg/twist_stamped.hpp" -#include "hardware_interface/handle.hpp" #include "nav_msgs/msg/odometry.hpp" #include "odometry.hpp" -#include "rclcpp/rclcpp.hpp" #include "rclcpp_lifecycle/state.hpp" #include "realtime_tools/realtime_box.h" -#include "realtime_tools/realtime_buffer.h" #include "realtime_tools/realtime_publisher.h" #include "tf2_msgs/msg/tf_message.hpp" diff --git a/diff_drive_controller/test/test_diff_drive_controller.cpp b/diff_drive_controller/test/test_diff_drive_controller.cpp index f3f99ac8d8..997aa1e314 100644 --- a/diff_drive_controller/test/test_diff_drive_controller.cpp +++ b/diff_drive_controller/test/test_diff_drive_controller.cpp @@ -14,7 +14,6 @@ #include -#include #include #include #include @@ -26,7 +25,6 @@ #include "hardware_interface/loaned_state_interface.hpp" #include "hardware_interface/types/hardware_interface_type_values.hpp" #include "lifecycle_msgs/msg/state.hpp" -#include "rclcpp/rclcpp.hpp" using CallbackReturn = controller_interface::CallbackReturn; using hardware_interface::HW_IF_POSITION; From 62bd8f24007178e78441af8e3b7dbc738910d0cb Mon Sep 17 00:00:00 2001 From: Henry Moore Date: Mon, 8 Jul 2024 13:13:24 +0000 Subject: [PATCH 05/22] clean up headers for effort controllers Signed-off-by: Henry Moore Signed-off-by: Henry Moore --- .../effort_controllers/joint_group_effort_controller.hpp | 3 --- effort_controllers/src/joint_group_effort_controller.cpp | 1 - .../test/test_joint_group_effort_controller.cpp | 5 ----- .../test/test_joint_group_effort_controller.hpp | 4 ++-- 4 files changed, 2 insertions(+), 11 deletions(-) diff --git a/effort_controllers/include/effort_controllers/joint_group_effort_controller.hpp b/effort_controllers/include/effort_controllers/joint_group_effort_controller.hpp index 562bbea52f..b07e8a630c 100644 --- a/effort_controllers/include/effort_controllers/joint_group_effort_controller.hpp +++ b/effort_controllers/include/effort_controllers/joint_group_effort_controller.hpp @@ -15,11 +15,8 @@ #ifndef EFFORT_CONTROLLERS__JOINT_GROUP_EFFORT_CONTROLLER_HPP_ #define EFFORT_CONTROLLERS__JOINT_GROUP_EFFORT_CONTROLLER_HPP_ -#include - #include "effort_controllers/visibility_control.h" #include "forward_command_controller/forward_command_controller.hpp" -#include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp" namespace effort_controllers { diff --git a/effort_controllers/src/joint_group_effort_controller.cpp b/effort_controllers/src/joint_group_effort_controller.cpp index c3748d493c..e7d0f274a5 100644 --- a/effort_controllers/src/joint_group_effort_controller.cpp +++ b/effort_controllers/src/joint_group_effort_controller.cpp @@ -17,7 +17,6 @@ #include "controller_interface/controller_interface.hpp" #include "effort_controllers/joint_group_effort_controller.hpp" #include "hardware_interface/types/hardware_interface_type_values.hpp" -#include "rclcpp/logging.hpp" #include "rclcpp/parameter.hpp" namespace effort_controllers diff --git a/effort_controllers/test/test_joint_group_effort_controller.cpp b/effort_controllers/test/test_joint_group_effort_controller.cpp index 200a1beda8..05bec8d79d 100644 --- a/effort_controllers/test/test_joint_group_effort_controller.cpp +++ b/effort_controllers/test/test_joint_group_effort_controller.cpp @@ -12,19 +12,14 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include - -#include #include #include #include #include #include "hardware_interface/loaned_command_interface.hpp" -#include "hardware_interface/types/hardware_interface_return_values.hpp" #include "lifecycle_msgs/msg/state.hpp" #include "rclcpp/utilities.hpp" -#include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp" #include "test_joint_group_effort_controller.hpp" using CallbackReturn = controller_interface::CallbackReturn; diff --git a/effort_controllers/test/test_joint_group_effort_controller.hpp b/effort_controllers/test/test_joint_group_effort_controller.hpp index 6ae9db4670..11f8013ee7 100644 --- a/effort_controllers/test/test_joint_group_effort_controller.hpp +++ b/effort_controllers/test/test_joint_group_effort_controller.hpp @@ -15,12 +15,12 @@ #ifndef TEST_JOINT_GROUP_EFFORT_CONTROLLER_HPP_ #define TEST_JOINT_GROUP_EFFORT_CONTROLLER_HPP_ +#include + #include #include #include -#include "gmock/gmock.h" - #include "effort_controllers/joint_group_effort_controller.hpp" #include "hardware_interface/handle.hpp" #include "hardware_interface/types/hardware_interface_type_values.hpp" From 78fed1ef682d5825c64f6fe14aea82201f245ff1 Mon Sep 17 00:00:00 2001 From: Henry Moore Date: Mon, 8 Jul 2024 13:16:06 +0000 Subject: [PATCH 06/22] clean up headers for force torque sensor broadcaster Signed-off-by: Henry Moore Signed-off-by: Henry Moore --- .../force_torque_sensor_broadcaster.hpp | 3 --- .../test/test_force_torque_sensor_broadcaster.cpp | 5 ----- .../test/test_force_torque_sensor_broadcaster.hpp | 4 ++-- 3 files changed, 2 insertions(+), 10 deletions(-) diff --git a/force_torque_sensor_broadcaster/include/force_torque_sensor_broadcaster/force_torque_sensor_broadcaster.hpp b/force_torque_sensor_broadcaster/include/force_torque_sensor_broadcaster/force_torque_sensor_broadcaster.hpp index 754d1de9ba..bd477ed68a 100644 --- a/force_torque_sensor_broadcaster/include/force_torque_sensor_broadcaster/force_torque_sensor_broadcaster.hpp +++ b/force_torque_sensor_broadcaster/include/force_torque_sensor_broadcaster/force_torque_sensor_broadcaster.hpp @@ -20,15 +20,12 @@ #define FORCE_TORQUE_SENSOR_BROADCASTER__FORCE_TORQUE_SENSOR_BROADCASTER_HPP_ #include -#include -#include #include "controller_interface/controller_interface.hpp" #include "force_torque_sensor_broadcaster/visibility_control.h" // auto-generated by generate_parameter_library #include "force_torque_sensor_broadcaster_parameters.hpp" #include "geometry_msgs/msg/wrench_stamped.hpp" -#include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp" #include "rclcpp_lifecycle/state.hpp" #include "realtime_tools/realtime_publisher.h" #include "semantic_components/force_torque_sensor.hpp" diff --git a/force_torque_sensor_broadcaster/test/test_force_torque_sensor_broadcaster.cpp b/force_torque_sensor_broadcaster/test/test_force_torque_sensor_broadcaster.cpp index 2412361352..0c86fc4b16 100644 --- a/force_torque_sensor_broadcaster/test/test_force_torque_sensor_broadcaster.cpp +++ b/force_torque_sensor_broadcaster/test/test_force_torque_sensor_broadcaster.cpp @@ -22,14 +22,9 @@ #include #include -#include "force_torque_sensor_broadcaster/force_torque_sensor_broadcaster.hpp" #include "geometry_msgs/msg/wrench_stamped.hpp" #include "hardware_interface/loaned_state_interface.hpp" -#include "hardware_interface/types/hardware_interface_return_values.hpp" -#include "hardware_interface/types/hardware_interface_type_values.hpp" -#include "lifecycle_msgs/msg/state.hpp" #include "rclcpp/utilities.hpp" -#include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp" using hardware_interface::LoanedStateInterface; using testing::IsEmpty; diff --git a/force_torque_sensor_broadcaster/test/test_force_torque_sensor_broadcaster.hpp b/force_torque_sensor_broadcaster/test/test_force_torque_sensor_broadcaster.hpp index fe5b0ab3ba..fe7fb0c174 100644 --- a/force_torque_sensor_broadcaster/test/test_force_torque_sensor_broadcaster.hpp +++ b/force_torque_sensor_broadcaster/test/test_force_torque_sensor_broadcaster.hpp @@ -19,11 +19,11 @@ #ifndef TEST_FORCE_TORQUE_SENSOR_BROADCASTER_HPP_ #define TEST_FORCE_TORQUE_SENSOR_BROADCASTER_HPP_ +#include + #include #include -#include "gmock/gmock.h" - #include "force_torque_sensor_broadcaster/force_torque_sensor_broadcaster.hpp" // subclassing and friending so we can access member variables From f3e066000417a87b7275f08458d133dadda3e7a2 Mon Sep 17 00:00:00 2001 From: Henry Moore Date: Mon, 8 Jul 2024 13:19:54 +0000 Subject: [PATCH 07/22] clean up headers for forward_command_controller Signed-off-by: Henry Moore Signed-off-by: Henry Moore --- .../forward_command_controller/forward_command_controller.hpp | 2 -- .../forward_command_controller/forward_controllers_base.hpp | 1 - .../multi_interface_forward_command_controller.hpp | 2 -- forward_command_controller/src/forward_command_controller.cpp | 3 --- forward_command_controller/src/forward_controllers_base.cpp | 2 -- 5 files changed, 10 deletions(-) diff --git a/forward_command_controller/include/forward_command_controller/forward_command_controller.hpp b/forward_command_controller/include/forward_command_controller/forward_command_controller.hpp index 91e3aae480..12f2a28b22 100644 --- a/forward_command_controller/include/forward_command_controller/forward_command_controller.hpp +++ b/forward_command_controller/include/forward_command_controller/forward_command_controller.hpp @@ -16,8 +16,6 @@ #define FORWARD_COMMAND_CONTROLLER__FORWARD_COMMAND_CONTROLLER_HPP_ #include -#include -#include #include "forward_command_controller/forward_controllers_base.hpp" #include "forward_command_controller/visibility_control.h" diff --git a/forward_command_controller/include/forward_command_controller/forward_controllers_base.hpp b/forward_command_controller/include/forward_command_controller/forward_controllers_base.hpp index d60245f328..4858e5ab64 100644 --- a/forward_command_controller/include/forward_command_controller/forward_controllers_base.hpp +++ b/forward_command_controller/include/forward_command_controller/forward_controllers_base.hpp @@ -22,7 +22,6 @@ #include "controller_interface/controller_interface.hpp" #include "forward_command_controller/visibility_control.h" #include "rclcpp/subscription.hpp" -#include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp" #include "rclcpp_lifecycle/state.hpp" #include "realtime_tools/realtime_buffer.h" #include "std_msgs/msg/float64_multi_array.hpp" diff --git a/forward_command_controller/include/forward_command_controller/multi_interface_forward_command_controller.hpp b/forward_command_controller/include/forward_command_controller/multi_interface_forward_command_controller.hpp index fd7c0d480e..50476c62e3 100644 --- a/forward_command_controller/include/forward_command_controller/multi_interface_forward_command_controller.hpp +++ b/forward_command_controller/include/forward_command_controller/multi_interface_forward_command_controller.hpp @@ -16,8 +16,6 @@ #define FORWARD_COMMAND_CONTROLLER__MULTI_INTERFACE_FORWARD_COMMAND_CONTROLLER_HPP_ #include -#include -#include #include "forward_command_controller/forward_controllers_base.hpp" #include "forward_command_controller/visibility_control.h" diff --git a/forward_command_controller/src/forward_command_controller.cpp b/forward_command_controller/src/forward_command_controller.cpp index 0305a37e4e..78fe8c9191 100644 --- a/forward_command_controller/src/forward_command_controller.cpp +++ b/forward_command_controller/src/forward_command_controller.cpp @@ -14,14 +14,11 @@ #include "forward_command_controller/forward_command_controller.hpp" -#include #include #include -#include #include #include "rclcpp/logging.hpp" -#include "rclcpp/qos.hpp" namespace forward_command_controller { diff --git a/forward_command_controller/src/forward_controllers_base.cpp b/forward_command_controller/src/forward_controllers_base.cpp index e4ea46fcc5..331d3f9eea 100644 --- a/forward_command_controller/src/forward_controllers_base.cpp +++ b/forward_command_controller/src/forward_controllers_base.cpp @@ -14,10 +14,8 @@ #include "forward_command_controller/forward_controllers_base.hpp" -#include #include #include -#include #include #include "controller_interface/helpers.hpp" From 85d3be7fe11cc1c11d8731403b596e72a33c595e Mon Sep 17 00:00:00 2001 From: Henry Moore Date: Mon, 8 Jul 2024 14:02:44 +0000 Subject: [PATCH 08/22] clean up headers for gripper controllers Signed-off-by: Henry Moore Signed-off-by: Henry Moore --- .../gripper_controllers/hardware_interface_adapter.hpp | 1 - gripper_controllers/test/test_gripper_controllers.cpp | 4 ---- gripper_controllers/test/test_gripper_controllers.hpp | 4 ++-- 3 files changed, 2 insertions(+), 7 deletions(-) diff --git a/gripper_controllers/include/gripper_controllers/hardware_interface_adapter.hpp b/gripper_controllers/include/gripper_controllers/hardware_interface_adapter.hpp index b125ab12d0..2cc24794b8 100644 --- a/gripper_controllers/include/gripper_controllers/hardware_interface_adapter.hpp +++ b/gripper_controllers/include/gripper_controllers/hardware_interface_adapter.hpp @@ -22,7 +22,6 @@ #include #include #include -#include #include "control_toolbox/pid.hpp" #include "hardware_interface/types/hardware_interface_type_values.hpp" diff --git a/gripper_controllers/test/test_gripper_controllers.cpp b/gripper_controllers/test/test_gripper_controllers.cpp index 9f7e024917..97fef24eaf 100644 --- a/gripper_controllers/test/test_gripper_controllers.cpp +++ b/gripper_controllers/test/test_gripper_controllers.cpp @@ -12,7 +12,6 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include #include #include #include @@ -23,9 +22,6 @@ #include "test_gripper_controllers.hpp" #include "hardware_interface/loaned_command_interface.hpp" -#include "hardware_interface/types/hardware_interface_return_values.hpp" -#include "lifecycle_msgs/msg/state.hpp" -#include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp" using hardware_interface::LoanedCommandInterface; using hardware_interface::LoanedStateInterface; diff --git a/gripper_controllers/test/test_gripper_controllers.hpp b/gripper_controllers/test/test_gripper_controllers.hpp index 4983c8102d..cb92bc9dcd 100644 --- a/gripper_controllers/test/test_gripper_controllers.hpp +++ b/gripper_controllers/test/test_gripper_controllers.hpp @@ -15,12 +15,12 @@ #ifndef TEST_GRIPPER_CONTROLLERS_HPP_ #define TEST_GRIPPER_CONTROLLERS_HPP_ +#include + #include #include #include -#include "gmock/gmock.h" - #include "gripper_controllers/gripper_action_controller.hpp" #include "hardware_interface/handle.hpp" #include "hardware_interface/types/hardware_interface_type_values.hpp" From affca3b8e7afcc07daf914d671fcbffd1bffa8ab Mon Sep 17 00:00:00 2001 From: Henry Moore Date: Mon, 8 Jul 2024 14:07:01 +0000 Subject: [PATCH 09/22] clean up headers for imu sensor broadcaster Signed-off-by: Henry Moore Signed-off-by: Henry Moore --- .../imu_sensor_broadcaster/imu_sensor_broadcaster.hpp | 3 --- imu_sensor_broadcaster/test/test_imu_sensor_broadcaster.cpp | 5 ----- imu_sensor_broadcaster/test/test_imu_sensor_broadcaster.hpp | 4 ++-- 3 files changed, 2 insertions(+), 10 deletions(-) diff --git a/imu_sensor_broadcaster/include/imu_sensor_broadcaster/imu_sensor_broadcaster.hpp b/imu_sensor_broadcaster/include/imu_sensor_broadcaster/imu_sensor_broadcaster.hpp index cd2a44d32b..1ba0b032ac 100644 --- a/imu_sensor_broadcaster/include/imu_sensor_broadcaster/imu_sensor_broadcaster.hpp +++ b/imu_sensor_broadcaster/include/imu_sensor_broadcaster/imu_sensor_broadcaster.hpp @@ -20,14 +20,11 @@ #define IMU_SENSOR_BROADCASTER__IMU_SENSOR_BROADCASTER_HPP_ #include -#include -#include #include "controller_interface/controller_interface.hpp" #include "imu_sensor_broadcaster/visibility_control.h" // auto-generated by generate_parameter_library #include "imu_sensor_broadcaster_parameters.hpp" -#include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp" #include "rclcpp_lifecycle/state.hpp" #include "realtime_tools/realtime_publisher.h" #include "semantic_components/imu_sensor.hpp" diff --git a/imu_sensor_broadcaster/test/test_imu_sensor_broadcaster.cpp b/imu_sensor_broadcaster/test/test_imu_sensor_broadcaster.cpp index 25a39a8b4d..40c54ff1f5 100644 --- a/imu_sensor_broadcaster/test/test_imu_sensor_broadcaster.cpp +++ b/imu_sensor_broadcaster/test/test_imu_sensor_broadcaster.cpp @@ -23,12 +23,7 @@ #include #include "hardware_interface/loaned_state_interface.hpp" -#include "hardware_interface/types/hardware_interface_return_values.hpp" -#include "hardware_interface/types/hardware_interface_type_values.hpp" -#include "imu_sensor_broadcaster/imu_sensor_broadcaster.hpp" -#include "lifecycle_msgs/msg/state.hpp" #include "rclcpp/utilities.hpp" -#include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp" #include "sensor_msgs/msg/imu.hpp" using hardware_interface::LoanedStateInterface; diff --git a/imu_sensor_broadcaster/test/test_imu_sensor_broadcaster.hpp b/imu_sensor_broadcaster/test/test_imu_sensor_broadcaster.hpp index 01423724b8..0f3286c302 100644 --- a/imu_sensor_broadcaster/test/test_imu_sensor_broadcaster.hpp +++ b/imu_sensor_broadcaster/test/test_imu_sensor_broadcaster.hpp @@ -19,11 +19,11 @@ #ifndef TEST_IMU_SENSOR_BROADCASTER_HPP_ #define TEST_IMU_SENSOR_BROADCASTER_HPP_ +#include + #include #include -#include "gmock/gmock.h" - #include "imu_sensor_broadcaster/imu_sensor_broadcaster.hpp" // subclassing and friending so we can access member variables From 6103cef27b1ff326c80dc464c440d8f15c40390d Mon Sep 17 00:00:00 2001 From: Henry Moore Date: Mon, 8 Jul 2024 14:10:18 +0000 Subject: [PATCH 10/22] clean up headers for joint state broadcaster Signed-off-by: Henry Moore Signed-off-by: Henry Moore --- .../joint_state_broadcaster/joint_state_broadcaster.hpp | 2 -- joint_state_broadcaster/src/joint_state_broadcaster.cpp | 7 +------ .../test/test_joint_state_broadcaster.cpp | 5 +---- .../test/test_joint_state_broadcaster.hpp | 4 ++-- 4 files changed, 4 insertions(+), 14 deletions(-) diff --git a/joint_state_broadcaster/include/joint_state_broadcaster/joint_state_broadcaster.hpp b/joint_state_broadcaster/include/joint_state_broadcaster/joint_state_broadcaster.hpp index f1c532dce9..b3fa69f94c 100644 --- a/joint_state_broadcaster/include/joint_state_broadcaster/joint_state_broadcaster.hpp +++ b/joint_state_broadcaster/include/joint_state_broadcaster/joint_state_broadcaster.hpp @@ -25,8 +25,6 @@ #include "joint_state_broadcaster/visibility_control.h" // auto-generated by generate_parameter_library #include "joint_state_broadcaster_parameters.hpp" -#include "rclcpp_lifecycle/lifecycle_publisher.hpp" -#include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp" #include "realtime_tools/realtime_publisher.h" #include "sensor_msgs/msg/joint_state.hpp" diff --git a/joint_state_broadcaster/src/joint_state_broadcaster.cpp b/joint_state_broadcaster/src/joint_state_broadcaster.cpp index a53fe2b3c4..5eb0a9b9b6 100644 --- a/joint_state_broadcaster/src/joint_state_broadcaster.cpp +++ b/joint_state_broadcaster/src/joint_state_broadcaster.cpp @@ -14,21 +14,16 @@ #include "joint_state_broadcaster/joint_state_broadcaster.hpp" -#include +#include #include #include #include #include #include -#include "hardware_interface/types/hardware_interface_return_values.hpp" #include "hardware_interface/types/hardware_interface_type_values.hpp" -#include "rclcpp/clock.hpp" #include "rclcpp/qos.hpp" #include "rclcpp/time.hpp" -#include "rclcpp_lifecycle/lifecycle_node.hpp" -#include "rcpputils/split.hpp" -#include "rcutils/logging_macros.h" #include "std_msgs/msg/header.hpp" namespace rclcpp_lifecycle diff --git a/joint_state_broadcaster/test/test_joint_state_broadcaster.cpp b/joint_state_broadcaster/test/test_joint_state_broadcaster.cpp index 2faa55f467..54c8f998e9 100644 --- a/joint_state_broadcaster/test/test_joint_state_broadcaster.cpp +++ b/joint_state_broadcaster/test/test_joint_state_broadcaster.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include +#include #include #include @@ -23,12 +23,9 @@ #include "gmock/gmock.h" #include "hardware_interface/loaned_state_interface.hpp" -#include "hardware_interface/types/hardware_interface_return_values.hpp" #include "hardware_interface/types/hardware_interface_type_values.hpp" -#include "joint_state_broadcaster/joint_state_broadcaster.hpp" #include "lifecycle_msgs/msg/state.hpp" #include "rclcpp/utilities.hpp" -#include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp" #include "test_joint_state_broadcaster.hpp" using hardware_interface::HW_IF_EFFORT; diff --git a/joint_state_broadcaster/test/test_joint_state_broadcaster.hpp b/joint_state_broadcaster/test/test_joint_state_broadcaster.hpp index fa9d29c936..3e54116d5c 100644 --- a/joint_state_broadcaster/test/test_joint_state_broadcaster.hpp +++ b/joint_state_broadcaster/test/test_joint_state_broadcaster.hpp @@ -15,12 +15,12 @@ #ifndef TEST_JOINT_STATE_BROADCASTER_HPP_ #define TEST_JOINT_STATE_BROADCASTER_HPP_ +#include + #include #include #include -#include "gmock/gmock.h" - #include "joint_state_broadcaster/joint_state_broadcaster.hpp" #include "hardware_interface/types/hardware_interface_type_values.hpp" From 1beaa0943449fb0bf30b503de6674391eb557421 Mon Sep 17 00:00:00 2001 From: Henry Moore Date: Mon, 8 Jul 2024 14:16:18 +0000 Subject: [PATCH 11/22] clean up headers for joint trajectory controller Signed-off-by: Henry Moore Signed-off-by: Henry Moore --- .../joint_trajectory_controller.hpp | 2 -- .../joint_trajectory_controller/tolerances.hpp | 3 --- .../src/joint_trajectory_controller.cpp | 3 --- joint_trajectory_controller/src/trajectory.cpp | 1 - joint_trajectory_controller/test/test_assets.hpp | 2 -- .../test/test_load_joint_trajectory_controller.cpp | 4 ++-- .../test/test_tolerances.cpp | 5 ++--- .../test/test_trajectory.cpp | 7 ++----- .../test/test_trajectory_actions.cpp | 8 -------- .../test/test_trajectory_controller.cpp | 14 +------------- 10 files changed, 7 insertions(+), 42 deletions(-) diff --git a/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller.hpp b/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller.hpp index c3fbb58456..e22dee8946 100644 --- a/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller.hpp +++ b/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller.hpp @@ -15,7 +15,6 @@ #ifndef JOINT_TRAJECTORY_CONTROLLER__JOINT_TRAJECTORY_CONTROLLER_HPP_ #define JOINT_TRAJECTORY_CONTROLLER__JOINT_TRAJECTORY_CONTROLLER_HPP_ -#include #include // for std::reference_wrapper #include #include @@ -36,7 +35,6 @@ #include "rclcpp/time.hpp" #include "rclcpp/timer.hpp" #include "rclcpp_action/server.hpp" -#include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp" #include "rclcpp_lifecycle/state.hpp" #include "realtime_tools/realtime_buffer.h" #include "realtime_tools/realtime_publisher.h" diff --git a/joint_trajectory_controller/include/joint_trajectory_controller/tolerances.hpp b/joint_trajectory_controller/include/joint_trajectory_controller/tolerances.hpp index 1998930182..bdaf8910f4 100644 --- a/joint_trajectory_controller/include/joint_trajectory_controller/tolerances.hpp +++ b/joint_trajectory_controller/include/joint_trajectory_controller/tolerances.hpp @@ -37,9 +37,6 @@ #include "control_msgs/action/follow_joint_trajectory.hpp" #include "joint_trajectory_controller_parameters.hpp" -#include "rclcpp/node.hpp" -#include "rclcpp/time.hpp" - namespace joint_trajectory_controller { /** diff --git a/joint_trajectory_controller/src/joint_trajectory_controller.cpp b/joint_trajectory_controller/src/joint_trajectory_controller.cpp index 31598bb813..ddcf57f508 100644 --- a/joint_trajectory_controller/src/joint_trajectory_controller.cpp +++ b/joint_trajectory_controller/src/joint_trajectory_controller.cpp @@ -22,10 +22,7 @@ #include #include "angles/angles.h" -#include "builtin_interfaces/msg/duration.hpp" -#include "builtin_interfaces/msg/time.hpp" #include "controller_interface/helpers.hpp" -#include "hardware_interface/types/hardware_interface_return_values.hpp" #include "hardware_interface/types/hardware_interface_type_values.hpp" #include "joint_trajectory_controller/trajectory.hpp" #include "lifecycle_msgs/msg/state.hpp" diff --git a/joint_trajectory_controller/src/trajectory.cpp b/joint_trajectory_controller/src/trajectory.cpp index 0ed7f2ff13..54f785a070 100644 --- a/joint_trajectory_controller/src/trajectory.cpp +++ b/joint_trajectory_controller/src/trajectory.cpp @@ -20,7 +20,6 @@ #include "hardware_interface/macros.hpp" #include "rclcpp/duration.hpp" #include "rclcpp/time.hpp" -#include "std_msgs/msg/header.hpp" namespace joint_trajectory_controller { diff --git a/joint_trajectory_controller/test/test_assets.hpp b/joint_trajectory_controller/test/test_assets.hpp index ccdbaf4c8a..df6f2a37c7 100644 --- a/joint_trajectory_controller/test/test_assets.hpp +++ b/joint_trajectory_controller/test/test_assets.hpp @@ -15,8 +15,6 @@ #ifndef TEST_ASSETS_HPP_ #define TEST_ASSETS_HPP_ -#include - namespace test_trajectory_controllers { const auto urdf_rrrbot_revolute = diff --git a/joint_trajectory_controller/test/test_load_joint_trajectory_controller.cpp b/joint_trajectory_controller/test/test_load_joint_trajectory_controller.cpp index eb1a3691e6..fc1b5f5e34 100644 --- a/joint_trajectory_controller/test/test_load_joint_trajectory_controller.cpp +++ b/joint_trajectory_controller/test/test_load_joint_trajectory_controller.cpp @@ -12,9 +12,9 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include +#include -#include "gmock/gmock.h" +#include #include "controller_manager/controller_manager.hpp" #include "hardware_interface/resource_manager.hpp" diff --git a/joint_trajectory_controller/test/test_tolerances.cpp b/joint_trajectory_controller/test/test_tolerances.cpp index 66914b6da4..5e4da8cb30 100644 --- a/joint_trajectory_controller/test/test_tolerances.cpp +++ b/joint_trajectory_controller/test/test_tolerances.cpp @@ -12,12 +12,11 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include +#include + #include -#include #include -#include "gmock/gmock.h" #include "rclcpp/duration.hpp" #include "rclcpp/logger.hpp" #include "trajectory_msgs/msg/joint_trajectory.hpp" diff --git a/joint_trajectory_controller/test/test_trajectory.cpp b/joint_trajectory_controller/test/test_trajectory.cpp index 6e0c53ac77..b0d7ad8e18 100644 --- a/joint_trajectory_controller/test/test_trajectory.cpp +++ b/joint_trajectory_controller/test/test_trajectory.cpp @@ -12,15 +12,12 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include +#include + #include #include #include -#include "gmock/gmock.h" - -#include "builtin_interfaces/msg/duration.hpp" -#include "builtin_interfaces/msg/time.hpp" #include "joint_trajectory_controller/trajectory.hpp" #include "rclcpp/clock.hpp" #include "rclcpp/duration.hpp" diff --git a/joint_trajectory_controller/test/test_trajectory_actions.cpp b/joint_trajectory_controller/test/test_trajectory_actions.cpp index fb749ac250..d0218014cf 100644 --- a/joint_trajectory_controller/test/test_trajectory_actions.cpp +++ b/joint_trajectory_controller/test/test_trajectory_actions.cpp @@ -15,38 +15,30 @@ #ifndef _MSC_VER #include #endif -#include #include #include #include #include -#include #include #include -#include #include #include #include "control_msgs/action/detail/follow_joint_trajectory__struct.hpp" -#include "controller_interface/controller_interface.hpp" #include "gtest/gtest.h" -#include "hardware_interface/resource_manager.hpp" #include "rclcpp/clock.hpp" #include "rclcpp/duration.hpp" #include "rclcpp/executors/multi_threaded_executor.hpp" #include "rclcpp/logging.hpp" -#include "rclcpp/node.hpp" #include "rclcpp/parameter.hpp" #include "rclcpp/time.hpp" #include "rclcpp/utilities.hpp" #include "rclcpp_action/client.hpp" #include "rclcpp_action/client_goal_handle.hpp" #include "rclcpp_action/create_client.hpp" -#include "rclcpp_lifecycle/lifecycle_node.hpp" #include "trajectory_msgs/msg/joint_trajectory.hpp" #include "trajectory_msgs/msg/joint_trajectory_point.hpp" -#include "joint_trajectory_controller/joint_trajectory_controller.hpp" #include "test_trajectory_controller_utils.hpp" using std::placeholders::_1; diff --git a/joint_trajectory_controller/test/test_trajectory_controller.cpp b/joint_trajectory_controller/test/test_trajectory_controller.cpp index 611c1d4c1b..915ebd56e0 100644 --- a/joint_trajectory_controller/test/test_trajectory_controller.cpp +++ b/joint_trajectory_controller/test/test_trajectory_controller.cpp @@ -12,35 +12,23 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include +#include #include #include -#include #include -#include -#include #include -#include #include #include #include "builtin_interfaces/msg/duration.hpp" -#include "builtin_interfaces/msg/time.hpp" -#include "controller_interface/controller_interface.hpp" -#include "hardware_interface/resource_manager.hpp" #include "lifecycle_msgs/msg/state.hpp" #include "rclcpp/clock.hpp" #include "rclcpp/duration.hpp" #include "rclcpp/executors/multi_threaded_executor.hpp" #include "rclcpp/executors/single_threaded_executor.hpp" -#include "rclcpp/node.hpp" #include "rclcpp/parameter.hpp" -#include "rclcpp/publisher.hpp" -#include "rclcpp/qos.hpp" -#include "rclcpp/subscription.hpp" #include "rclcpp/time.hpp" -#include "rclcpp/utilities.hpp" #include "trajectory_msgs/msg/joint_trajectory.hpp" #include "trajectory_msgs/msg/joint_trajectory_point.hpp" From 0bca2a89eb7b8df5d4d1c057aa19b4a730f9ed3a Mon Sep 17 00:00:00 2001 From: Henry Moore Date: Wed, 10 Jul 2024 14:22:57 +0000 Subject: [PATCH 12/22] clean up headers for pid controller Signed-off-by: Henry Moore Signed-off-by: Henry Moore --- pid_controller/include/pid_controller/pid_controller.hpp | 6 ------ pid_controller/src/pid_controller.cpp | 3 --- pid_controller/test/test_pid_controller.cpp | 1 - pid_controller/test/test_pid_controller.hpp | 7 ++----- pid_controller/test/test_pid_controller_preceding.cpp | 2 -- 5 files changed, 2 insertions(+), 17 deletions(-) diff --git a/pid_controller/include/pid_controller/pid_controller.hpp b/pid_controller/include/pid_controller/pid_controller.hpp index f7b8cc4491..236b067929 100644 --- a/pid_controller/include/pid_controller/pid_controller.hpp +++ b/pid_controller/include/pid_controller/pid_controller.hpp @@ -28,17 +28,11 @@ #include "controller_interface/chainable_controller_interface.hpp" #include "pid_controller/visibility_control.h" #include "pid_controller_parameters.hpp" -#include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp" #include "rclcpp_lifecycle/state.hpp" #include "realtime_tools/realtime_buffer.h" #include "realtime_tools/realtime_publisher.h" #include "std_srvs/srv/set_bool.hpp" -#include "control_msgs/msg/joint_controller_state.hpp" - -#include "control_msgs/msg/pid_state.hpp" -#include "trajectory_msgs/msg/joint_trajectory_point.hpp" - namespace pid_controller { diff --git a/pid_controller/src/pid_controller.cpp b/pid_controller/src/pid_controller.cpp index b76926d5a0..c8e6cc0fe0 100644 --- a/pid_controller/src/pid_controller.cpp +++ b/pid_controller/src/pid_controller.cpp @@ -24,9 +24,6 @@ #include "angles/angles.h" #include "control_msgs/msg/single_dof_state.hpp" -#include "controller_interface/helpers.hpp" - -#include "rclcpp/rclcpp.hpp" #include "rclcpp/version.h" namespace diff --git a/pid_controller/test/test_pid_controller.cpp b/pid_controller/test/test_pid_controller.cpp index a44347f5f1..e3fd6ee959 100644 --- a/pid_controller/test/test_pid_controller.cpp +++ b/pid_controller/test/test_pid_controller.cpp @@ -20,7 +20,6 @@ #include #include #include -#include #include using pid_controller::feedforward_mode_type; diff --git a/pid_controller/test/test_pid_controller.hpp b/pid_controller/test/test_pid_controller.hpp index 1c356263e7..c2a5df54fb 100644 --- a/pid_controller/test/test_pid_controller.hpp +++ b/pid_controller/test/test_pid_controller.hpp @@ -18,20 +18,17 @@ #ifndef TEST_PID_CONTROLLER_HPP_ #define TEST_PID_CONTROLLER_HPP_ +#include + #include -#include #include #include -#include #include #include -#include "gmock/gmock.h" #include "hardware_interface/loaned_command_interface.hpp" #include "hardware_interface/loaned_state_interface.hpp" -#include "hardware_interface/types/hardware_interface_return_values.hpp" #include "pid_controller/pid_controller.hpp" -#include "rclcpp/parameter_value.hpp" #include "rclcpp/time.hpp" #include "rclcpp/utilities.hpp" #include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp" diff --git a/pid_controller/test/test_pid_controller_preceding.cpp b/pid_controller/test/test_pid_controller_preceding.cpp index 3e17e69286..498ca633da 100644 --- a/pid_controller/test/test_pid_controller_preceding.cpp +++ b/pid_controller/test/test_pid_controller_preceding.cpp @@ -17,10 +17,8 @@ #include "test_pid_controller.hpp" -#include #include #include -#include #include using pid_controller::feedforward_mode_type; From 5872972c1b5ef24251315b89e0d5fd29b66874d2 Mon Sep 17 00:00:00 2001 From: Henry Moore Date: Wed, 10 Jul 2024 14:27:00 +0000 Subject: [PATCH 13/22] clean up headers for position controllers Signed-off-by: Henry Moore Signed-off-by: Henry Moore --- .../position_controllers/joint_group_position_controller.hpp | 3 --- position_controllers/src/joint_group_position_controller.cpp | 1 - .../test/test_joint_group_position_controller.cpp | 5 ----- .../test/test_joint_group_position_controller.hpp | 4 ++-- 4 files changed, 2 insertions(+), 11 deletions(-) diff --git a/position_controllers/include/position_controllers/joint_group_position_controller.hpp b/position_controllers/include/position_controllers/joint_group_position_controller.hpp index 47705b6a3d..4eaf9086e4 100644 --- a/position_controllers/include/position_controllers/joint_group_position_controller.hpp +++ b/position_controllers/include/position_controllers/joint_group_position_controller.hpp @@ -15,11 +15,8 @@ #ifndef POSITION_CONTROLLERS__JOINT_GROUP_POSITION_CONTROLLER_HPP_ #define POSITION_CONTROLLERS__JOINT_GROUP_POSITION_CONTROLLER_HPP_ -#include - #include "forward_command_controller/forward_command_controller.hpp" #include "position_controllers/visibility_control.h" -#include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp" namespace position_controllers { diff --git a/position_controllers/src/joint_group_position_controller.cpp b/position_controllers/src/joint_group_position_controller.cpp index 8335a200c4..1074ba7ef7 100644 --- a/position_controllers/src/joint_group_position_controller.cpp +++ b/position_controllers/src/joint_group_position_controller.cpp @@ -17,7 +17,6 @@ #include "controller_interface/controller_interface.hpp" #include "hardware_interface/types/hardware_interface_type_values.hpp" #include "position_controllers/joint_group_position_controller.hpp" -#include "rclcpp/logging.hpp" #include "rclcpp/parameter.hpp" namespace position_controllers diff --git a/position_controllers/test/test_joint_group_position_controller.cpp b/position_controllers/test/test_joint_group_position_controller.cpp index 60bff556db..f6244b9dd2 100644 --- a/position_controllers/test/test_joint_group_position_controller.cpp +++ b/position_controllers/test/test_joint_group_position_controller.cpp @@ -12,19 +12,14 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include - -#include #include #include #include #include #include "hardware_interface/loaned_command_interface.hpp" -#include "hardware_interface/types/hardware_interface_return_values.hpp" #include "lifecycle_msgs/msg/state.hpp" #include "rclcpp/utilities.hpp" -#include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp" #include "test_joint_group_position_controller.hpp" using CallbackReturn = controller_interface::CallbackReturn; diff --git a/position_controllers/test/test_joint_group_position_controller.hpp b/position_controllers/test/test_joint_group_position_controller.hpp index 93149d8e19..ff3e212973 100644 --- a/position_controllers/test/test_joint_group_position_controller.hpp +++ b/position_controllers/test/test_joint_group_position_controller.hpp @@ -15,12 +15,12 @@ #ifndef TEST_JOINT_GROUP_POSITION_CONTROLLER_HPP_ #define TEST_JOINT_GROUP_POSITION_CONTROLLER_HPP_ +#include + #include #include #include -#include "gmock/gmock.h" - #include "hardware_interface/handle.hpp" #include "hardware_interface/types/hardware_interface_type_values.hpp" #include "position_controllers/joint_group_position_controller.hpp" From 010c8e6feed39c2e77f2daa1f8e36679311912d9 Mon Sep 17 00:00:00 2001 From: Henry Moore Date: Wed, 10 Jul 2024 14:30:06 +0000 Subject: [PATCH 14/22] clean up headers for range sensor broadcaster Signed-off-by: Henry Moore Signed-off-by: Henry Moore --- .../range_sensor_broadcaster/range_sensor_broadcaster.hpp | 3 --- 1 file changed, 3 deletions(-) diff --git a/range_sensor_broadcaster/include/range_sensor_broadcaster/range_sensor_broadcaster.hpp b/range_sensor_broadcaster/include/range_sensor_broadcaster/range_sensor_broadcaster.hpp index b2e5fbfac0..5a93f95982 100644 --- a/range_sensor_broadcaster/include/range_sensor_broadcaster/range_sensor_broadcaster.hpp +++ b/range_sensor_broadcaster/include/range_sensor_broadcaster/range_sensor_broadcaster.hpp @@ -20,13 +20,10 @@ #define RANGE_SENSOR_BROADCASTER__RANGE_SENSOR_BROADCASTER_HPP_ #include -#include -#include #include "controller_interface/controller_interface.hpp" #include "range_sensor_broadcaster/visibility_control.h" #include "range_sensor_broadcaster_parameters.hpp" -#include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp" #include "rclcpp_lifecycle/state.hpp" #include "realtime_tools/realtime_publisher.h" #include "semantic_components/range_sensor.hpp" From 16d93611746aee12c753d08fb18e8a79d48d8d60 Mon Sep 17 00:00:00 2001 From: Henry Moore Date: Wed, 10 Jul 2024 14:34:30 +0000 Subject: [PATCH 15/22] clean up headers for steering controllers Signed-off-by: Henry Moore Signed-off-by: Henry Moore --- .../steering_controllers_library.hpp | 6 ------ .../steering_controllers_library/steering_odometry.hpp | 3 +-- .../src/steering_controllers_library.cpp | 4 ---- steering_controllers_library/src/steering_odometry.cpp | 1 - .../test/test_steering_controllers_library.cpp | 3 --- .../test/test_steering_controllers_library.hpp | 8 ++------ .../test/test_steering_odometry.cpp | 2 +- 7 files changed, 4 insertions(+), 23 deletions(-) diff --git a/steering_controllers_library/include/steering_controllers_library/steering_controllers_library.hpp b/steering_controllers_library/include/steering_controllers_library/steering_controllers_library.hpp index e417b9fcd1..84a892d79e 100644 --- a/steering_controllers_library/include/steering_controllers_library/steering_controllers_library.hpp +++ b/steering_controllers_library/include/steering_controllers_library/steering_controllers_library.hpp @@ -15,21 +15,16 @@ #ifndef STEERING_CONTROLLERS_LIBRARY__STEERING_CONTROLLERS_LIBRARY_HPP_ #define STEERING_CONTROLLERS_LIBRARY__STEERING_CONTROLLERS_LIBRARY_HPP_ -#include #include #include -#include #include -#include #include #include "controller_interface/chainable_controller_interface.hpp" #include "hardware_interface/handle.hpp" -#include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp" #include "rclcpp_lifecycle/state.hpp" #include "realtime_tools/realtime_buffer.h" #include "realtime_tools/realtime_publisher.h" -#include "std_srvs/srv/set_bool.hpp" #include "steering_controllers_library/steering_odometry.hpp" #include "steering_controllers_library/visibility_control.h" #include "steering_controllers_library_parameters.hpp" @@ -37,7 +32,6 @@ // TODO(anyone): Replace with controller specific messages #include "ackermann_msgs/msg/ackermann_drive_stamped.hpp" #include "control_msgs/msg/steering_controller_status.hpp" -#include "geometry_msgs/msg/twist.hpp" #include "geometry_msgs/msg/twist_stamped.hpp" #include "nav_msgs/msg/odometry.hpp" #include "tf2_msgs/msg/tf_message.hpp" diff --git a/steering_controllers_library/include/steering_controllers_library/steering_odometry.hpp b/steering_controllers_library/include/steering_controllers_library/steering_odometry.hpp index dadc5730d4..5b67797b79 100644 --- a/steering_controllers_library/include/steering_controllers_library/steering_odometry.hpp +++ b/steering_controllers_library/include/steering_controllers_library/steering_odometry.hpp @@ -22,8 +22,7 @@ #include #include -#include "realtime_tools/realtime_buffer.h" -#include "realtime_tools/realtime_publisher.h" +#include // \note The versions conditioning is added here to support the source-compatibility with Humble #if RCPPUTILS_VERSION_MAJOR >= 2 && RCPPUTILS_VERSION_MINOR >= 6 diff --git a/steering_controllers_library/src/steering_controllers_library.cpp b/steering_controllers_library/src/steering_controllers_library.cpp index 1aef556212..f193098f82 100644 --- a/steering_controllers_library/src/steering_controllers_library.cpp +++ b/steering_controllers_library/src/steering_controllers_library.cpp @@ -16,15 +16,11 @@ #include #include -#include #include #include #include -#include "controller_interface/helpers.hpp" #include "hardware_interface/types/hardware_interface_type_values.hpp" -#include "lifecycle_msgs/msg/state.hpp" -#include "tf2/transform_datatypes.h" #include "tf2_geometry_msgs/tf2_geometry_msgs.hpp" namespace diff --git a/steering_controllers_library/src/steering_odometry.cpp b/steering_controllers_library/src/steering_odometry.cpp index f8b42771e2..ba431faf33 100644 --- a/steering_controllers_library/src/steering_odometry.cpp +++ b/steering_controllers_library/src/steering_odometry.cpp @@ -20,7 +20,6 @@ #include "steering_controllers_library/steering_odometry.hpp" #include -#include #include namespace steering_odometry diff --git a/steering_controllers_library/test/test_steering_controllers_library.cpp b/steering_controllers_library/test/test_steering_controllers_library.cpp index 98ab97fdc3..fca7d00946 100644 --- a/steering_controllers_library/test/test_steering_controllers_library.cpp +++ b/steering_controllers_library/test/test_steering_controllers_library.cpp @@ -17,11 +17,8 @@ #include #include #include -#include #include -#include "hardware_interface/types/hardware_interface_type_values.hpp" - class SteeringControllersLibraryTest : public SteeringControllersLibraryFixture { diff --git a/steering_controllers_library/test/test_steering_controllers_library.hpp b/steering_controllers_library/test/test_steering_controllers_library.hpp index b6fe1770c1..0c57bcdd17 100644 --- a/steering_controllers_library/test/test_steering_controllers_library.hpp +++ b/steering_controllers_library/test/test_steering_controllers_library.hpp @@ -15,21 +15,17 @@ #ifndef TEST_STEERING_CONTROLLERS_LIBRARY_HPP_ #define TEST_STEERING_CONTROLLERS_LIBRARY_HPP_ +#include + #include -#include #include #include -#include #include #include -#include "gmock/gmock.h" #include "hardware_interface/loaned_command_interface.hpp" #include "hardware_interface/loaned_state_interface.hpp" -#include "hardware_interface/types/hardware_interface_return_values.hpp" -#include "rclcpp/parameter_value.hpp" #include "rclcpp/time.hpp" -#include "rclcpp/utilities.hpp" #include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp" #include "steering_controllers_library/steering_controllers_library.hpp" diff --git a/steering_controllers_library/test/test_steering_odometry.cpp b/steering_controllers_library/test/test_steering_odometry.cpp index d93e29eca5..e3c8db6c15 100644 --- a/steering_controllers_library/test/test_steering_odometry.cpp +++ b/steering_controllers_library/test/test_steering_odometry.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "gmock/gmock.h" +#include #include "steering_controllers_library/steering_odometry.hpp" From 808d68878b4fb87f7d58dd97c8325cd341e04a16 Mon Sep 17 00:00:00 2001 From: Henry Moore Date: Wed, 10 Jul 2024 14:38:42 +0000 Subject: [PATCH 16/22] clean up headers for tricycle controller Signed-off-by: Henry Moore Signed-off-by: Henry Moore --- tricycle_controller/include/tricycle_controller/odometry.hpp | 2 +- .../include/tricycle_controller/tricycle_controller.hpp | 3 --- tricycle_controller/test/test_tricycle_controller.cpp | 2 -- 3 files changed, 1 insertion(+), 6 deletions(-) diff --git a/tricycle_controller/include/tricycle_controller/odometry.hpp b/tricycle_controller/include/tricycle_controller/odometry.hpp index 13d65a980a..f3252df12f 100644 --- a/tricycle_controller/include/tricycle_controller/odometry.hpp +++ b/tricycle_controller/include/tricycle_controller/odometry.hpp @@ -21,7 +21,7 @@ #include -#include "rclcpp/time.hpp" +#include // \note The versions conditioning is added here to support the source-compatibility with Humble #if RCPPUTILS_VERSION_MAJOR >= 2 && RCPPUTILS_VERSION_MINOR >= 6 #include "rcpputils/rolling_mean_accumulator.hpp" diff --git a/tricycle_controller/include/tricycle_controller/tricycle_controller.hpp b/tricycle_controller/include/tricycle_controller/tricycle_controller.hpp index b6f9aae417..010a890f52 100644 --- a/tricycle_controller/include/tricycle_controller/tricycle_controller.hpp +++ b/tricycle_controller/include/tricycle_controller/tricycle_controller.hpp @@ -31,12 +31,9 @@ #include "controller_interface/controller_interface.hpp" #include "geometry_msgs/msg/twist.hpp" #include "geometry_msgs/msg/twist_stamped.hpp" -#include "hardware_interface/handle.hpp" #include "nav_msgs/msg/odometry.hpp" -#include "rclcpp/rclcpp.hpp" #include "rclcpp_lifecycle/state.hpp" #include "realtime_tools/realtime_box.h" -#include "realtime_tools/realtime_buffer.h" #include "realtime_tools/realtime_publisher.h" #include "std_srvs/srv/empty.hpp" #include "tf2_msgs/msg/tf_message.hpp" diff --git a/tricycle_controller/test/test_tricycle_controller.cpp b/tricycle_controller/test/test_tricycle_controller.cpp index 4be1680980..903749a5b9 100644 --- a/tricycle_controller/test/test_tricycle_controller.cpp +++ b/tricycle_controller/test/test_tricycle_controller.cpp @@ -18,7 +18,6 @@ #include -#include #include #include #include @@ -29,7 +28,6 @@ #include "hardware_interface/loaned_state_interface.hpp" #include "hardware_interface/types/hardware_interface_type_values.hpp" #include "lifecycle_msgs/msg/state.hpp" -#include "rclcpp/rclcpp.hpp" #include "tricycle_controller/tricycle_controller.hpp" using CallbackReturn = controller_interface::CallbackReturn; From 61c277a8115e034b62e63d1a3736104c072890f4 Mon Sep 17 00:00:00 2001 From: Henry Moore Date: Wed, 10 Jul 2024 14:41:59 +0000 Subject: [PATCH 17/22] clean up headers for tricycle steering controller Signed-off-by: Henry Moore Signed-off-by: Henry Moore --- .../test/test_tricycle_steering_controller.cpp | 2 -- .../test/test_tricycle_steering_controller.hpp | 8 ++------ .../test/test_tricycle_steering_controller_preceeding.cpp | 2 -- 3 files changed, 2 insertions(+), 10 deletions(-) diff --git a/tricycle_steering_controller/test/test_tricycle_steering_controller.cpp b/tricycle_steering_controller/test/test_tricycle_steering_controller.cpp index 328f5e4d6a..6d0b49ec6f 100644 --- a/tricycle_steering_controller/test/test_tricycle_steering_controller.cpp +++ b/tricycle_steering_controller/test/test_tricycle_steering_controller.cpp @@ -14,10 +14,8 @@ #include "test_tricycle_steering_controller.hpp" -#include #include #include -#include #include class TricycleSteeringControllerTest diff --git a/tricycle_steering_controller/test/test_tricycle_steering_controller.hpp b/tricycle_steering_controller/test/test_tricycle_steering_controller.hpp index b4d58a95c0..8eadb98b3a 100644 --- a/tricycle_steering_controller/test/test_tricycle_steering_controller.hpp +++ b/tricycle_steering_controller/test/test_tricycle_steering_controller.hpp @@ -15,21 +15,17 @@ #ifndef TEST_TRICYCLE_STEERING_CONTROLLER_HPP_ #define TEST_TRICYCLE_STEERING_CONTROLLER_HPP_ +#include + #include -#include #include #include -#include #include #include -#include "gmock/gmock.h" #include "hardware_interface/loaned_command_interface.hpp" #include "hardware_interface/loaned_state_interface.hpp" -#include "hardware_interface/types/hardware_interface_return_values.hpp" -#include "rclcpp/parameter_value.hpp" #include "rclcpp/time.hpp" -#include "rclcpp/utilities.hpp" #include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp" #include "tricycle_steering_controller/tricycle_steering_controller.hpp" diff --git a/tricycle_steering_controller/test/test_tricycle_steering_controller_preceeding.cpp b/tricycle_steering_controller/test/test_tricycle_steering_controller_preceeding.cpp index 6f2913aeb8..2170659ee7 100644 --- a/tricycle_steering_controller/test/test_tricycle_steering_controller_preceeding.cpp +++ b/tricycle_steering_controller/test/test_tricycle_steering_controller_preceeding.cpp @@ -14,10 +14,8 @@ #include "test_tricycle_steering_controller.hpp" -#include #include #include -#include #include class TricycleSteeringControllerTest From 05cfce19a92db535ad7453ad18a2bf93d20ff3bb Mon Sep 17 00:00:00 2001 From: Henry Moore Date: Wed, 10 Jul 2024 14:43:37 +0000 Subject: [PATCH 18/22] clean up headers for velocity controllers Signed-off-by: Henry Moore Signed-off-by: Henry Moore --- .../velocity_controllers/joint_group_velocity_controller.hpp | 3 --- velocity_controllers/src/joint_group_velocity_controller.cpp | 1 - .../test/test_joint_group_velocity_controller.cpp | 5 ----- .../test/test_joint_group_velocity_controller.hpp | 4 ++-- 4 files changed, 2 insertions(+), 11 deletions(-) diff --git a/velocity_controllers/include/velocity_controllers/joint_group_velocity_controller.hpp b/velocity_controllers/include/velocity_controllers/joint_group_velocity_controller.hpp index b5c36f433a..e443ba76cc 100644 --- a/velocity_controllers/include/velocity_controllers/joint_group_velocity_controller.hpp +++ b/velocity_controllers/include/velocity_controllers/joint_group_velocity_controller.hpp @@ -15,10 +15,7 @@ #ifndef VELOCITY_CONTROLLERS__JOINT_GROUP_VELOCITY_CONTROLLER_HPP_ #define VELOCITY_CONTROLLERS__JOINT_GROUP_VELOCITY_CONTROLLER_HPP_ -#include - #include "forward_command_controller/forward_command_controller.hpp" -#include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp" #include "velocity_controllers/visibility_control.h" namespace velocity_controllers diff --git a/velocity_controllers/src/joint_group_velocity_controller.cpp b/velocity_controllers/src/joint_group_velocity_controller.cpp index eb55e052dc..97f6713d72 100644 --- a/velocity_controllers/src/joint_group_velocity_controller.cpp +++ b/velocity_controllers/src/joint_group_velocity_controller.cpp @@ -16,7 +16,6 @@ #include "controller_interface/controller_interface.hpp" #include "hardware_interface/types/hardware_interface_type_values.hpp" -#include "rclcpp/logging.hpp" #include "rclcpp/parameter.hpp" #include "velocity_controllers/joint_group_velocity_controller.hpp" diff --git a/velocity_controllers/test/test_joint_group_velocity_controller.cpp b/velocity_controllers/test/test_joint_group_velocity_controller.cpp index a99ffaeebf..9a77a90478 100644 --- a/velocity_controllers/test/test_joint_group_velocity_controller.cpp +++ b/velocity_controllers/test/test_joint_group_velocity_controller.cpp @@ -12,19 +12,14 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include - -#include #include #include #include #include #include "hardware_interface/loaned_command_interface.hpp" -#include "hardware_interface/types/hardware_interface_return_values.hpp" #include "lifecycle_msgs/msg/state.hpp" #include "rclcpp/utilities.hpp" -#include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp" #include "test_joint_group_velocity_controller.hpp" using CallbackReturn = controller_interface::CallbackReturn; diff --git a/velocity_controllers/test/test_joint_group_velocity_controller.hpp b/velocity_controllers/test/test_joint_group_velocity_controller.hpp index e94f7f082d..1cdbf9ceec 100644 --- a/velocity_controllers/test/test_joint_group_velocity_controller.hpp +++ b/velocity_controllers/test/test_joint_group_velocity_controller.hpp @@ -15,12 +15,12 @@ #ifndef TEST_JOINT_GROUP_VELOCITY_CONTROLLER_HPP_ #define TEST_JOINT_GROUP_VELOCITY_CONTROLLER_HPP_ +#include + #include #include #include -#include "gmock/gmock.h" - #include "hardware_interface/handle.hpp" #include "hardware_interface/types/hardware_interface_type_values.hpp" #include "velocity_controllers/joint_group_velocity_controller.hpp" From 73e7fe13cdd0f69d5722692dfe08ea0816d51dab Mon Sep 17 00:00:00 2001 From: Sai Kishor Kothakota Date: Mon, 8 Jul 2024 23:08:20 +0200 Subject: [PATCH 19/22] added changes corresponding to the logger and clock propagation in ResourceManager (#1184) Signed-off-by: Henry Moore Signed-off-by: Henry Moore --- .../test/test_load_ackermann_steering_controller.cpp | 4 +--- .../test/test_load_admittance_controller.cpp | 4 +--- .../test/test_load_bicycle_steering_controller.cpp | 4 +--- .../test/test_load_diff_drive_controller.cpp | 3 +-- .../test/test_load_joint_group_effort_controller.cpp | 4 +--- .../test/test_load_force_torque_sensor_broadcaster.cpp | 4 +--- .../test/test_load_forward_command_controller.cpp | 4 +--- .../test_load_multi_interface_forward_command_controller.cpp | 4 +--- .../test/test_load_gripper_action_controllers.cpp | 4 +--- .../test/test_load_imu_sensor_broadcaster.cpp | 4 +--- .../test/test_load_joint_state_broadcaster.cpp | 4 +--- .../test/test_load_joint_trajectory_controller.cpp | 4 +--- pid_controller/test/test_load_pid_controller.cpp | 5 ++--- .../test/test_load_joint_group_position_controller.cpp | 4 +--- .../test/test_load_range_sensor_broadcaster.cpp | 4 +--- tricycle_controller/test/test_load_tricycle_controller.cpp | 4 +--- .../test/test_load_tricycle_steering_controller.cpp | 4 +--- .../test/test_load_joint_group_velocity_controller.cpp | 4 +--- 18 files changed, 19 insertions(+), 53 deletions(-) diff --git a/ackermann_steering_controller/test/test_load_ackermann_steering_controller.cpp b/ackermann_steering_controller/test/test_load_ackermann_steering_controller.cpp index 0a8cd7b80c..101ecce8ff 100644 --- a/ackermann_steering_controller/test/test_load_ackermann_steering_controller.cpp +++ b/ackermann_steering_controller/test/test_load_ackermann_steering_controller.cpp @@ -28,9 +28,7 @@ TEST(TestLoadAckermannSteeringController, load_controller) std::make_shared(); controller_manager::ControllerManager cm( - std::make_unique( - ros2_control_test_assets::minimal_robot_urdf), - executor, "test_controller_manager"); + executor, ros2_control_test_assets::minimal_robot_urdf, "test_controller_manager"); ASSERT_NE( cm.load_controller( diff --git a/admittance_controller/test/test_load_admittance_controller.cpp b/admittance_controller/test/test_load_admittance_controller.cpp index 23be1f23f5..69808f3505 100644 --- a/admittance_controller/test/test_load_admittance_controller.cpp +++ b/admittance_controller/test/test_load_admittance_controller.cpp @@ -29,9 +29,7 @@ TEST(TestLoadAdmittanceController, load_controller) std::make_shared(); controller_manager::ControllerManager cm( - std::make_unique( - ros2_control_test_assets::minimal_robot_urdf), - executor, "test_controller_manager"); + executor, ros2_control_test_assets::minimal_robot_urdf, "test_controller_manager"); ASSERT_EQ( cm.load_controller("load_admittance_controller", "admittance_controller/AdmittanceController"), diff --git a/bicycle_steering_controller/test/test_load_bicycle_steering_controller.cpp b/bicycle_steering_controller/test/test_load_bicycle_steering_controller.cpp index 955feb33c5..f3828660a5 100644 --- a/bicycle_steering_controller/test/test_load_bicycle_steering_controller.cpp +++ b/bicycle_steering_controller/test/test_load_bicycle_steering_controller.cpp @@ -28,9 +28,7 @@ TEST(TestLoadBicycleSteeringController, load_controller) std::make_shared(); controller_manager::ControllerManager cm( - std::make_unique( - ros2_control_test_assets::minimal_robot_urdf), - executor, "test_controller_manager"); + executor, ros2_control_test_assets::minimal_robot_urdf, "test_controller_manager"); ASSERT_NE( cm.load_controller( diff --git a/diff_drive_controller/test/test_load_diff_drive_controller.cpp b/diff_drive_controller/test/test_load_diff_drive_controller.cpp index 4c9d2f984f..0c65532c38 100644 --- a/diff_drive_controller/test/test_load_diff_drive_controller.cpp +++ b/diff_drive_controller/test/test_load_diff_drive_controller.cpp @@ -28,8 +28,7 @@ TEST(TestLoadDiffDriveController, load_controller) std::make_shared(); controller_manager::ControllerManager cm( - std::make_unique(ros2_control_test_assets::diffbot_urdf), - executor, "test_controller_manager"); + executor, ros2_control_test_assets::diffbot_urdf, "test_controller_manager"); ASSERT_NE( cm.load_controller("test_diff_drive_controller", "diff_drive_controller/DiffDriveController"), diff --git a/effort_controllers/test/test_load_joint_group_effort_controller.cpp b/effort_controllers/test/test_load_joint_group_effort_controller.cpp index 52f1f9934a..4008ac8534 100644 --- a/effort_controllers/test/test_load_joint_group_effort_controller.cpp +++ b/effort_controllers/test/test_load_joint_group_effort_controller.cpp @@ -30,9 +30,7 @@ TEST(TestLoadJointGroupVelocityController, load_controller) std::make_shared(); controller_manager::ControllerManager cm( - std::make_unique( - ros2_control_test_assets::minimal_robot_urdf), - executor, "test_controller_manager"); + executor, ros2_control_test_assets::minimal_robot_urdf, "test_controller_manager"); ASSERT_NE( cm.load_controller( diff --git a/force_torque_sensor_broadcaster/test/test_load_force_torque_sensor_broadcaster.cpp b/force_torque_sensor_broadcaster/test/test_load_force_torque_sensor_broadcaster.cpp index 0c269d6a31..2e87505003 100644 --- a/force_torque_sensor_broadcaster/test/test_load_force_torque_sensor_broadcaster.cpp +++ b/force_torque_sensor_broadcaster/test/test_load_force_torque_sensor_broadcaster.cpp @@ -32,9 +32,7 @@ TEST(TestLoadForceTorqueSensorBroadcaster, load_controller) std::make_shared(); controller_manager::ControllerManager cm( - std::make_unique( - ros2_control_test_assets::minimal_robot_urdf), - executor, "test_controller_manager"); + executor, ros2_control_test_assets::minimal_robot_urdf, "test_controller_manager"); ASSERT_NE( cm.load_controller( diff --git a/forward_command_controller/test/test_load_forward_command_controller.cpp b/forward_command_controller/test/test_load_forward_command_controller.cpp index b493e52b2a..c192f1eb5f 100644 --- a/forward_command_controller/test/test_load_forward_command_controller.cpp +++ b/forward_command_controller/test/test_load_forward_command_controller.cpp @@ -30,9 +30,7 @@ TEST(TestLoadForwardCommandController, load_controller) std::make_shared(); controller_manager::ControllerManager cm( - std::make_unique( - ros2_control_test_assets::minimal_robot_urdf), - executor, "test_controller_manager"); + executor, ros2_control_test_assets::minimal_robot_urdf, "test_controller_manager"); ASSERT_NE( cm.load_controller( diff --git a/forward_command_controller/test/test_load_multi_interface_forward_command_controller.cpp b/forward_command_controller/test/test_load_multi_interface_forward_command_controller.cpp index 41a9b74698..52b63bdae8 100644 --- a/forward_command_controller/test/test_load_multi_interface_forward_command_controller.cpp +++ b/forward_command_controller/test/test_load_multi_interface_forward_command_controller.cpp @@ -31,9 +31,7 @@ TEST(TestLoadMultiInterfaceForwardController, load_controller) std::make_shared(); controller_manager::ControllerManager cm( - std::make_unique( - ros2_control_test_assets::minimal_robot_urdf), - executor, "test_controller_manager"); + executor, ros2_control_test_assets::minimal_robot_urdf, "test_controller_manager"); ASSERT_NE( cm.load_controller( diff --git a/gripper_controllers/test/test_load_gripper_action_controllers.cpp b/gripper_controllers/test/test_load_gripper_action_controllers.cpp index 0ef5f0bcb2..5641e1b4b3 100644 --- a/gripper_controllers/test/test_load_gripper_action_controllers.cpp +++ b/gripper_controllers/test/test_load_gripper_action_controllers.cpp @@ -30,9 +30,7 @@ TEST(TestLoadGripperActionControllers, load_controller) std::make_shared(); controller_manager::ControllerManager cm( - std::make_unique( - ros2_control_test_assets::minimal_robot_urdf), - executor, "test_controller_manager"); + executor, ros2_control_test_assets::minimal_robot_urdf, "test_controller_manager"); ASSERT_NE( cm.load_controller( diff --git a/imu_sensor_broadcaster/test/test_load_imu_sensor_broadcaster.cpp b/imu_sensor_broadcaster/test/test_load_imu_sensor_broadcaster.cpp index f4e6105ed6..a477a731ff 100644 --- a/imu_sensor_broadcaster/test/test_load_imu_sensor_broadcaster.cpp +++ b/imu_sensor_broadcaster/test/test_load_imu_sensor_broadcaster.cpp @@ -32,9 +32,7 @@ TEST(TestLoadIMUSensorBroadcaster, load_controller) std::make_shared(); controller_manager::ControllerManager cm( - std::make_unique( - ros2_control_test_assets::minimal_robot_urdf), - executor, "test_controller_manager"); + executor, ros2_control_test_assets::minimal_robot_urdf, "test_controller_manager"); ASSERT_NE( cm.load_controller( diff --git a/joint_state_broadcaster/test/test_load_joint_state_broadcaster.cpp b/joint_state_broadcaster/test/test_load_joint_state_broadcaster.cpp index 5efb587805..266e33c1c8 100644 --- a/joint_state_broadcaster/test/test_load_joint_state_broadcaster.cpp +++ b/joint_state_broadcaster/test/test_load_joint_state_broadcaster.cpp @@ -30,9 +30,7 @@ TEST(TestLoadJointStateBroadcaster, load_controller) std::make_shared(); controller_manager::ControllerManager cm( - std::make_unique( - ros2_control_test_assets::minimal_robot_urdf), - executor, "test_controller_manager"); + executor, ros2_control_test_assets::minimal_robot_urdf, "test_controller_manager"); ASSERT_NE( cm.load_controller( diff --git a/joint_trajectory_controller/test/test_load_joint_trajectory_controller.cpp b/joint_trajectory_controller/test/test_load_joint_trajectory_controller.cpp index fc1b5f5e34..8f7e2aa110 100644 --- a/joint_trajectory_controller/test/test_load_joint_trajectory_controller.cpp +++ b/joint_trajectory_controller/test/test_load_joint_trajectory_controller.cpp @@ -31,9 +31,7 @@ TEST(TestLoadJointStateController, load_controller) std::make_shared(); controller_manager::ControllerManager cm( - std::make_unique( - ros2_control_test_assets::minimal_robot_urdf), - executor, "test_controller_manager"); + executor, ros2_control_test_assets::minimal_robot_urdf, "test_controller_manager"); ASSERT_NE( cm.load_controller( diff --git a/pid_controller/test/test_load_pid_controller.cpp b/pid_controller/test/test_load_pid_controller.cpp index 3a75f6e170..ed645b872c 100644 --- a/pid_controller/test/test_load_pid_controller.cpp +++ b/pid_controller/test/test_load_pid_controller.cpp @@ -33,9 +33,8 @@ TEST(TestLoadPidController, load_controller) std::make_shared(); controller_manager::ControllerManager cm( - std::make_unique( - ros2_control_test_assets::minimal_robot_urdf), - executor, "test_controller_manager"); + + executor, ros2_control_test_assets::minimal_robot_urdf, "test_controller_manager"); ASSERT_NO_THROW(cm.load_controller("test_pid_controller", "pid_controller/PidController")); diff --git a/position_controllers/test/test_load_joint_group_position_controller.cpp b/position_controllers/test/test_load_joint_group_position_controller.cpp index bc27b5e629..950773351c 100644 --- a/position_controllers/test/test_load_joint_group_position_controller.cpp +++ b/position_controllers/test/test_load_joint_group_position_controller.cpp @@ -30,9 +30,7 @@ TEST(TestLoadJointGroupPositionController, load_controller) std::make_shared(); controller_manager::ControllerManager cm( - std::make_unique( - ros2_control_test_assets::minimal_robot_urdf), - executor, "test_controller_manager"); + executor, ros2_control_test_assets::minimal_robot_urdf, "test_controller_manager"); ASSERT_NE( cm.load_controller( diff --git a/range_sensor_broadcaster/test/test_load_range_sensor_broadcaster.cpp b/range_sensor_broadcaster/test/test_load_range_sensor_broadcaster.cpp index 5c400bef91..1d8a55b932 100644 --- a/range_sensor_broadcaster/test/test_load_range_sensor_broadcaster.cpp +++ b/range_sensor_broadcaster/test/test_load_range_sensor_broadcaster.cpp @@ -32,9 +32,7 @@ TEST(TestLoadRangeSensorBroadcaster, load_controller) std::make_shared(); controller_manager::ControllerManager cm( - std::make_unique( - ros2_control_test_assets::minimal_robot_urdf), - executor, "test_controller_manager"); + executor, ros2_control_test_assets::minimal_robot_urdf, "test_controller_manager"); ASSERT_NE( cm.load_controller( diff --git a/tricycle_controller/test/test_load_tricycle_controller.cpp b/tricycle_controller/test/test_load_tricycle_controller.cpp index bd54459780..bb4194909c 100644 --- a/tricycle_controller/test/test_load_tricycle_controller.cpp +++ b/tricycle_controller/test/test_load_tricycle_controller.cpp @@ -32,9 +32,7 @@ TEST(TestLoadTricycleController, load_controller) std::make_shared(); controller_manager::ControllerManager cm( - std::make_unique( - ros2_control_test_assets::minimal_robot_urdf), - executor, "test_controller_manager"); + executor, ros2_control_test_assets::minimal_robot_urdf, "test_controller_manager"); ASSERT_NE( cm.load_controller("test_tricycle_controller", "tricycle_controller/TricycleController"), diff --git a/tricycle_steering_controller/test/test_load_tricycle_steering_controller.cpp b/tricycle_steering_controller/test/test_load_tricycle_steering_controller.cpp index 0d04afdf38..4fa3698409 100644 --- a/tricycle_steering_controller/test/test_load_tricycle_steering_controller.cpp +++ b/tricycle_steering_controller/test/test_load_tricycle_steering_controller.cpp @@ -28,9 +28,7 @@ TEST(TestLoadTricycleSteeringController, load_controller) std::make_shared(); controller_manager::ControllerManager cm( - std::make_unique( - ros2_control_test_assets::minimal_robot_urdf), - executor, "test_controller_manager"); + executor, ros2_control_test_assets::minimal_robot_urdf, "test_controller_manager"); ASSERT_NE( cm.load_controller( diff --git a/velocity_controllers/test/test_load_joint_group_velocity_controller.cpp b/velocity_controllers/test/test_load_joint_group_velocity_controller.cpp index e426349f96..7070594639 100644 --- a/velocity_controllers/test/test_load_joint_group_velocity_controller.cpp +++ b/velocity_controllers/test/test_load_joint_group_velocity_controller.cpp @@ -30,9 +30,7 @@ TEST(TestLoadJointGroupVelocityController, load_controller) std::make_shared(); controller_manager::ControllerManager cm( - std::make_unique( - ros2_control_test_assets::minimal_robot_urdf), - executor, "test_controller_manager"); + executor, ros2_control_test_assets::minimal_robot_urdf, "test_controller_manager"); ASSERT_NE( cm.load_controller( From 3f9fd76fc77db411702d38b21da206882ae48687 Mon Sep 17 00:00:00 2001 From: "Felix Exner (fexner)" Date: Tue, 9 Jul 2024 09:08:28 +0200 Subject: [PATCH 20/22] [JTC] Make goal_time_tolerance overwrite default value only if explicitly set (#1192) Signed-off-by: Henry Moore Signed-off-by: Henry Moore --- .../tolerances.hpp | 186 +++++++----------- .../test/test_tolerances.cpp | 35 +++- .../test/test_trajectory_controller_utils.hpp | 1 + 3 files changed, 99 insertions(+), 123 deletions(-) diff --git a/joint_trajectory_controller/include/joint_trajectory_controller/tolerances.hpp b/joint_trajectory_controller/include/joint_trajectory_controller/tolerances.hpp index bdaf8910f4..8c556703ab 100644 --- a/joint_trajectory_controller/include/joint_trajectory_controller/tolerances.hpp +++ b/joint_trajectory_controller/include/joint_trajectory_controller/tolerances.hpp @@ -31,6 +31,7 @@ #define JOINT_TRAJECTORY_CONTROLLER__TOLERANCES_HPP_ #include +#include #include #include @@ -123,6 +124,33 @@ SegmentTolerances get_segment_tolerances(rclcpp::Logger & jtc_logger, const Para return tolerances; } +double resolve_tolerance_source(const double default_value, const double goal_value) +{ + // from + // https://github.com/ros-controls/control_msgs/blob/master/control_msgs/msg/JointTolerance.msg + // There are two special values for tolerances: + // * 0 - The tolerance is unspecified and will remain at whatever the default is + // * -1 - The tolerance is "erased". + // If there was a default, the joint will be allowed to move without restriction. + constexpr double ERASE_VALUE = -1.0; + auto is_erase_value = [](double value) + { return fabs(value - ERASE_VALUE) < std::numeric_limits::epsilon(); }; + + if (goal_value > 0.0) + { + return goal_value; + } + else if (is_erase_value(goal_value)) + { + return 0.0; + } + else if (goal_value < 0.0) + { + throw std::runtime_error("Illegal tolerance value."); + } + return default_value; +} + /** * \brief Populate trajectory segment tolerances using data from an action goal. * @@ -138,20 +166,22 @@ SegmentTolerances get_segment_tolerances( const std::vector & joints) { SegmentTolerances active_tolerances(default_tolerances); - - active_tolerances.goal_time_tolerance = rclcpp::Duration(goal.goal_time_tolerance).seconds(); static auto logger = jtc_logger.get_child("tolerance"); - RCLCPP_DEBUG(logger, "%s %f", "goal_time", active_tolerances.goal_time_tolerance); - // from - // https://github.com/ros-controls/control_msgs/blob/master/control_msgs/msg/JointTolerance.msg - // There are two special values for tolerances: - // * 0 - The tolerance is unspecified and will remain at whatever the default is - // * -1 - The tolerance is "erased". - // If there was a default, the joint will be allowed to move without restriction. - constexpr double ERASE_VALUE = -1.0; - auto is_erase_value = [](double value) - { return fabs(value - ERASE_VALUE) < std::numeric_limits::epsilon(); }; + try + { + active_tolerances.goal_time_tolerance = resolve_tolerance_source( + default_tolerances.goal_time_tolerance, rclcpp::Duration(goal.goal_time_tolerance).seconds()); + } + catch (const std::runtime_error & e) + { + RCLCPP_ERROR_STREAM( + logger, "Specified illegal goal_time_tolerance: " + << rclcpp::Duration(goal.goal_time_tolerance).seconds() + << ". Using default tolerances"); + return default_tolerances; + } + RCLCPP_DEBUG(logger, "%s %f", "goal_time", active_tolerances.goal_time_tolerance); // State and goal state tolerances for (auto joint_tol : goal.path_tolerance) @@ -170,60 +200,24 @@ SegmentTolerances get_segment_tolerances( return default_tolerances; } auto i = std::distance(joints.cbegin(), it); - if (joint_tol.position > 0.0) - { - active_tolerances.state_tolerance[i].position = joint_tol.position; - } - else if (is_erase_value(joint_tol.position)) + std::string interface = ""; + try { - active_tolerances.state_tolerance[i].position = 0.0; + interface = "position"; + active_tolerances.state_tolerance[i].position = resolve_tolerance_source( + default_tolerances.state_tolerance[i].position, joint_tol.position); + interface = "velocity"; + active_tolerances.state_tolerance[i].velocity = resolve_tolerance_source( + default_tolerances.state_tolerance[i].velocity, joint_tol.velocity); + interface = "acceleration"; + active_tolerances.state_tolerance[i].acceleration = resolve_tolerance_source( + default_tolerances.state_tolerance[i].acceleration, joint_tol.acceleration); } - else if (joint_tol.position < 0.0) + catch (const std::runtime_error & e) { - RCLCPP_ERROR( - logger, "%s", - ("joint '" + joint + - "' specified in goal.path_tolerance has a invalid position tolerance. " - "Using default tolerances.") - .c_str()); - return default_tolerances; - } - - if (joint_tol.velocity > 0.0) - { - active_tolerances.state_tolerance[i].velocity = joint_tol.velocity; - } - else if (is_erase_value(joint_tol.velocity)) - { - active_tolerances.state_tolerance[i].velocity = 0.0; - } - else if (joint_tol.velocity < 0.0) - { - RCLCPP_ERROR( - logger, "%s", - ("joint '" + joint + - "' specified in goal.path_tolerance has a invalid velocity tolerance. " - "Using default tolerances.") - .c_str()); - return default_tolerances; - } - - if (joint_tol.acceleration > 0.0) - { - active_tolerances.state_tolerance[i].acceleration = joint_tol.acceleration; - } - else if (is_erase_value(joint_tol.acceleration)) - { - active_tolerances.state_tolerance[i].acceleration = 0.0; - } - else if (joint_tol.acceleration < 0.0) - { - RCLCPP_ERROR( - logger, "%s", - ("joint '" + joint + - "' specified in goal.path_tolerance has a invalid acceleration tolerance. " - "Using default tolerances.") - .c_str()); + RCLCPP_ERROR_STREAM( + logger, "joint '" << joint << "' specified in goal.path_tolerance has a invalid " + << interface << " tolerance. Using default tolerances."); return default_tolerances; } @@ -253,60 +247,24 @@ SegmentTolerances get_segment_tolerances( return default_tolerances; } auto i = std::distance(joints.cbegin(), it); - if (goal_tol.position > 0.0) - { - active_tolerances.goal_state_tolerance[i].position = goal_tol.position; - } - else if (is_erase_value(goal_tol.position)) - { - active_tolerances.goal_state_tolerance[i].position = 0.0; - } - else if (goal_tol.position < 0.0) - { - RCLCPP_ERROR( - logger, "%s", - ("joint '" + joint + - "' specified in goal.goal_tolerance has a invalid position tolerance. " - "Using default tolerances.") - .c_str()); - return default_tolerances; - } - - if (goal_tol.velocity > 0.0) - { - active_tolerances.goal_state_tolerance[i].velocity = goal_tol.velocity; - } - else if (is_erase_value(goal_tol.velocity)) + std::string interface = ""; + try { - active_tolerances.goal_state_tolerance[i].velocity = 0.0; + interface = "position"; + active_tolerances.goal_state_tolerance[i].position = resolve_tolerance_source( + default_tolerances.goal_state_tolerance[i].position, goal_tol.position); + interface = "velocity"; + active_tolerances.goal_state_tolerance[i].velocity = resolve_tolerance_source( + default_tolerances.goal_state_tolerance[i].velocity, goal_tol.velocity); + interface = "acceleration"; + active_tolerances.goal_state_tolerance[i].acceleration = resolve_tolerance_source( + default_tolerances.goal_state_tolerance[i].acceleration, goal_tol.acceleration); } - else if (goal_tol.velocity < 0.0) + catch (const std::runtime_error & e) { - RCLCPP_ERROR( - logger, "%s", - ("joint '" + joint + - "' specified in goal.goal_tolerance has a invalid velocity tolerance. " - "Using default tolerances.") - .c_str()); - return default_tolerances; - } - - if (goal_tol.acceleration > 0.0) - { - active_tolerances.goal_state_tolerance[i].acceleration = goal_tol.acceleration; - } - else if (is_erase_value(goal_tol.acceleration)) - { - active_tolerances.goal_state_tolerance[i].acceleration = 0.0; - } - else if (goal_tol.acceleration < 0.0) - { - RCLCPP_ERROR( - logger, "%s", - ("joint '" + joint + - "' specified in goal.goal_tolerance has a invalid acceleration tolerance. " - "Using default tolerances.") - .c_str()); + RCLCPP_ERROR_STREAM( + logger, "joint '" << joint << "' specified in goal.goal_tolerance has a invalid " + << interface << " tolerance. Using default tolerances."); return default_tolerances; } diff --git a/joint_trajectory_controller/test/test_tolerances.cpp b/joint_trajectory_controller/test/test_tolerances.cpp index 5e4da8cb30..be93aeda9d 100644 --- a/joint_trajectory_controller/test/test_tolerances.cpp +++ b/joint_trajectory_controller/test/test_tolerances.cpp @@ -182,7 +182,7 @@ TEST_F(TestTolerancesFixture, test_deactivate_tolerances) path_tolerance.push_back(tolerance); goal_tolerance.push_back(tolerance); - auto goal_msg = prepareGoalMsg(points, 0.0, path_tolerance, goal_tolerance); + auto goal_msg = prepareGoalMsg(points, -1.0, path_tolerance, goal_tolerance); auto active_tolerances = joint_trajectory_controller::get_segment_tolerances( logger, default_tolerances, goal_msg, params.joints); @@ -214,6 +214,31 @@ TEST_F(TestTolerancesFixture, test_deactivate_tolerances) // send goal with invalid tolerances, are the default ones used? TEST_F(TestTolerancesFixture, test_invalid_tolerances) { + { + SCOPED_TRACE("negative goal_time_tolerance"); + std::vector points; + JointTrajectoryPoint point; + point.time_from_start = rclcpp::Duration::from_seconds(0.5); + point.positions.resize(joint_names_.size()); + + point.positions[0] = 1.0; + point.positions[1] = 2.0; + point.positions[2] = 3.0; + points.push_back(point); + + std::vector path_tolerance; + control_msgs::msg::JointTolerance tolerance; + tolerance.name = "joint1"; + tolerance.position = 0.0; + tolerance.velocity = 0.0; + tolerance.acceleration = 0.0; + path_tolerance.push_back(tolerance); + + auto goal_msg = prepareGoalMsg(points, -123.0, path_tolerance); + auto active_tolerances = joint_trajectory_controller::get_segment_tolerances( + logger, default_tolerances, goal_msg, params.joints); + expectDefaultTolerances(active_tolerances); + } { SCOPED_TRACE("negative path position tolerance"); std::vector points; @@ -237,7 +262,6 @@ TEST_F(TestTolerancesFixture, test_invalid_tolerances) auto goal_msg = prepareGoalMsg(points, 3.0, path_tolerance); auto active_tolerances = joint_trajectory_controller::get_segment_tolerances( logger, default_tolerances, goal_msg, params.joints); - EXPECT_DOUBLE_EQ(active_tolerances.goal_time_tolerance, default_goal_time); expectDefaultTolerances(active_tolerances); } { @@ -263,7 +287,6 @@ TEST_F(TestTolerancesFixture, test_invalid_tolerances) auto goal_msg = prepareGoalMsg(points, 3.0, path_tolerance); auto active_tolerances = joint_trajectory_controller::get_segment_tolerances( logger, default_tolerances, goal_msg, params.joints); - EXPECT_DOUBLE_EQ(active_tolerances.goal_time_tolerance, default_goal_time); expectDefaultTolerances(active_tolerances); } { @@ -289,7 +312,6 @@ TEST_F(TestTolerancesFixture, test_invalid_tolerances) auto goal_msg = prepareGoalMsg(points, 3.0, path_tolerance); auto active_tolerances = joint_trajectory_controller::get_segment_tolerances( logger, default_tolerances, goal_msg, params.joints); - EXPECT_DOUBLE_EQ(active_tolerances.goal_time_tolerance, default_goal_time); expectDefaultTolerances(active_tolerances); } { @@ -316,7 +338,6 @@ TEST_F(TestTolerancesFixture, test_invalid_tolerances) prepareGoalMsg(points, 3.0, std::vector(), goal_tolerance); auto active_tolerances = joint_trajectory_controller::get_segment_tolerances( logger, default_tolerances, goal_msg, params.joints); - EXPECT_DOUBLE_EQ(active_tolerances.goal_time_tolerance, default_goal_time); expectDefaultTolerances(active_tolerances); } { @@ -343,7 +364,6 @@ TEST_F(TestTolerancesFixture, test_invalid_tolerances) prepareGoalMsg(points, 3.0, std::vector(), goal_tolerance); auto active_tolerances = joint_trajectory_controller::get_segment_tolerances( logger, default_tolerances, goal_msg, params.joints); - EXPECT_DOUBLE_EQ(active_tolerances.goal_time_tolerance, default_goal_time); expectDefaultTolerances(active_tolerances); } { @@ -370,7 +390,6 @@ TEST_F(TestTolerancesFixture, test_invalid_tolerances) prepareGoalMsg(points, 3.0, std::vector(), goal_tolerance); auto active_tolerances = joint_trajectory_controller::get_segment_tolerances( logger, default_tolerances, goal_msg, params.joints); - EXPECT_DOUBLE_EQ(active_tolerances.goal_time_tolerance, default_goal_time); expectDefaultTolerances(active_tolerances); } } @@ -394,7 +413,6 @@ TEST_F(TestTolerancesFixture, test_invalid_joints_path_tolerance) auto goal_msg = prepareGoalMsg(points, 3.0, path_tolerance); auto active_tolerances = joint_trajectory_controller::get_segment_tolerances( logger, default_tolerances, goal_msg, params.joints); - EXPECT_DOUBLE_EQ(active_tolerances.goal_time_tolerance, default_goal_time); expectDefaultTolerances(active_tolerances); } TEST_F(TestTolerancesFixture, test_invalid_joints_goal_tolerance) @@ -418,6 +436,5 @@ TEST_F(TestTolerancesFixture, test_invalid_joints_goal_tolerance) prepareGoalMsg(points, 3.0, std::vector(), goal_tolerance); auto active_tolerances = joint_trajectory_controller::get_segment_tolerances( logger, default_tolerances, goal_msg, params.joints); - EXPECT_DOUBLE_EQ(active_tolerances.goal_time_tolerance, default_goal_time); expectDefaultTolerances(active_tolerances); } diff --git a/joint_trajectory_controller/test/test_trajectory_controller_utils.hpp b/joint_trajectory_controller/test/test_trajectory_controller_utils.hpp index 693e19e67a..bbe12251a1 100644 --- a/joint_trajectory_controller/test/test_trajectory_controller_utils.hpp +++ b/joint_trajectory_controller/test/test_trajectory_controller_utils.hpp @@ -45,6 +45,7 @@ const double stopped_velocity_tolerance = 0.1; [[maybe_unused]] void expectDefaultTolerances( joint_trajectory_controller::SegmentTolerances active_tolerances) { + EXPECT_DOUBLE_EQ(active_tolerances.goal_time_tolerance, default_goal_time); // acceleration is never set, and goal_state_tolerance.velocity from stopped_velocity_tolerance ASSERT_EQ(active_tolerances.state_tolerance.size(), 3); From d974c8641f62ed8f743b69feaea2911f4c1c59b9 Mon Sep 17 00:00:00 2001 From: Bence Magyar Date: Tue, 9 Jul 2024 08:16:14 +0100 Subject: [PATCH 21/22] Update changelogs Signed-off-by: Henry Moore Signed-off-by: Henry Moore --- ackermann_steering_controller/CHANGELOG.rst | 6 ++++++ admittance_controller/CHANGELOG.rst | 5 +++++ bicycle_steering_controller/CHANGELOG.rst | 6 ++++++ diff_drive_controller/CHANGELOG.rst | 5 +++++ effort_controllers/CHANGELOG.rst | 5 +++++ force_torque_sensor_broadcaster/CHANGELOG.rst | 5 +++++ forward_command_controller/CHANGELOG.rst | 5 +++++ gripper_controllers/CHANGELOG.rst | 5 +++++ imu_sensor_broadcaster/CHANGELOG.rst | 5 +++++ joint_state_broadcaster/CHANGELOG.rst | 5 +++++ joint_trajectory_controller/CHANGELOG.rst | 7 +++++++ pid_controller/CHANGELOG.rst | 5 +++++ position_controllers/CHANGELOG.rst | 5 +++++ range_sensor_broadcaster/CHANGELOG.rst | 5 +++++ ros2_controllers/CHANGELOG.rst | 3 +++ ros2_controllers_test_nodes/CHANGELOG.rst | 3 +++ rqt_joint_trajectory_controller/CHANGELOG.rst | 3 +++ steering_controllers_library/CHANGELOG.rst | 5 +++++ tricycle_controller/CHANGELOG.rst | 5 +++++ tricycle_steering_controller/CHANGELOG.rst | 6 ++++++ velocity_controllers/CHANGELOG.rst | 5 +++++ 21 files changed, 104 insertions(+) diff --git a/ackermann_steering_controller/CHANGELOG.rst b/ackermann_steering_controller/CHANGELOG.rst index e27cac2205..84ac53044c 100644 --- a/ackermann_steering_controller/CHANGELOG.rst +++ b/ackermann_steering_controller/CHANGELOG.rst @@ -2,6 +2,12 @@ Changelog for package ackermann_steering_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* added changes corresponding to the logger and clock propagation in ResourceManager (`#1184 `_) +* Fix steering controllers library kinematics (`#1150 `_) +* Contributors: Christoph Fröhlich, Sai Kishor Kothakota + 4.10.0 (2024-07-01) ------------------- * [Steering controllers library] Reference interfaces are body twist (`#1168 `_) diff --git a/admittance_controller/CHANGELOG.rst b/admittance_controller/CHANGELOG.rst index a3faf30ab1..e75a71a8af 100644 --- a/admittance_controller/CHANGELOG.rst +++ b/admittance_controller/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package admittance_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* added changes corresponding to the logger and clock propagation in ResourceManager (`#1184 `_) +* Contributors: Sai Kishor Kothakota + 4.10.0 (2024-07-01) ------------------- diff --git a/bicycle_steering_controller/CHANGELOG.rst b/bicycle_steering_controller/CHANGELOG.rst index a8956560b5..b1e1bf832f 100644 --- a/bicycle_steering_controller/CHANGELOG.rst +++ b/bicycle_steering_controller/CHANGELOG.rst @@ -2,6 +2,12 @@ Changelog for package bicycle_steering_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* added changes corresponding to the logger and clock propagation in ResourceManager (`#1184 `_) +* Fix steering controllers library kinematics (`#1150 `_) +* Contributors: Christoph Fröhlich, Sai Kishor Kothakota + 4.10.0 (2024-07-01) ------------------- * [Steering controllers library] Reference interfaces are body twist (`#1168 `_) diff --git a/diff_drive_controller/CHANGELOG.rst b/diff_drive_controller/CHANGELOG.rst index 5b9275359d..c402e58344 100644 --- a/diff_drive_controller/CHANGELOG.rst +++ b/diff_drive_controller/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package diff_drive_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* added changes corresponding to the logger and clock propagation in ResourceManager (`#1184 `_) +* Contributors: Sai Kishor Kothakota + 4.10.0 (2024-07-01) ------------------- diff --git a/effort_controllers/CHANGELOG.rst b/effort_controllers/CHANGELOG.rst index 9b1240263b..6f7c2771cb 100644 --- a/effort_controllers/CHANGELOG.rst +++ b/effort_controllers/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package effort_controllers ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* added changes corresponding to the logger and clock propagation in ResourceManager (`#1184 `_) +* Contributors: Sai Kishor Kothakota + 4.10.0 (2024-07-01) ------------------- diff --git a/force_torque_sensor_broadcaster/CHANGELOG.rst b/force_torque_sensor_broadcaster/CHANGELOG.rst index 8f978cfd08..a7392ad187 100644 --- a/force_torque_sensor_broadcaster/CHANGELOG.rst +++ b/force_torque_sensor_broadcaster/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package force_torque_sensor_broadcaster ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* added changes corresponding to the logger and clock propagation in ResourceManager (`#1184 `_) +* Contributors: Sai Kishor Kothakota + 4.10.0 (2024-07-01) ------------------- diff --git a/forward_command_controller/CHANGELOG.rst b/forward_command_controller/CHANGELOG.rst index 75926feff6..d37dd5f30d 100644 --- a/forward_command_controller/CHANGELOG.rst +++ b/forward_command_controller/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package forward_command_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* added changes corresponding to the logger and clock propagation in ResourceManager (`#1184 `_) +* Contributors: Sai Kishor Kothakota + 4.10.0 (2024-07-01) ------------------- diff --git a/gripper_controllers/CHANGELOG.rst b/gripper_controllers/CHANGELOG.rst index adf9f8e208..acd4c2534c 100644 --- a/gripper_controllers/CHANGELOG.rst +++ b/gripper_controllers/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package gripper_controllers ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* added changes corresponding to the logger and clock propagation in ResourceManager (`#1184 `_) +* Contributors: Sai Kishor Kothakota + 4.10.0 (2024-07-01) ------------------- diff --git a/imu_sensor_broadcaster/CHANGELOG.rst b/imu_sensor_broadcaster/CHANGELOG.rst index 6649777076..46ae9e4d27 100644 --- a/imu_sensor_broadcaster/CHANGELOG.rst +++ b/imu_sensor_broadcaster/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package imu_sensor_broadcaster ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* added changes corresponding to the logger and clock propagation in ResourceManager (`#1184 `_) +* Contributors: Sai Kishor Kothakota + 4.10.0 (2024-07-01) ------------------- diff --git a/joint_state_broadcaster/CHANGELOG.rst b/joint_state_broadcaster/CHANGELOG.rst index e4f73e5cc6..f20ca59557 100644 --- a/joint_state_broadcaster/CHANGELOG.rst +++ b/joint_state_broadcaster/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package joint_state_broadcaster ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* added changes corresponding to the logger and clock propagation in ResourceManager (`#1184 `_) +* Contributors: Sai Kishor Kothakota + 4.10.0 (2024-07-01) ------------------- diff --git a/joint_trajectory_controller/CHANGELOG.rst b/joint_trajectory_controller/CHANGELOG.rst index 2c044b28b0..23838b7e3f 100644 --- a/joint_trajectory_controller/CHANGELOG.rst +++ b/joint_trajectory_controller/CHANGELOG.rst @@ -2,6 +2,13 @@ Changelog for package joint_trajectory_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* [JTC] Make goal_time_tolerance overwrite default value only if explicitly set (`#1192 `_) +* added changes corresponding to the logger and clock propagation in ResourceManager (`#1184 `_) +* [JTC] Process tolerances sent with action goal (`#716 `_) +* Contributors: Christoph Fröhlich, Felix Exner (fexner), Sai Kishor Kothakota + 4.10.0 (2024-07-01) ------------------- * Remove manual angle-wraparound parameter (`#1152 `_) diff --git a/pid_controller/CHANGELOG.rst b/pid_controller/CHANGELOG.rst index 101d507f56..d5d140339b 100644 --- a/pid_controller/CHANGELOG.rst +++ b/pid_controller/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package pid_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* added changes corresponding to the logger and clock propagation in ResourceManager (`#1184 `_) +* Contributors: Sai Kishor Kothakota + 4.10.0 (2024-07-01) ------------------- diff --git a/position_controllers/CHANGELOG.rst b/position_controllers/CHANGELOG.rst index 0582a40895..d5f8b52cbb 100644 --- a/position_controllers/CHANGELOG.rst +++ b/position_controllers/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package position_controllers ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* added changes corresponding to the logger and clock propagation in ResourceManager (`#1184 `_) +* Contributors: Sai Kishor Kothakota + 4.10.0 (2024-07-01) ------------------- diff --git a/range_sensor_broadcaster/CHANGELOG.rst b/range_sensor_broadcaster/CHANGELOG.rst index 7c671ae3d3..6be8a70b9d 100644 --- a/range_sensor_broadcaster/CHANGELOG.rst +++ b/range_sensor_broadcaster/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package range_sensor_broadcaster ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* added changes corresponding to the logger and clock propagation in ResourceManager (`#1184 `_) +* Contributors: Sai Kishor Kothakota + 4.10.0 (2024-07-01) ------------------- diff --git a/ros2_controllers/CHANGELOG.rst b/ros2_controllers/CHANGELOG.rst index 1db9ae1c05..39c00e3c85 100644 --- a/ros2_controllers/CHANGELOG.rst +++ b/ros2_controllers/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package ros2_controllers ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 4.10.0 (2024-07-01) ------------------- diff --git a/ros2_controllers_test_nodes/CHANGELOG.rst b/ros2_controllers_test_nodes/CHANGELOG.rst index c483ee7c2f..d529a740b3 100644 --- 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 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 4.10.0 (2024-07-01) ------------------- diff --git a/rqt_joint_trajectory_controller/CHANGELOG.rst b/rqt_joint_trajectory_controller/CHANGELOG.rst index bd2b00a1fe..2ffbb95666 100644 --- a/rqt_joint_trajectory_controller/CHANGELOG.rst +++ b/rqt_joint_trajectory_controller/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package rqt_joint_trajectory_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 4.10.0 (2024-07-01) ------------------- diff --git a/steering_controllers_library/CHANGELOG.rst b/steering_controllers_library/CHANGELOG.rst index ee21fed403..7ea9c5d893 100644 --- a/steering_controllers_library/CHANGELOG.rst +++ b/steering_controllers_library/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package steering_controllers_library ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* Fix steering controllers library kinematics (`#1150 `_) +* Contributors: Christoph Fröhlich + 4.10.0 (2024-07-01) ------------------- * [STEERING] Add missing `tan` call for ackermann (`#1117 `_) diff --git a/tricycle_controller/CHANGELOG.rst b/tricycle_controller/CHANGELOG.rst index 4034036e08..feb9b105cb 100644 --- a/tricycle_controller/CHANGELOG.rst +++ b/tricycle_controller/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package tricycle_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* added changes corresponding to the logger and clock propagation in ResourceManager (`#1184 `_) +* Contributors: Sai Kishor Kothakota + 4.10.0 (2024-07-01) ------------------- * Remove unstamped twist subscribers + parameters (`#1151 `_) diff --git a/tricycle_steering_controller/CHANGELOG.rst b/tricycle_steering_controller/CHANGELOG.rst index c80b90ff0f..a34e991d2a 100644 --- a/tricycle_steering_controller/CHANGELOG.rst +++ b/tricycle_steering_controller/CHANGELOG.rst @@ -2,6 +2,12 @@ Changelog for package tricycle_steering_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* added changes corresponding to the logger and clock propagation in ResourceManager (`#1184 `_) +* Fix steering controllers library kinematics (`#1150 `_) +* Contributors: Christoph Fröhlich, Sai Kishor Kothakota + 4.10.0 (2024-07-01) ------------------- * [Steering controllers library] Reference interfaces are body twist (`#1168 `_) diff --git a/velocity_controllers/CHANGELOG.rst b/velocity_controllers/CHANGELOG.rst index c4d146a21d..e749d6f8a0 100644 --- a/velocity_controllers/CHANGELOG.rst +++ b/velocity_controllers/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package velocity_controllers ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* added changes corresponding to the logger and clock propagation in ResourceManager (`#1184 `_) +* Contributors: Sai Kishor Kothakota + 4.10.0 (2024-07-01) ------------------- From acc7729252f5c0ca8df136298b090cb4ef04b2b5 Mon Sep 17 00:00:00 2001 From: Bence Magyar Date: Tue, 9 Jul 2024 08:16:31 +0100 Subject: [PATCH 22/22] 4.11.0 Signed-off-by: Henry Moore Signed-off-by: Henry Moore --- ackermann_steering_controller/CHANGELOG.rst | 4 ++-- ackermann_steering_controller/package.xml | 2 +- admittance_controller/CHANGELOG.rst | 4 ++-- admittance_controller/package.xml | 2 +- bicycle_steering_controller/CHANGELOG.rst | 4 ++-- bicycle_steering_controller/package.xml | 2 +- diff_drive_controller/CHANGELOG.rst | 4 ++-- diff_drive_controller/package.xml | 2 +- effort_controllers/CHANGELOG.rst | 4 ++-- effort_controllers/package.xml | 2 +- force_torque_sensor_broadcaster/CHANGELOG.rst | 4 ++-- force_torque_sensor_broadcaster/package.xml | 2 +- forward_command_controller/CHANGELOG.rst | 4 ++-- forward_command_controller/package.xml | 2 +- gripper_controllers/CHANGELOG.rst | 4 ++-- gripper_controllers/package.xml | 2 +- imu_sensor_broadcaster/CHANGELOG.rst | 4 ++-- imu_sensor_broadcaster/package.xml | 2 +- joint_state_broadcaster/CHANGELOG.rst | 4 ++-- joint_state_broadcaster/package.xml | 2 +- joint_trajectory_controller/CHANGELOG.rst | 4 ++-- joint_trajectory_controller/package.xml | 2 +- pid_controller/CHANGELOG.rst | 4 ++-- pid_controller/package.xml | 2 +- position_controllers/CHANGELOG.rst | 4 ++-- position_controllers/package.xml | 2 +- range_sensor_broadcaster/CHANGELOG.rst | 4 ++-- range_sensor_broadcaster/package.xml | 2 +- ros2_controllers/CHANGELOG.rst | 4 ++-- ros2_controllers/package.xml | 2 +- ros2_controllers_test_nodes/CHANGELOG.rst | 4 ++-- ros2_controllers_test_nodes/package.xml | 2 +- ros2_controllers_test_nodes/setup.py | 2 +- rqt_joint_trajectory_controller/CHANGELOG.rst | 4 ++-- rqt_joint_trajectory_controller/package.xml | 2 +- rqt_joint_trajectory_controller/setup.py | 2 +- steering_controllers_library/CHANGELOG.rst | 4 ++-- steering_controllers_library/package.xml | 2 +- tricycle_controller/CHANGELOG.rst | 4 ++-- tricycle_controller/package.xml | 2 +- tricycle_steering_controller/CHANGELOG.rst | 4 ++-- tricycle_steering_controller/package.xml | 2 +- velocity_controllers/CHANGELOG.rst | 4 ++-- velocity_controllers/package.xml | 2 +- 44 files changed, 65 insertions(+), 65 deletions(-) diff --git a/ackermann_steering_controller/CHANGELOG.rst b/ackermann_steering_controller/CHANGELOG.rst index 84ac53044c..21840061d4 100644 --- a/ackermann_steering_controller/CHANGELOG.rst +++ b/ackermann_steering_controller/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package ackermann_steering_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +4.11.0 (2024-07-09) +------------------- * added changes corresponding to the logger and clock propagation in ResourceManager (`#1184 `_) * Fix steering controllers library kinematics (`#1150 `_) * Contributors: Christoph Fröhlich, Sai Kishor Kothakota diff --git a/ackermann_steering_controller/package.xml b/ackermann_steering_controller/package.xml index 77555c1f01..dfa733515f 100644 --- a/ackermann_steering_controller/package.xml +++ b/ackermann_steering_controller/package.xml @@ -2,7 +2,7 @@ ackermann_steering_controller - 4.10.0 + 4.11.0 Steering controller for Ackermann kinematics. Rear fixed wheels are powering the vehicle and front wheels are steering it. Apache License 2.0 Bence Magyar diff --git a/admittance_controller/CHANGELOG.rst b/admittance_controller/CHANGELOG.rst index e75a71a8af..4ae5ea39f8 100644 --- a/admittance_controller/CHANGELOG.rst +++ b/admittance_controller/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package admittance_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +4.11.0 (2024-07-09) +------------------- * added changes corresponding to the logger and clock propagation in ResourceManager (`#1184 `_) * Contributors: Sai Kishor Kothakota diff --git a/admittance_controller/package.xml b/admittance_controller/package.xml index 9abdb5cf82..d6e13b0634 100644 --- a/admittance_controller/package.xml +++ b/admittance_controller/package.xml @@ -2,7 +2,7 @@ admittance_controller - 4.10.0 + 4.11.0 Implementation of admittance controllers for different input and output interface. Denis Štogl Bence Magyar diff --git a/bicycle_steering_controller/CHANGELOG.rst b/bicycle_steering_controller/CHANGELOG.rst index b1e1bf832f..831aa5a2b3 100644 --- a/bicycle_steering_controller/CHANGELOG.rst +++ b/bicycle_steering_controller/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package bicycle_steering_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +4.11.0 (2024-07-09) +------------------- * added changes corresponding to the logger and clock propagation in ResourceManager (`#1184 `_) * Fix steering controllers library kinematics (`#1150 `_) * Contributors: Christoph Fröhlich, Sai Kishor Kothakota diff --git a/bicycle_steering_controller/package.xml b/bicycle_steering_controller/package.xml index b49b9f1a23..7afcf53706 100644 --- a/bicycle_steering_controller/package.xml +++ b/bicycle_steering_controller/package.xml @@ -2,7 +2,7 @@ bicycle_steering_controller - 4.10.0 + 4.11.0 Steering controller with bicycle kinematics. Rear fixed wheel is powering the vehicle and front wheel is steering. Apache License 2.0 Bence Magyar diff --git a/diff_drive_controller/CHANGELOG.rst b/diff_drive_controller/CHANGELOG.rst index c402e58344..00f777df67 100644 --- a/diff_drive_controller/CHANGELOG.rst +++ b/diff_drive_controller/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package diff_drive_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +4.11.0 (2024-07-09) +------------------- * added changes corresponding to the logger and clock propagation in ResourceManager (`#1184 `_) * Contributors: Sai Kishor Kothakota diff --git a/diff_drive_controller/package.xml b/diff_drive_controller/package.xml index 9cfdee9a29..d7fa06b762 100644 --- a/diff_drive_controller/package.xml +++ b/diff_drive_controller/package.xml @@ -1,7 +1,7 @@ diff_drive_controller - 4.10.0 + 4.11.0 Controller for a differential drive mobile base. Bence Magyar Jordan Palacios diff --git a/effort_controllers/CHANGELOG.rst b/effort_controllers/CHANGELOG.rst index 6f7c2771cb..70cfaad021 100644 --- a/effort_controllers/CHANGELOG.rst +++ b/effort_controllers/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package effort_controllers ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +4.11.0 (2024-07-09) +------------------- * added changes corresponding to the logger and clock propagation in ResourceManager (`#1184 `_) * Contributors: Sai Kishor Kothakota diff --git a/effort_controllers/package.xml b/effort_controllers/package.xml index faf31ada51..a7744927a1 100644 --- a/effort_controllers/package.xml +++ b/effort_controllers/package.xml @@ -1,7 +1,7 @@ effort_controllers - 4.10.0 + 4.11.0 Generic controller for forwarding commands. Bence Magyar Jordan Palacios diff --git a/force_torque_sensor_broadcaster/CHANGELOG.rst b/force_torque_sensor_broadcaster/CHANGELOG.rst index a7392ad187..eac8c9959a 100644 --- a/force_torque_sensor_broadcaster/CHANGELOG.rst +++ b/force_torque_sensor_broadcaster/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package force_torque_sensor_broadcaster ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +4.11.0 (2024-07-09) +------------------- * added changes corresponding to the logger and clock propagation in ResourceManager (`#1184 `_) * Contributors: Sai Kishor Kothakota diff --git a/force_torque_sensor_broadcaster/package.xml b/force_torque_sensor_broadcaster/package.xml index ae0c89dcf2..90fcb3a684 100644 --- a/force_torque_sensor_broadcaster/package.xml +++ b/force_torque_sensor_broadcaster/package.xml @@ -2,7 +2,7 @@ force_torque_sensor_broadcaster - 4.10.0 + 4.11.0 Controller to publish state of force-torque sensors. Bence Magyar Denis Štogl diff --git a/forward_command_controller/CHANGELOG.rst b/forward_command_controller/CHANGELOG.rst index d37dd5f30d..17196fed65 100644 --- a/forward_command_controller/CHANGELOG.rst +++ b/forward_command_controller/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package forward_command_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +4.11.0 (2024-07-09) +------------------- * added changes corresponding to the logger and clock propagation in ResourceManager (`#1184 `_) * Contributors: Sai Kishor Kothakota diff --git a/forward_command_controller/package.xml b/forward_command_controller/package.xml index 1e24ca0201..f4c02d8de7 100644 --- a/forward_command_controller/package.xml +++ b/forward_command_controller/package.xml @@ -1,7 +1,7 @@ forward_command_controller - 4.10.0 + 4.11.0 Generic controller for forwarding commands. Bence Magyar Jordan Palacios diff --git a/gripper_controllers/CHANGELOG.rst b/gripper_controllers/CHANGELOG.rst index acd4c2534c..968a1088c2 100644 --- a/gripper_controllers/CHANGELOG.rst +++ b/gripper_controllers/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package gripper_controllers ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +4.11.0 (2024-07-09) +------------------- * added changes corresponding to the logger and clock propagation in ResourceManager (`#1184 `_) * Contributors: Sai Kishor Kothakota diff --git a/gripper_controllers/package.xml b/gripper_controllers/package.xml index 5a9ff6ed87..72d2ec48f2 100644 --- a/gripper_controllers/package.xml +++ b/gripper_controllers/package.xml @@ -4,7 +4,7 @@ schematypens="http://www.w3.org/2001/XMLSchema"?> gripper_controllers - 4.10.0 + 4.11.0 The gripper_controllers package Bence Magyar diff --git a/imu_sensor_broadcaster/CHANGELOG.rst b/imu_sensor_broadcaster/CHANGELOG.rst index 46ae9e4d27..5bacde755e 100644 --- a/imu_sensor_broadcaster/CHANGELOG.rst +++ b/imu_sensor_broadcaster/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package imu_sensor_broadcaster ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +4.11.0 (2024-07-09) +------------------- * added changes corresponding to the logger and clock propagation in ResourceManager (`#1184 `_) * Contributors: Sai Kishor Kothakota diff --git a/imu_sensor_broadcaster/package.xml b/imu_sensor_broadcaster/package.xml index 383c90d89a..5f0e981605 100644 --- a/imu_sensor_broadcaster/package.xml +++ b/imu_sensor_broadcaster/package.xml @@ -2,7 +2,7 @@ imu_sensor_broadcaster - 4.10.0 + 4.11.0 Controller to publish readings of IMU sensors. Bence Magyar Denis Štogl diff --git a/joint_state_broadcaster/CHANGELOG.rst b/joint_state_broadcaster/CHANGELOG.rst index f20ca59557..cc01373289 100644 --- a/joint_state_broadcaster/CHANGELOG.rst +++ b/joint_state_broadcaster/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package joint_state_broadcaster ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +4.11.0 (2024-07-09) +------------------- * added changes corresponding to the logger and clock propagation in ResourceManager (`#1184 `_) * Contributors: Sai Kishor Kothakota diff --git a/joint_state_broadcaster/package.xml b/joint_state_broadcaster/package.xml index 9ca30f4e52..77bbe2ca00 100644 --- a/joint_state_broadcaster/package.xml +++ b/joint_state_broadcaster/package.xml @@ -1,7 +1,7 @@ joint_state_broadcaster - 4.10.0 + 4.11.0 Broadcaster to publish joint state Bence Magyar Denis Stogl diff --git a/joint_trajectory_controller/CHANGELOG.rst b/joint_trajectory_controller/CHANGELOG.rst index 23838b7e3f..047d232155 100644 --- a/joint_trajectory_controller/CHANGELOG.rst +++ b/joint_trajectory_controller/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package joint_trajectory_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +4.11.0 (2024-07-09) +------------------- * [JTC] Make goal_time_tolerance overwrite default value only if explicitly set (`#1192 `_) * added changes corresponding to the logger and clock propagation in ResourceManager (`#1184 `_) * [JTC] Process tolerances sent with action goal (`#716 `_) diff --git a/joint_trajectory_controller/package.xml b/joint_trajectory_controller/package.xml index 733059736a..d32d4e3daf 100644 --- a/joint_trajectory_controller/package.xml +++ b/joint_trajectory_controller/package.xml @@ -1,7 +1,7 @@ joint_trajectory_controller - 4.10.0 + 4.11.0 Controller for executing joint-space trajectories on a group of joints Bence Magyar Dr. Denis Štogl diff --git a/pid_controller/CHANGELOG.rst b/pid_controller/CHANGELOG.rst index d5d140339b..8e45f042f0 100644 --- a/pid_controller/CHANGELOG.rst +++ b/pid_controller/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package pid_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +4.11.0 (2024-07-09) +------------------- * added changes corresponding to the logger and clock propagation in ResourceManager (`#1184 `_) * Contributors: Sai Kishor Kothakota diff --git a/pid_controller/package.xml b/pid_controller/package.xml index 3bd87c1875..2a44c9ad1b 100644 --- a/pid_controller/package.xml +++ b/pid_controller/package.xml @@ -2,7 +2,7 @@ pid_controller - 4.10.0 + 4.11.0 Controller based on PID implememenation from control_toolbox package. Bence Magyar Denis Štogl diff --git a/position_controllers/CHANGELOG.rst b/position_controllers/CHANGELOG.rst index d5f8b52cbb..c9e2c749b5 100644 --- a/position_controllers/CHANGELOG.rst +++ b/position_controllers/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package position_controllers ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +4.11.0 (2024-07-09) +------------------- * added changes corresponding to the logger and clock propagation in ResourceManager (`#1184 `_) * Contributors: Sai Kishor Kothakota diff --git a/position_controllers/package.xml b/position_controllers/package.xml index 013b60c790..33f0f0c15e 100644 --- a/position_controllers/package.xml +++ b/position_controllers/package.xml @@ -1,7 +1,7 @@ position_controllers - 4.10.0 + 4.11.0 Generic controller for forwarding commands. Bence Magyar Jordan Palacios diff --git a/range_sensor_broadcaster/CHANGELOG.rst b/range_sensor_broadcaster/CHANGELOG.rst index 6be8a70b9d..31458c07d6 100644 --- a/range_sensor_broadcaster/CHANGELOG.rst +++ b/range_sensor_broadcaster/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package range_sensor_broadcaster ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +4.11.0 (2024-07-09) +------------------- * added changes corresponding to the logger and clock propagation in ResourceManager (`#1184 `_) * Contributors: Sai Kishor Kothakota diff --git a/range_sensor_broadcaster/package.xml b/range_sensor_broadcaster/package.xml index da74b2d62f..e4525f53fd 100644 --- a/range_sensor_broadcaster/package.xml +++ b/range_sensor_broadcaster/package.xml @@ -2,7 +2,7 @@ range_sensor_broadcaster - 4.10.0 + 4.11.0 Controller to publish readings of Range sensors. Bence Magyar Florent Chretien diff --git a/ros2_controllers/CHANGELOG.rst b/ros2_controllers/CHANGELOG.rst index 39c00e3c85..a54d39b85d 100644 --- a/ros2_controllers/CHANGELOG.rst +++ b/ros2_controllers/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package ros2_controllers ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +4.11.0 (2024-07-09) +------------------- 4.10.0 (2024-07-01) ------------------- diff --git a/ros2_controllers/package.xml b/ros2_controllers/package.xml index 14f686cce4..24e4429ade 100644 --- a/ros2_controllers/package.xml +++ b/ros2_controllers/package.xml @@ -1,7 +1,7 @@ ros2_controllers - 4.10.0 + 4.11.0 Metapackage for ROS2 controllers related packages Bence Magyar Jordan Palacios diff --git a/ros2_controllers_test_nodes/CHANGELOG.rst b/ros2_controllers_test_nodes/CHANGELOG.rst index d529a740b3..78e18dffaa 100644 --- a/ros2_controllers_test_nodes/CHANGELOG.rst +++ b/ros2_controllers_test_nodes/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package ros2_controllers_test_nodes ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +4.11.0 (2024-07-09) +------------------- 4.10.0 (2024-07-01) ------------------- diff --git a/ros2_controllers_test_nodes/package.xml b/ros2_controllers_test_nodes/package.xml index 2c26e5cfe0..87af6e6695 100644 --- a/ros2_controllers_test_nodes/package.xml +++ b/ros2_controllers_test_nodes/package.xml @@ -2,7 +2,7 @@ ros2_controllers_test_nodes - 4.10.0 + 4.11.0 Demo nodes for showing and testing functionalities of the ros2_control framework. Denis Štogl diff --git a/ros2_controllers_test_nodes/setup.py b/ros2_controllers_test_nodes/setup.py index bb9ff7b303..91db299739 100644 --- a/ros2_controllers_test_nodes/setup.py +++ b/ros2_controllers_test_nodes/setup.py @@ -20,7 +20,7 @@ setup( name=package_name, - version="4.10.0", + version="4.11.0", packages=[package_name], data_files=[ ("share/ament_index/resource_index/packages", ["resource/" + package_name]), diff --git a/rqt_joint_trajectory_controller/CHANGELOG.rst b/rqt_joint_trajectory_controller/CHANGELOG.rst index 2ffbb95666..20450f3ca3 100644 --- a/rqt_joint_trajectory_controller/CHANGELOG.rst +++ b/rqt_joint_trajectory_controller/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package rqt_joint_trajectory_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +4.11.0 (2024-07-09) +------------------- 4.10.0 (2024-07-01) ------------------- diff --git a/rqt_joint_trajectory_controller/package.xml b/rqt_joint_trajectory_controller/package.xml index 4d42c2d00d..85c44c58fe 100644 --- a/rqt_joint_trajectory_controller/package.xml +++ b/rqt_joint_trajectory_controller/package.xml @@ -4,7 +4,7 @@ schematypens="http://www.w3.org/2001/XMLSchema"?> rqt_joint_trajectory_controller - 4.10.0 + 4.11.0 Graphical frontend for interacting with joint_trajectory_controller instances. Bence Magyar diff --git a/rqt_joint_trajectory_controller/setup.py b/rqt_joint_trajectory_controller/setup.py index b966635801..2588a47cc8 100644 --- a/rqt_joint_trajectory_controller/setup.py +++ b/rqt_joint_trajectory_controller/setup.py @@ -21,7 +21,7 @@ setup( name=package_name, - version="4.10.0", + version="4.11.0", packages=[package_name], data_files=[ ("share/ament_index/resource_index/packages", ["resource/" + package_name]), diff --git a/steering_controllers_library/CHANGELOG.rst b/steering_controllers_library/CHANGELOG.rst index 7ea9c5d893..d4f62b806c 100644 --- a/steering_controllers_library/CHANGELOG.rst +++ b/steering_controllers_library/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package steering_controllers_library ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +4.11.0 (2024-07-09) +------------------- * Fix steering controllers library kinematics (`#1150 `_) * Contributors: Christoph Fröhlich diff --git a/steering_controllers_library/package.xml b/steering_controllers_library/package.xml index 5b55f7f9de..7d172d45a8 100644 --- a/steering_controllers_library/package.xml +++ b/steering_controllers_library/package.xml @@ -2,7 +2,7 @@ steering_controllers_library - 4.10.0 + 4.11.0 Package for steering robot configurations including odometry and interfaces. Apache License 2.0 Bence Magyar diff --git a/tricycle_controller/CHANGELOG.rst b/tricycle_controller/CHANGELOG.rst index feb9b105cb..fdde4481e2 100644 --- a/tricycle_controller/CHANGELOG.rst +++ b/tricycle_controller/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package tricycle_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +4.11.0 (2024-07-09) +------------------- * added changes corresponding to the logger and clock propagation in ResourceManager (`#1184 `_) * Contributors: Sai Kishor Kothakota diff --git a/tricycle_controller/package.xml b/tricycle_controller/package.xml index cdb62117fd..20310e6b9a 100644 --- a/tricycle_controller/package.xml +++ b/tricycle_controller/package.xml @@ -2,7 +2,7 @@ tricycle_controller - 4.10.0 + 4.11.0 Controller for a tricycle drive mobile base Bence Magyar Tony Najjar diff --git a/tricycle_steering_controller/CHANGELOG.rst b/tricycle_steering_controller/CHANGELOG.rst index a34e991d2a..6f4ad5d8c1 100644 --- a/tricycle_steering_controller/CHANGELOG.rst +++ b/tricycle_steering_controller/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package tricycle_steering_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +4.11.0 (2024-07-09) +------------------- * added changes corresponding to the logger and clock propagation in ResourceManager (`#1184 `_) * Fix steering controllers library kinematics (`#1150 `_) * Contributors: Christoph Fröhlich, Sai Kishor Kothakota diff --git a/tricycle_steering_controller/package.xml b/tricycle_steering_controller/package.xml index f2408123df..4aeb8a086f 100644 --- a/tricycle_steering_controller/package.xml +++ b/tricycle_steering_controller/package.xml @@ -2,7 +2,7 @@ tricycle_steering_controller - 4.10.0 + 4.11.0 Steering controller with tricycle kinematics. Rear fixed wheels are powering the vehicle and front wheel is steering. Apache License 2.0 Bence Magyar diff --git a/velocity_controllers/CHANGELOG.rst b/velocity_controllers/CHANGELOG.rst index e749d6f8a0..614e023984 100644 --- a/velocity_controllers/CHANGELOG.rst +++ b/velocity_controllers/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package velocity_controllers ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +4.11.0 (2024-07-09) +------------------- * added changes corresponding to the logger and clock propagation in ResourceManager (`#1184 `_) * Contributors: Sai Kishor Kothakota diff --git a/velocity_controllers/package.xml b/velocity_controllers/package.xml index 75c05fab94..d128f2b45b 100644 --- a/velocity_controllers/package.xml +++ b/velocity_controllers/package.xml @@ -1,7 +1,7 @@ velocity_controllers - 4.10.0 + 4.11.0 Generic controller for forwarding commands. Bence Magyar Jordan Palacios