Gpio command controller (backport #1251)

[mergify]

As I discussed with @christophfroehlich I've opened new pr with gpio controller.

This PR is a follow-up to the thread and implements a controller to send commands to GPIO interfaces, allowing specific command interfaces for each GPIO.

I have made the following changes compared to the original PR:

• I utilized the 'DynamicJointState' message for both the command and state interfaces (this allows sending commands with specific GPIO values without having to worry about the order of ports in the command message).
• I added a parameters file, and the new input parameters file will look something like this:

gpios:
  - gpio1
  - gpio2
command_interfaces:
  - gpio1:
    - ports:
      - dig1
      - dig2
  - gpio2:
    - ports:
      - ana1

• I've done significant refactoring and have added many new UTs.

---

This is an automatic backport of pull request #1251 done by [Mergify](https://mergify.com).

[mergify]

Cherry-pick of 0590c6a has failed:

On branch mergify/bp/humble/pr-1251
Your branch is up to date with 'origin/humble'.

You are currently cherry-picking commit 0590c6a.
  (fix conflicts and run "git cherry-pick --continue")
  (use "git cherry-pick --skip" to skip this patch)
  (use "git cherry-pick --abort" to cancel the cherry-pick operation)

Changes to be committed:
	modified:   doc/controllers_index.rst
	new file:   gpio_controllers/CMakeLists.txt
	new file:   gpio_controllers/doc/userdoc.rst
	new file:   gpio_controllers/gpio_controllers_plugin.xml
	new file:   gpio_controllers/include/gpio_controllers/gpio_command_controller.hpp
	new file:   gpio_controllers/include/gpio_controllers/visibility_control.h
	new file:   gpio_controllers/package.xml
	new file:   gpio_controllers/src/gpio_command_controller.cpp
	new file:   gpio_controllers/src/gpio_command_controller_parameters.yaml
	new file:   gpio_controllers/test/test_gpio_command_controller.cpp
	new file:   gpio_controllers/test/test_load_gpio_command_controller.cpp
	modified:   ros2_controllers/package.xml

Unmerged paths:
  (use "git add <file>..." to mark resolution)
	both modified:   doc/release_notes.rst

To fix up this pull request, you can check it out locally. See documentation: https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/reviewing-changes-in-pull-requests/checking-out-pull-requests-locally

[destogl]

Can it be that we are missing some include that is implicitly added to the rolling?

In file included from /home/runner/work/ros2_controllers/ros2_controllers/.work/target_ws/src/ros2_controllers/gpio_controllers/src/gpio_command_controller.cpp:15:
  /home/runner/work/ros2_controllers/ros2_controllers/.work/target_ws/src/ros2_controllers/gpio_controllers/include/gpio_controllers/gpio_command_controller.hpp:94:35: error: ‘ComponentInfo’ is not a member of ‘hardware_interface’
     94 |   std::vector<hardware_interface::ComponentInfo> get_gpios_from_urdf() const;
        |                                   ^~~~~~~~~~~~~
  /home/runner/work/ros2_controllers/ros2_controllers/.work/target_ws/src/ros2_controllers/gpio_controllers/include/gpio_controllers/gpio_command_controller.hpp:94:48: error: template argument 1 is invalid
     94 |   std::vector<hardware_interface::ComponentInfo> get_gpios_from_urdf() const;
        |                                                ^
  /home/runner/work/ros2_controllers/ros2_controllers/.work/target_ws/src/ros2_controllers/gpio_controllers/include/gpio_controllers/gpio_command_controller.hpp:94:48: error: template argument 2 is invalid
  /home/runner/work/ros2_controllers/ros2_controllers/.work/target_ws/src/ros2_controllers/gpio_controllers/src/gpio_command_controller.cpp:193:48: error: no declaration matches ‘std::vector<hardware_interface::ComponentInfo> gpio_controllers::GpioCommandController::get_gpios_from_urdf() const’

[christophfroehlich]

@Wiktor-99 maybe you can have a look? Are there includes missing, or has the API changed? You can simply open a PR to the mergify/bp/humble/pr-1251 branch.

[Wiktor-99]

Yes, I'll check it right away

[Wiktor-99]

It seems that there is more:

• Firstly the hardware_interface/hardware_info.hpp include is missing but it's minor
• In humble controller doesn't get the urdf during initialization (this behavior was introduce in the Pass URDF to controllers on init ros2_control#1088), but its api breaking
• There is also problem with cmake's -Werror=shadow flag (there is some problem with pluginlib), also minor

[christophfroehlich]

It seems that there is more:

* Firstly the hardware_interface/hardware_info.hpp include is missing but it's minor

👍

* In humble controller doesn't get the urdf during initialization (this behavior was introduce in the [Pass URDF to controllers on init ros2_control#1088](https://github.com/ros-controls/ros2_control/pull/1088)), but its api breaking

you are right, we would have to change the strategy and only support explicitly given state interfaces.

* There is also problem with cmake's -Werror=shadow flag (there is some problem with pluginlib), also minor

I had this error already, but I can't find it any more where I solved it and how (probably by just deactivating the -Werror=shadow)

If you have time to work on that, very welcome. Otherwise we close this backport, everyone can compile the rolling stack from source on humble to have the latest features.

[Wiktor-99]

Frankly, there is not much to align. I'll provide limited solution in few days (with explicitly given state interfaces).

[Wiktor-99]

I have opened the PR to this branch. It includes the discussed fixes.
#1403

[codecov]

Codecov Report

Attention: Patch coverage is 75.13812% with 135 lines in your changes missing coverage. Please review.

Project coverage is 66.65%. Comparing base (7904d4b) to head (713ce9b).
Report is 2 commits behind head on humble.

Files with missing lines	Patch %	Lines
..._controllers/test/test_gpio_command_controller.cpp	74.16%	3 Missing and 90 partials ⚠️
gpio_controllers/src/gpio_command_controller.cpp	77.14%	28 Missing and 12 partials ⚠️
...rollers/test/test_load_gpio_command_controller.cpp	75.00%	0 Missing and 2 partials ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##           humble    #1372      +/-   ##
==========================================
+ Coverage   66.27%   66.65%   +0.37%     
==========================================
  Files         110      113       +3     
  Lines       12662    13205     +543     
  Branches     7813     8152     +339     
==========================================
+ Hits         8392     8802     +410     
- Misses       1409     1446      +37     
- Partials     2861     2957      +96     

Flag	Coverage Δ
unittests	66.65% <75.13%> (+0.37%)	⬆️

Flags with carried forward coverage won't be shown. Click here to find out more.

Files with missing lines	Coverage Δ
...rollers/test/test_load_gpio_command_controller.cpp	75.00% <75.00%> (ø)
gpio_controllers/src/gpio_command_controller.cpp	77.14% <77.14%> (ø)
..._controllers/test/test_gpio_command_controller.cpp	74.16% <74.16%> (ø)

... and 2 files with indirect coverage changes

[christophfroehlich]

RHEL build failure is not related to this PR.