Fix GPIO controller onn humble

.github/workflows/humble-semi-binary-build.yml

@@ -39,7 +39,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        ROS_REPO: [main, testing]
+        ROS_REPO: [testing]
     with:
       ros_distro: humble
       ros_repo: ${{ matrix.ROS_REPO }}

.github/workflows/iron-semi-binary-build.yml

@@ -40,7 +40,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        ROS_REPO: [main, testing]
+        ROS_REPO: [testing]
     with:
       ros_distro: iron
       ros_repo: ${{ matrix.ROS_REPO }}

.github/workflows/jazzy-semi-binary-build.yml

@@ -41,7 +41,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        ROS_REPO: [main, testing]
+        ROS_REPO: [testing]
     with:
       ros_distro: jazzy
       ros_repo: ${{ matrix.ROS_REPO }}

.github/workflows/rolling-compatibility-humble-binary-build.yml

@@ -0,0 +1,48 @@
+name: Check Rolling Compatibility on Humble
+# author: Christoph Froehlich <[email protected]>
+# description: 'Build & test the rolling version on Humble distro.'
+
+on:
+  workflow_dispatch:
+  pull_request:
+    branches:
+      - master
+      - '*feature*'
+      - '*feature/**'
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '**.py'
+      - '**.yaml'
+      - '.github/workflows/rolling-compatibility-humble-binary-build.yml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_controllers.rolling.repos'
+  push:
+    branches:
+      - master
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '**.py'
+      - '**.yaml'
+      - '.github/workflows/rolling-compatibility-humble-binary-build.yml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_controllers.rolling.repos'
+
+jobs:
+  build-on-humble:
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
+    strategy:
+      fail-fast: false
+      matrix:
+        ROS_DISTRO: [humble]
+        ROS_REPO: [testing]
+    with:
+      ros_distro: ${{ matrix.ROS_DISTRO }}
+      ros_repo: ${{ matrix.ROS_REPO }}
+      upstream_workspace: ros2_controllers.rolling.repos
+      ref_for_scheduled_build: master

.github/workflows/rolling-compatibility-jazzy-binary-build.yml

@@ -0,0 +1,48 @@
+name: Check Rolling Compatibility on Jazzy
+# author: Christoph Froehlich <[email protected]>
+# description: 'Build & test the rolling version on Jazzy distro.'
+
+on:
+  workflow_dispatch:
+  pull_request:
+    branches:
+      - master
+      - '*feature*'
+      - '*feature/**'
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '**.py'
+      - '**.yaml'
+      - '.github/workflows/rolling-compatibility-jazzy-binary-build.yml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_controllers.rolling.repos'
+  push:
+    branches:
+      - master
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '**.py'
+      - '**.yaml'
+      - '.github/workflows/rolling-compatibility-jazzy-binary-build.yml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_controllers.rolling.repos'
+
+jobs:
+  build-on-jazzy:
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
+    strategy:
+      fail-fast: false
+      matrix:
+        ROS_DISTRO: [jazzy]
+        ROS_REPO: [testing]
+    with:
+      ros_distro: ${{ matrix.ROS_DISTRO }}
+      ros_repo: ${{ matrix.ROS_REPO }}
+      upstream_workspace: ros2_controllers.rolling.repos
+      ref_for_scheduled_build: master

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

@@ -41,7 +41,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        ROS_REPO: [main, testing]
+        ROS_REPO: [testing]
     with:
       ros_distro: rolling
       ros_repo: ${{ matrix.ROS_REPO }}

gpio_controllers/CMakeLists.txt

@@ -8,7 +8,7 @@ endif()
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic -Werror=conversion -Werror=unused-but-set-variable
-  -Werror=return-type -Werror=shadow -Werror=format  -Werror=range-loop-construct
+  -Werror=return-type -Werror=format  -Werror=range-loop-construct
   -Werror=missing-braces)
 endif()
 
@@ -76,7 +76,6 @@ if(BUILD_TESTING)
   target_include_directories(test_load_gpio_command_controller PRIVATE include)
   ament_target_dependencies(test_load_gpio_command_controller
     controller_manager
-    hardware_interface
     ros2_control_test_assets
   )
 

gpio_controllers/doc/userdoc.rst

@@ -23,12 +23,11 @@ This controller uses the `generate_parameter_library <https://github.com/PickNik
 .. generate_parameter_library_details::
   ../src/gpio_command_controller_parameters.yaml
 
-The controller expects at least one GPIO interface and the corresponding command interface names or state interface. However, these Command and State interfaces are optional. The controller behaves as a broadcaster when no Command Interface is present, thereby publishing the configured GPIO state interfaces if set, else the one present in the URDF.
+The controller expects at least one GPIO interface and the corresponding command interface names or state interface. However, these Command and State interfaces are optional. The controller behaves as a broadcaster when no Command Interface is present, thereby publishing the configured GPIO state interfaces if set.
 
 .. note::
 
-  When no state interface is provided in the param file, the controller will try to use state_interfaces from ros2_control's config placed in the URDF for configured gpio interfaces.
-  However, command interfaces will not be configured based on the available URDF setup.
+  When no state or command interface is provided in the param file, the controller will fail during initialization.
 
 .. code-block:: yaml
 

gpio_controllers/include/gpio_controllers/gpio_command_controller.hpp

@@ -24,6 +24,7 @@
 #include "controller_interface/controller_interface.hpp"
 #include "gpio_command_controller_parameters.hpp"
 #include "gpio_controllers/visibility_control.h"
+#include "hardware_interface/hardware_info.hpp"
 #include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp"
 #include "rclcpp_lifecycle/state.hpp"
 #include "realtime_tools/realtime_buffer.h"
@@ -87,8 +88,6 @@ class GpioCommandController : public controller_interface::ControllerInterface
   void apply_command(
     const CmdType & gpio_commands, std::size_t gpio_index,
     std::size_t command_interface_index) const;
-  bool should_broadcast_all_interfaces_of_configured_gpios() const;
-  void set_all_state_interfaces_of_configured_gpios();
   InterfacesNames get_gpios_state_interfaces_names(const std::string & gpio_name) const;
   bool update_dynamic_map_parameters();
   std::vector<hardware_interface::ComponentInfo> get_gpios_from_urdf() const;

gpio_controllers/src/gpio_command_controller.cpp

@@ -32,18 +32,6 @@ void print_interface(const rclcpp::Logger & logger, const T & command_interfaces
     RCLCPP_ERROR(logger, "Got %s", interface_name.c_str());
   }
 }
-
-std::vector<hardware_interface::ComponentInfo> extract_gpios_from_hardware_info(
-  const std::vector<hardware_interface::HardwareInfo> & hardware_infos)
-{
-  std::vector<hardware_interface::ComponentInfo> result;
-  for (const auto & hardware_info : hardware_infos)
-  {
-    std::copy(
-      hardware_info.gpios.begin(), hardware_info.gpios.end(), std::back_insert_iterator(result));
-  }
-  return result;
-}
 }  // namespace
 
 namespace gpio_controllers
@@ -181,58 +169,8 @@ void GpioCommandController::store_command_interface_types()
   }
 }
 
-bool GpioCommandController::should_broadcast_all_interfaces_of_configured_gpios() const
-{
-  auto are_interfaces_empty = [](const auto & interfaces)
-  { return interfaces.second.interfaces.empty(); };
-  return std::all_of(
-    params_.state_interfaces.gpios_map.cbegin(), params_.state_interfaces.gpios_map.cend(),
-    are_interfaces_empty);
-}
-
-std::vector<hardware_interface::ComponentInfo> GpioCommandController::get_gpios_from_urdf() const
-try
-{
-  return extract_gpios_from_hardware_info(
-    hardware_interface::parse_control_resources_from_urdf(get_robot_description()));
-}
-catch (const std::exception & e)
-{
-  fprintf(stderr, "Exception thrown during extracting gpios info from urdf %s \n", e.what());
-  return {};
-}
-
-void GpioCommandController::set_all_state_interfaces_of_configured_gpios()
-{
-  const auto gpios{get_gpios_from_urdf()};
-  for (const auto & gpio_name : params_.gpios)
-  {
-    for (const auto & gpio : gpios)
-    {
-      if (gpio_name == gpio.name)
-      {
-        std::transform(
-          gpio.state_interfaces.begin(), gpio.state_interfaces.end(),
-          std::back_insert_iterator(state_interface_types_),
-          [&gpio_name](const auto & interface_name)
-          { return gpio_name + '/' + interface_name.name; });
-      }
-    }
-  }
-}
-
 void GpioCommandController::store_state_interface_types()
 {
-  if (should_broadcast_all_interfaces_of_configured_gpios())
-  {
-    RCLCPP_INFO(
-      get_node()->get_logger(),
-      "State interfaces are not configured. All available interfaces of configured GPIOs will be "
-      "broadcasted.");
-    set_all_state_interfaces_of_configured_gpios();
-    return;
-  }
-
   for (const auto & [gpio_name, interfaces] : params_.state_interfaces.gpios_map)
   {
     std::transform(