Merge remote-tracking branch 'industrial/humble' into humble

ros-industrial · Apr 22, 2024 · 4773337 · 4773337
2 parents 320940b + dc8de7a
commit 4773337
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diff --git a/README.md b/README.md
@@ -7,6 +7,8 @@
 | Industrial CI Build | [![CI Build Status](https://github.com/ros-industrial/ros2_canopen/workflows/rolling/badge.svg?branch=master)](https://github.com/ros-industrial/ros2_canopen/actions) |
 | Documentation Build | [![CI Documentation Status](https://github.com/ros-industrial/ros2_canopen/workflows/Documentation/badge.svg?branch=master)](https://github.com/ros-industrial/ros2_canopen/actions) |
 | Buildfarm Build | [![Buildfarm Status](https://build.ros2.org/job/Rdev__ros2_canopen__ubuntu_jammy_amd64/badge/icon)](https://build.ros2.org/job/Rdev__ros2_canopen__ubuntu_jammy_amd64/) |
+[![humble](https://github.com/ros-industrial/ros2_canopen/actions/workflows/humble.yml/badge.svg)](https://github.com/ros-industrial/ros2_canopen/actions/workflows/humble.yml)
+[![HUMBLE Documentation](https://github.com/ros-industrial/ros2_canopen/actions/workflows/humble_documentation.yml/badge.svg)](https://github.com/ros-industrial/ros2_canopen/actions/workflows/humble_documentation.yml)
 
 The stack is currently under development and not yet ready for production use.
 

diff --git a/canopen/CHANGELOG.rst b/canopen/CHANGELOG.rst
@@ -2,24 +2,6 @@
 Changelog for package canopen
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-0.2.9 (2024-04-16)
-------------------
-* Update maintainer list
-* Update package.xml
-* Add timeouts
-* Contributors: Vishnuprasad Prachandabhanu, ipa-vsp
-
-0.2.8 (2024-01-19)
-------------------
-* Documentation: Fix launch file spelling (`#208 <https://github.com/ros-industrial/ros2_canopen/issues/208>`_)
-* Documentation: Fix package creation command.  (`#176 <https://github.com/ros-industrial/ros2_canopen/issues/176>`_)
-  * Fix package creation
-  * Fixed bus.yml nodes list
-  * docs: fixed launch file path in instructions
-  ---------
-  Co-authored-by: waterlinux <[email protected]>
-* Contributors: Lewe Christiansen, Vishnuprasad Prachandabhanu
-
 0.2.7 (2023-06-30)
 ------------------
 * Update ros2_control docs.

diff --git a/canopen/package.xml b/canopen/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>canopen</name>
-  <version>0.2.9</version>
+  <version>0.2.7</version>
   <description>Meta-package aggregating the ros2_canopen packages and documentation</description>
   <maintainer email="[email protected]">Christoph Hellmann Santos</maintainer>
   <maintainer email="[email protected]">Vishnuprasad Prachandabhanu</maintainer>

diff --git a/canopen_402_driver/CHANGELOG.rst b/canopen_402_driver/CHANGELOG.rst
@@ -2,15 +2,6 @@
 Changelog for package canopen_402_driver
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-0.2.9 (2024-04-16)
-------------------
-* Update the lely_core_libraries hash to the latest.
-* fix ci build error
-* Contributors: Vishnuprasad Prachandabhanu
-
-0.2.8 (2024-01-19)
-------------------
-
 0.2.7 (2023-06-30)
 ------------------
 * Add missing license headers and activate ament_copyright

diff --git a/canopen_402_driver/package.xml b/canopen_402_driver/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>canopen_402_driver</name>
-  <version>0.2.9</version>
+  <version>0.2.7</version>
   <description>Driiver for devices implementing CIA402 profile</description>
   <maintainer email="[email protected]">Christoph Hellmann Santos</maintainer>
   <license>LGPL-v3</license>

diff --git a/canopen_base_driver/CHANGELOG.rst b/canopen_base_driver/CHANGELOG.rst
@@ -2,14 +2,6 @@
 Changelog for package canopen_base_driver
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-0.2.9 (2024-04-16)
-------------------
-* Add timeouts
-* Contributors: Vishnuprasad Prachandabhanu
-
-0.2.8 (2024-01-19)
-------------------
-
 0.2.7 (2023-06-30)
 ------------------
 * Add missing license headers and activate ament_copyright

diff --git a/canopen_base_driver/package.xml b/canopen_base_driver/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>canopen_base_driver</name>
-  <version>0.2.9</version>
+  <version>0.2.7</version>
   <description>Library containing abstract CANopen driver class for ros2_canopen</description>
   <maintainer email="[email protected]">Christoph Hellmann Santos</maintainer>
   <license>Apache-2.0</license>

diff --git a/canopen_core/CHANGELOG.rst b/canopen_core/CHANGELOG.rst
@@ -2,14 +2,6 @@
 Changelog for package canopen_core
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-0.2.9 (2024-04-16)
-------------------
-* Add timeouts
-* Contributors: Vishnuprasad Prachandabhanu, ipa-vsp
-
-0.2.8 (2024-01-19)
-------------------
-
 0.2.7 (2023-06-30)
 ------------------
 * Add missing license headers and activate ament_copyright

diff --git a/canopen_core/package.xml b/canopen_core/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>canopen_core</name>
-  <version>0.2.9</version>
+  <version>0.2.7</version>
   <description>Core ros2_canopen functionalities such as DeviceContainer and master</description>
   <maintainer email="[email protected]">Christoph Hellmann Santos</maintainer>
   <license>Apache-2.0</license>

diff --git a/canopen_core/test/CMakeLists.txt b/canopen_core/test/CMakeLists.txt
@@ -51,7 +51,6 @@ target_link_libraries(test_device_container
     device_container
 )
 endif()
-
 file(COPY bus_configs DESTINATION ${CMAKE_CURRENT_BINARY_DIR})
 
 ament_add_gmock(test_canopen_driver

diff --git a/canopen_fake_slaves/CHANGELOG.rst b/canopen_fake_slaves/CHANGELOG.rst
@@ -2,19 +2,6 @@
 Changelog for package canopen_fake_slaves
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-0.2.9 (2024-04-16)
-------------------
-
-0.2.8 (2024-01-19)
-------------------
-* Add fake profile velocity (`#230 <https://github.com/ros-industrial/ros2_canopen/issues/230>`_)
-  * Add simple sequence homing emulation
-  * Add fake velocity mode
-  * Formatting
-  ---------
-* Add simple sequence homing emulation (`#229 <https://github.com/ros-industrial/ros2_canopen/issues/229>`_)
-* Contributors: Christoph Hellmann Santos
-
 0.2.7 (2023-06-30)
 ------------------
 * Add missing license headers and activate ament_copyright

diff --git a/canopen_fake_slaves/package.xml b/canopen_fake_slaves/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>canopen_fake_slaves</name>
-  <version>0.2.9</version>
+  <version>0.2.7</version>
   <description>Package with mock canopen slave</description>
   <maintainer email="[email protected]">Christoph Hellmann Santos</maintainer>
   <license>Apache-2.0</license>

diff --git a/canopen_interfaces/CHANGELOG.rst b/canopen_interfaces/CHANGELOG.rst
@@ -2,12 +2,6 @@
 Changelog for package canopen_interfaces
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-0.2.9 (2024-04-16)
-------------------
-
-0.2.8 (2024-01-19)
-------------------
-
 0.2.7 (2023-06-30)
 ------------------
 

diff --git a/canopen_interfaces/package.xml b/canopen_interfaces/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>canopen_interfaces</name>
-  <version>0.2.9</version>
+  <version>0.2.7</version>
   <description>Services and Messages for ros2_canopen stack</description>
   <maintainer email="[email protected]">Christoph Hellmann Santos</maintainer>
   <license>Apache-2.0</license>

diff --git a/canopen_master_driver/CHANGELOG.rst b/canopen_master_driver/CHANGELOG.rst
@@ -2,14 +2,6 @@
 Changelog for package canopen_master_driver
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-0.2.9 (2024-04-16)
-------------------
-* Add timeouts
-* Contributors: Vishnuprasad Prachandabhanu
-
-0.2.8 (2024-01-19)
-------------------
-
 0.2.7 (2023-06-30)
 ------------------
 * Add missing license headers and activate ament_copyright

diff --git a/canopen_master_driver/package.xml b/canopen_master_driver/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>canopen_master_driver</name>
-  <version>0.2.9</version>
+  <version>0.2.7</version>
   <description>Basic canopen master implementation</description>
   <maintainer email="[email protected]">Christoph Hellmann Santos</maintainer>
   <license>Apache-2.0</license>

diff --git a/canopen_proxy_driver/CHANGELOG.rst b/canopen_proxy_driver/CHANGELOG.rst
@@ -2,12 +2,6 @@
 Changelog for package canopen_proxy_driver
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-0.2.9 (2024-04-16)
-------------------
-
-0.2.8 (2024-01-19)
-------------------
-
 0.2.7 (2023-06-30)
 ------------------
 * Add missing license headers and activate ament_copyright

diff --git a/canopen_proxy_driver/package.xml b/canopen_proxy_driver/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>canopen_proxy_driver</name>
-  <version>0.2.9</version>
+  <version>0.2.7</version>
   <description>Simple proxy driver for the ros2_canopen stack</description>
   <maintainer email="[email protected]">Christoph Hellmann Santos</maintainer>
   <license>Apache-2.0</license>

diff --git a/canopen_ros2_control/CHANGELOG.rst b/canopen_ros2_control/CHANGELOG.rst
@@ -2,14 +2,6 @@
 Changelog for package canopen_ros2_control
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-0.2.9 (2024-04-16)
-------------------
-
-0.2.8 (2024-01-19)
-------------------
-* Update robot_system.cpp (`#168 <https://github.com/ros-industrial/ros2_canopen/issues/168>`_)
-* Contributors: Christoph Hellmann Santos
-
 0.2.7 (2023-06-30)
 ------------------
 * Correct Proxy controller after changes and update tests.

diff --git a/canopen_ros2_control/include/canopen_ros2_control/cia402_data.hpp b/canopen_ros2_control/include/canopen_ros2_control/cia402_data.hpp
@@ -63,7 +63,7 @@ struct Cia402Data
     }
 
     node_id = config["node_id"].as<uint16_t>();
-    RCLCPP_ERROR(
+    RCLCPP_INFO(
       rclcpp::get_logger(joint_name), "Node id for '%s' is '%u'", joint.name.c_str(), node_id);
 
     if (config["position_mode"])

diff --git a/canopen_ros2_control/package.xml b/canopen_ros2_control/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>canopen_ros2_control</name>
-  <version>0.2.9</version>
+  <version>0.2.7</version>
   <description>ros2_control wrapper for ros2_canopen functionalities</description>
   <maintainer email="[email protected]">Lovro Ivanov</maintainer>
   <maintainer email="[email protected]">Denis Stogl</maintainer>

diff --git a/canopen_ros2_controllers/CHANGELOG.rst b/canopen_ros2_controllers/CHANGELOG.rst
@@ -2,18 +2,6 @@
 Changelog for package canopen_ros2_controllers
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-0.2.9 (2024-04-16)
-------------------
-
-0.2.8 (2024-01-19)
-------------------
-* Remove controller tests (`#249 <https://github.com/ros-industrial/ros2_canopen/issues/249>`_)
-* Disable controller tests for now (`#231 <https://github.com/ros-industrial/ros2_canopen/issues/231>`_)
-  * Disable controller tests for now
-  * Update iron.yml
-  * Fix ci
-* Contributors: Christoph Hellmann Santos, Vishnuprasad Prachandabhanu
-
 0.2.7 (2023-06-30)
 ------------------
 * Correct Proxy controller after changes and update tests.

diff --git a/canopen_ros2_controllers/CMakeLists.txt b/canopen_ros2_controllers/CMakeLists.txt
@@ -56,6 +56,33 @@ install(
 if(FALSE)
   find_package(ament_cmake_gmock REQUIRED)
 
+  ament_add_gmock(test_load_canopen_proxy_controller test/test_load_canopen_proxy_controller.cpp)
+  target_include_directories(test_load_canopen_proxy_controller PRIVATE include)
+  ament_target_dependencies(
+    test_load_canopen_proxy_controller
+    controller_manager
+    hardware_interface
+    canopen_interfaces
+  )
+
+  ament_add_gmock(test_load_cia402_device_controller test/test_load_cia402_device_controller.cpp)
+  target_include_directories(test_load_cia402_device_controller PRIVATE include)
+  ament_target_dependencies(
+    test_load_cia402_device_controller
+    controller_manager
+    hardware_interface
+    canopen_interfaces
+  )
+
+  ament_add_gmock(test_load_cia402_robot_controller test/test_load_cia402_robot_controller.cpp)
+  target_include_directories(test_load_cia402_robot_controller PRIVATE include)
+  ament_target_dependencies(
+    test_load_cia402_robot_controller
+    controller_manager
+    hardware_interface
+    canopen_interfaces
+  )
+
 #   ament_add_gmock(test_load_canopen_proxy_controller test/test_load_canopen_proxy_controller.cpp)
 #   target_include_directories(test_load_canopen_proxy_controller PRIVATE include)
 #   ament_target_dependencies(

diff --git a/canopen_ros2_controllers/canopen_ros2_controllers.xml b/canopen_ros2_controllers/canopen_ros2_controllers.xml
@@ -11,10 +11,4 @@
       Generic controller for Canopen 402 devices providing service interfaces through ros2_control stack to the can devices.
     </description>
   </class>
-  <class name="canopen_ros2_controllers/Cia402RobotController"
-         type="cia402_robot_controller::Cia402RobotController" base_class_type="controller_interface::ControllerInterface">
-    <description>
-      Generic controller for Canopen 402 devices providing service interfaces through ros2_control stack to the can devices.
-    </description>
-  </class>
 </library>
diff --git a/canopen_ros2_controllers/package.xml b/canopen_ros2_controllers/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>canopen_ros2_controllers</name>
-  <version>0.2.9</version>
+  <version>0.2.7</version>
   <description>ros2_control controllers for ros2_canopen functionalities</description>
   <maintainer email="[email protected]">Denis Stogl</maintainer>
   <maintainer email="[email protected]">Lovro Ivanov</maintainer>

diff --git a/canopen_tests/CHANGELOG.rst b/canopen_tests/CHANGELOG.rst
@@ -2,12 +2,6 @@
 Changelog for package canopen_tests
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-0.2.9 (2024-04-16)
-------------------
-
-0.2.8 (2024-01-19)
-------------------
-
 0.2.7 (2023-06-30)
 ------------------
 * Add missing license headers and activate ament_copyright

diff --git a/canopen_tests/package.xml b/canopen_tests/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>canopen_tests</name>
-  <version>0.2.9</version>
+  <version>0.2.7</version>
   <description>Package with tests for ros2_canopen</description>
   <maintainer email="[email protected]">Christoph Hellmann Santos</maintainer>
   <license>Apache-2.0</license>

diff --git a/canopen_utils/CHANGELOG.rst b/canopen_utils/CHANGELOG.rst
@@ -2,12 +2,6 @@
 Changelog for package canopen_utils
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-0.2.9 (2024-04-16)
-------------------
-
-0.2.8 (2024-01-19)
-------------------
-
 0.2.7 (2023-06-30)
 ------------------
 * Add missing license headers and activate ament_copyright

diff --git a/canopen_utils/package.xml b/canopen_utils/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>canopen_utils</name>
-  <version>0.2.9</version>
+  <version>0.2.7</version>
   <description>Utils for working with ros2_canopen.</description>
   <maintainer email="[email protected]">Christoph Hellmann Santos</maintainer>
   <license>Apache-2.0</license>

diff --git a/canopen_utils/setup.py b/canopen_utils/setup.py
@@ -18,7 +18,7 @@
 
 setup(
     name=package_name,
-    version="0.2.9",
+    version="0.2.7",
     packages=[package_name],
     data_files=[
         ("share/ament_index/resource_index/packages", ["resource/" + package_name]),

diff --git a/lely_core_libraries/CHANGELOG.rst b/lely_core_libraries/CHANGELOG.rst
@@ -2,14 +2,6 @@
 Changelog for package lely_core_libraries
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-0.2.9 (2024-04-16)
-------------------
-* Update the lely_core_libraries hash to the latest.
-* Contributors: Chris Lalancette, Vishnuprasad Prachandabhanu
-
-0.2.8 (2024-01-19)
-------------------
-
 0.2.7 (2023-06-30)
 ------------------
 * Add missing license headers and activate ament_copyright
-Original file line number
+Diff line change
@@ Expand Up / @@ -51,7 +51,6 @@ target_link_libraries(test_device_container @@
         device_container
     )
     endif()
     file(COPY bus_configs DESTINATION ${CMAKE_CURRENT_BINARY_DIR})
     ament_add_gmock(test_canopen_driver
@@ Expand Down @@