Merge branch 'master' into export/state_interfaces/pid_controller

ros-controls · Aug 29, 2024 · 5f582fd · 5f582fd
2 parents e5540ee + 3be3fe9
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diff --git a/ackermann_steering_controller/CHANGELOG.rst b/ackermann_steering_controller/CHANGELOG.rst
@@ -2,6 +2,11 @@
 Changelog for package ackermann_steering_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.13.0 (2024-08-22)
+-------------------
+* Fixes tests to work with use_global_arguments NodeOptions parameter  (`#1256 <https://github.com/ros-controls/ros2_controllers/issues/1256>`_)
+* Contributors: Sai Kishor Kothakota
+
 4.12.1 (2024-08-14)
 -------------------
 

diff --git a/ackermann_steering_controller/package.xml b/ackermann_steering_controller/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>ackermann_steering_controller</name>
-  <version>4.12.1</version>
+  <version>4.13.0</version>
   <description>Steering controller for Ackermann kinematics. Rear fixed wheels are powering the vehicle and front wheels are steering it.</description>
   <license>Apache License 2.0</license>
   <maintainer email="[email protected]">Bence Magyar</maintainer>

diff --git a/admittance_controller/CHANGELOG.rst b/admittance_controller/CHANGELOG.rst
@@ -2,6 +2,12 @@
 Changelog for package admittance_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.13.0 (2024-08-22)
+-------------------
+* Fix segfault at reconfigure of AdmittanceController (`#1248 <https://github.com/ros-controls/ros2_controllers/issues/1248>`_)
+* Fixes tests to work with use_global_arguments NodeOptions parameter  (`#1256 <https://github.com/ros-controls/ros2_controllers/issues/1256>`_)
+* Contributors: Lennart Nachtigall, Sai Kishor Kothakota
+
 4.12.1 (2024-08-14)
 -------------------
 * Fix admittance controller interface read/write logic (`#1232 <https://github.com/ros-controls/ros2_controllers/issues/1232>`_)

diff --git a/admittance_controller/package.xml b/admittance_controller/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>admittance_controller</name>
-  <version>4.12.1</version>
+  <version>4.13.0</version>
   <description>Implementation of admittance controllers for different input and output interface.</description>
   <maintainer email="[email protected]">Denis Štogl</maintainer>
   <maintainer email="[email protected]">Bence Magyar</maintainer>

diff --git a/bicycle_steering_controller/CHANGELOG.rst b/bicycle_steering_controller/CHANGELOG.rst
@@ -2,6 +2,11 @@
 Changelog for package bicycle_steering_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.13.0 (2024-08-22)
+-------------------
+* Fixes tests to work with use_global_arguments NodeOptions parameter  (`#1256 <https://github.com/ros-controls/ros2_controllers/issues/1256>`_)
+* Contributors: Sai Kishor Kothakota
+
 4.12.1 (2024-08-14)
 -------------------
 

diff --git a/bicycle_steering_controller/package.xml b/bicycle_steering_controller/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>bicycle_steering_controller</name>
-  <version>4.12.1</version>
+  <version>4.13.0</version>
   <description>Steering controller with bicycle kinematics. Rear fixed wheel is powering the vehicle and front wheel is steering.</description>
   <license>Apache License 2.0</license>
   <maintainer email="[email protected]">Bence Magyar</maintainer>

diff --git a/diff_drive_controller/CHANGELOG.rst b/diff_drive_controller/CHANGELOG.rst
@@ -2,6 +2,11 @@
 Changelog for package diff_drive_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.13.0 (2024-08-22)
+-------------------
+* Fixes tests to work with use_global_arguments NodeOptions parameter  (`#1256 <https://github.com/ros-controls/ros2_controllers/issues/1256>`_)
+* Contributors: Sai Kishor Kothakota
+
 4.12.1 (2024-08-14)
 -------------------
 

diff --git a/diff_drive_controller/package.xml b/diff_drive_controller/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>diff_drive_controller</name>
-  <version>4.12.1</version>
+  <version>4.13.0</version>
   <description>Controller for a differential drive mobile base.</description>
   <maintainer email="[email protected]">Bence Magyar</maintainer>
   <maintainer email="[email protected]">Jordan Palacios</maintainer>

diff --git a/diff_drive_controller/src/diff_drive_controller.cpp b/diff_drive_controller/src/diff_drive_controller.cpp
@@ -101,7 +101,7 @@ controller_interface::return_type DiffDriveController::update(
   const rclcpp::Time & time, const rclcpp::Duration & period)
 {
   auto logger = get_node()->get_logger();
-  if (get_state().id() == State::PRIMARY_STATE_INACTIVE)
+  if (get_lifecycle_state().id() == State::PRIMARY_STATE_INACTIVE)
   {
     if (!is_halted)
     {

diff --git a/effort_controllers/CHANGELOG.rst b/effort_controllers/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package effort_controllers
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.13.0 (2024-08-22)
+-------------------
+
 4.12.1 (2024-08-14)
 -------------------
 

diff --git a/effort_controllers/package.xml b/effort_controllers/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>effort_controllers</name>
-  <version>4.12.1</version>
+  <version>4.13.0</version>
   <description>Generic controller for forwarding commands.</description>
   <maintainer email="[email protected]">Bence Magyar</maintainer>
   <maintainer email="[email protected]">Jordan Palacios</maintainer>

diff --git 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
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.13.0 (2024-08-22)
+-------------------
+* Fixes tests to work with use_global_arguments NodeOptions parameter  (`#1256 <https://github.com/ros-controls/ros2_controllers/issues/1256>`_)
+* Contributors: Sai Kishor Kothakota
+
 4.12.1 (2024-08-14)
 -------------------
 

diff --git a/force_torque_sensor_broadcaster/package.xml b/force_torque_sensor_broadcaster/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>force_torque_sensor_broadcaster</name>
-  <version>4.12.1</version>
+  <version>4.13.0</version>
   <description>Controller to publish state of force-torque sensors.</description>
   <maintainer email="[email protected]">Bence Magyar</maintainer>
   <maintainer email="[email protected]">Denis Štogl</maintainer>

diff --git a/forward_command_controller/CHANGELOG.rst b/forward_command_controller/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package forward_command_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.13.0 (2024-08-22)
+-------------------
+
 4.12.1 (2024-08-14)
 -------------------
 

diff --git a/forward_command_controller/package.xml b/forward_command_controller/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>forward_command_controller</name>
-  <version>4.12.1</version>
+  <version>4.13.0</version>
   <description>Generic controller for forwarding commands.</description>
   <maintainer email="[email protected]">Bence Magyar</maintainer>
   <maintainer email="[email protected]">Jordan Palacios</maintainer>

diff --git a/gripper_controllers/CHANGELOG.rst b/gripper_controllers/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package gripper_controllers
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.13.0 (2024-08-22)
+-------------------
+
 4.12.1 (2024-08-14)
 -------------------
 

diff --git a/gripper_controllers/package.xml b/gripper_controllers/package.xml
@@ -4,7 +4,7 @@
   schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>gripper_controllers</name>
-  <version>4.12.1</version>
+  <version>4.13.0</version>
   <description>The gripper_controllers package</description>
   <maintainer email="[email protected]">Bence Magyar</maintainer>
 

diff --git a/imu_sensor_broadcaster/CHANGELOG.rst b/imu_sensor_broadcaster/CHANGELOG.rst
@@ -2,6 +2,11 @@
 Changelog for package imu_sensor_broadcaster
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.13.0 (2024-08-22)
+-------------------
+* Fixes tests to work with use_global_arguments NodeOptions parameter  (`#1256 <https://github.com/ros-controls/ros2_controllers/issues/1256>`_)
+* Contributors: Sai Kishor Kothakota
+
 4.12.1 (2024-08-14)
 -------------------
 

diff --git a/imu_sensor_broadcaster/package.xml b/imu_sensor_broadcaster/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>imu_sensor_broadcaster</name>
-  <version>4.12.1</version>
+  <version>4.13.0</version>
   <description>Controller to publish readings of IMU sensors.</description>
   <maintainer email="[email protected]">Bence Magyar</maintainer>
   <maintainer email="[email protected]">Denis Štogl</maintainer>

diff --git a/joint_state_broadcaster/CHANGELOG.rst b/joint_state_broadcaster/CHANGELOG.rst
@@ -2,6 +2,11 @@
 Changelog for package joint_state_broadcaster
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.13.0 (2024-08-22)
+-------------------
+* [Joint State Broadcaster] Publish the joint_states of joints present in the URDF (`#1233 <https://github.com/ros-controls/ros2_controllers/issues/1233>`_)
+* Contributors: Sai Kishor Kothakota
+
 4.12.1 (2024-08-14)
 -------------------
 

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
@@ -27,6 +27,7 @@
 #include "joint_state_broadcaster_parameters.hpp"
 #include "realtime_tools/realtime_publisher.h"
 #include "sensor_msgs/msg/joint_state.hpp"
+#include "urdf/model.h"
 
 namespace joint_state_broadcaster
 {
@@ -111,6 +112,9 @@ class JointStateBroadcaster : public controller_interface::ControllerInterface
     dynamic_joint_state_publisher_;
   std::shared_ptr<realtime_tools::RealtimePublisher<control_msgs::msg::DynamicJointState>>
     realtime_dynamic_joint_state_publisher_;
+
+  urdf::Model model_;
+  bool is_model_loaded_ = false;
 };
 
 }  // namespace joint_state_broadcaster

diff --git a/joint_state_broadcaster/package.xml b/joint_state_broadcaster/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>joint_state_broadcaster</name>
-  <version>4.12.1</version>
+  <version>4.13.0</version>
   <description>Broadcaster to publish joint state</description>
   <maintainer email="[email protected]">Bence Magyar</maintainer>
   <maintainer email="[email protected]">Denis Stogl</maintainer>

diff --git a/joint_state_broadcaster/src/joint_state_broadcaster.cpp b/joint_state_broadcaster/src/joint_state_broadcaster.cpp
@@ -164,6 +164,18 @@ controller_interface::CallbackReturn JointStateBroadcaster::on_configure(
     fprintf(stderr, "Exception thrown during init stage with message: %s \n", e.what());
     return CallbackReturn::ERROR;
   }
+
+  const std::string & urdf = get_robot_description();
+
+  is_model_loaded_ = !urdf.empty() && model_.initString(urdf);
+  if (!is_model_loaded_)
+  {
+    RCLCPP_ERROR(
+      get_node()->get_logger(),
+      "Failed to parse robot description. Will publish all the interfaces with '%s', '%s' and '%s'",
+      HW_IF_POSITION, HW_IF_VELOCITY, HW_IF_EFFORT);
+  }
+
   return CallbackReturn::SUCCESS;
 }
 
@@ -243,17 +255,6 @@ bool JointStateBroadcaster::init_joint_data()
     name_if_value_mapping_[si->get_prefix_name()][interface_name] = kUninitializedValue;
   }
 
-  const std::string & urdf = get_robot_description();
-
-  urdf::Model model;
-  const bool is_model_loaded = !urdf.empty() && model.initString(urdf);
-  if (!is_model_loaded)
-  {
-    RCLCPP_ERROR(
-      get_node()->get_logger(),
-      "Failed to parse robot description. Will publish all the interfaces with '%s', '%s' and '%s'",
-      HW_IF_POSITION, HW_IF_VELOCITY, HW_IF_EFFORT);
-  }
   // filter state interfaces that have at least one of the joint_states fields,
   // the rest will be ignored for this message
   for (const auto & name_ifv : name_if_value_mapping_)
@@ -262,8 +263,8 @@ bool JointStateBroadcaster::init_joint_data()
     if (has_any_key(interfaces_and_values, {HW_IF_POSITION, HW_IF_VELOCITY, HW_IF_EFFORT}))
     {
       if (
-        !params_.use_urdf_to_filter || !params_.joints.empty() || !is_model_loaded ||
-        model.getJoint(name_ifv.first))
+        !params_.use_urdf_to_filter || !params_.joints.empty() || !is_model_loaded_ ||
+        model_.getJoint(name_ifv.first))
       {
         joint_names_.push_back(name_ifv.first);
       }

diff --git a/joint_trajectory_controller/CHANGELOG.rst b/joint_trajectory_controller/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package joint_trajectory_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.13.0 (2024-08-22)
+-------------------
+
 4.12.1 (2024-08-14)
 -------------------
 

diff --git a/joint_trajectory_controller/package.xml b/joint_trajectory_controller/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>joint_trajectory_controller</name>
-  <version>4.12.1</version>
+  <version>4.13.0</version>
   <description>Controller for executing joint-space trajectories on a group of joints</description>
   <maintainer email="[email protected]">Bence Magyar</maintainer>
   <maintainer email="[email protected]">Dr. Denis Štogl</maintainer>

diff --git a/joint_trajectory_controller/src/joint_trajectory_controller.cpp b/joint_trajectory_controller/src/joint_trajectory_controller.cpp
@@ -137,7 +137,7 @@ JointTrajectoryController::state_interface_configuration() const
 controller_interface::return_type JointTrajectoryController::update(
   const rclcpp::Time & time, const rclcpp::Duration & period)
 {
-  if (get_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE)
+  if (get_lifecycle_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE)
   {
     return controller_interface::return_type::OK;
   }
@@ -593,7 +593,7 @@ void JointTrajectoryController::query_state_service(
 {
   const auto logger = get_node()->get_logger();
   // Preconditions
-  if (get_state().id() != lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE)
+  if (get_lifecycle_state().id() != lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE)
   {
     RCLCPP_ERROR(logger, "Can't sample trajectory. Controller is not active.");
     response->success = false;
@@ -1112,7 +1112,7 @@ rclcpp_action::GoalResponse JointTrajectoryController::goal_received_callback(
   RCLCPP_INFO(get_node()->get_logger(), "Received new action goal");
 
   // Precondition: Running controller
-  if (get_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE)
+  if (get_lifecycle_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE)
   {
     RCLCPP_ERROR(
       get_node()->get_logger(), "Can't accept new action goals. Controller is not running.");

diff --git a/parallel_gripper_controller/CHANGELOG.rst b/parallel_gripper_controller/CHANGELOG.rst
@@ -2,6 +2,11 @@
 Changelog for package parallel_gripper_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.13.0 (2024-08-22)
+-------------------
+* Fixes tests to work with use_global_arguments NodeOptions parameter  (`#1256 <https://github.com/ros-controls/ros2_controllers/issues/1256>`_)
+* Contributors: Sai Kishor Kothakota
+
 4.12.1 (2024-08-14)
 -------------------
 

diff --git a/parallel_gripper_controller/package.xml b/parallel_gripper_controller/package.xml
@@ -4,7 +4,7 @@
   schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>parallel_gripper_controller</name>
-  <version>4.12.1</version>
+  <version>4.13.0</version>
   <description>The parallel_gripper_controller package</description>
   <maintainer email="[email protected]">Bence Magyar</maintainer>
 

diff --git a/pid_controller/CHANGELOG.rst b/pid_controller/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package pid_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.13.0 (2024-08-22)
+-------------------
+
 4.12.1 (2024-08-14)
 -------------------
 

diff --git a/pid_controller/package.xml b/pid_controller/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>pid_controller</name>
-  <version>4.12.1</version>
+  <version>4.13.0</version>
   <description>Controller based on PID implememenation from control_toolbox package.</description>
   <maintainer email="[email protected]">Bence Magyar</maintainer>
   <maintainer email="[email protected]">Denis Štogl</maintainer>

diff --git a/position_controllers/CHANGELOG.rst b/position_controllers/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package position_controllers
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.13.0 (2024-08-22)
+-------------------
+
 4.12.1 (2024-08-14)
 -------------------
 

diff --git a/position_controllers/package.xml b/position_controllers/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>position_controllers</name>
-  <version>4.12.1</version>
+  <version>4.13.0</version>
   <description>Generic controller for forwarding commands.</description>
   <maintainer email="[email protected]">Bence Magyar</maintainer>
   <maintainer email="[email protected]">Jordan Palacios</maintainer>

diff --git a/range_sensor_broadcaster/CHANGELOG.rst b/range_sensor_broadcaster/CHANGELOG.rst
@@ -2,6 +2,11 @@
 Changelog for package range_sensor_broadcaster
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.13.0 (2024-08-22)
+-------------------
+* Fixes tests to work with use_global_arguments NodeOptions parameter  (`#1256 <https://github.com/ros-controls/ros2_controllers/issues/1256>`_)
+* Contributors: Sai Kishor Kothakota
+
 4.12.1 (2024-08-14)
 -------------------