Merge branch 'master' into async_hardware_components

ros-controls · Nov 20, 2024 · 00870ca · 00870ca
2 parents 68c62fd + 23bd1c3
commit 00870ca
Show file tree

Hide file tree

Showing 56 changed files with 1,226 additions and 246 deletions.
diff --git a/.github/mergify.yml b/.github/mergify.yml
@@ -32,14 +32,15 @@ pull_request_rules:
       - author=mergify[bot]
     actions:
         comment:
-          message: This pull request is in conflict. Could you fix it @bmagyar @destogl @christophfroehlich?
+          message: This pull request is in conflict. Could you fix it @bmagyar @destogl @christophfroehlich @saikishor?
 
   - name: development targets master branch
     conditions:
       - base!=master
       - author!=bmagyar
       - author!=destogl
       - author!=christophfroehlich
+      - author!=saikishor
       - author!=mergify[bot]
       - author!=dependabot[bot]
     actions:

diff --git a/.github/workflows/humble-semi-binary-build.yml b/.github/workflows/humble-semi-binary-build.yml
@@ -39,7 +39,7 @@ jobs:
       fail-fast: false
       matrix:
         ROS_DISTRO: [humble]
-        ROS_REPO: [main, testing]
+        ROS_REPO: [testing]
     with:
       ros_distro: ${{ matrix.ROS_DISTRO }}
       ros_repo: ${{ matrix.ROS_REPO }}

diff --git a/.github/workflows/iron-semi-binary-build.yml b/.github/workflows/iron-semi-binary-build.yml
@@ -39,7 +39,7 @@ jobs:
       fail-fast: false
       matrix:
         ROS_DISTRO: [iron]
-        ROS_REPO: [main, testing]
+        ROS_REPO: [testing]
     with:
       ros_distro: ${{ matrix.ROS_DISTRO }}
       ros_repo: ${{ matrix.ROS_REPO }}

diff --git a/.github/workflows/jazzy-semi-binary-build.yml b/.github/workflows/jazzy-semi-binary-build.yml
@@ -39,7 +39,7 @@ jobs:
       fail-fast: false
       matrix:
         ROS_DISTRO: [jazzy]
-        ROS_REPO: [main, testing]
+        ROS_REPO: [testing]
     with:
       ros_distro: ${{ matrix.ROS_DISTRO }}
       ros_repo: ${{ matrix.ROS_REPO }}

diff --git a/.github/workflows/rolling-compatibility-humble-binary-build.yml b/.github/workflows/rolling-compatibility-humble-binary-build.yml
@@ -0,0 +1,44 @@
+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
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '**.py'
+      - '.github/workflows/rolling-compatibility-humble-binary-build.yml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_control.rolling.repos'
+  push:
+    branches:
+      - master
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '**.py'
+      - '.github/workflows/rolling-compatibility-humble-binary-build.yml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_control.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_control.rolling.repos
+      ref_for_scheduled_build: master
diff --git a/.github/workflows/rolling-compatibility-jazzy-binary-build.yml b/.github/workflows/rolling-compatibility-jazzy-binary-build.yml
@@ -0,0 +1,44 @@
+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
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '**.py'
+      - '.github/workflows/rolling-compatibility-jazzy-binary-build.yml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_control.rolling.repos'
+  push:
+    branches:
+      - master
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '**.py'
+      - '.github/workflows/rolling-compatibility-jazzy-binary-build.yml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_control.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_control.rolling.repos
+      ref_for_scheduled_build: master
diff --git a/.github/workflows/rolling-semi-binary-build.yml b/.github/workflows/rolling-semi-binary-build.yml
@@ -39,7 +39,7 @@ jobs:
       fail-fast: false
       matrix:
         ROS_DISTRO: [rolling]
-        ROS_REPO: [main, testing]
+        ROS_REPO: [testing]
     with:
       ros_distro: ${{ matrix.ROS_DISTRO }}
       ros_repo: ${{ matrix.ROS_REPO }}

diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
@@ -16,7 +16,7 @@
 repos:
   # Standard hooks
   - repo: https://github.com/pre-commit/pre-commit-hooks
-    rev: v4.6.0
+    rev: v5.0.0
     hooks:
       - id: check-added-large-files
       - id: check-ast
@@ -37,7 +37,7 @@ repos:
 
   # Python hooks
   - repo: https://github.com/asottile/pyupgrade
-    rev: v3.17.0
+    rev: v3.19.0
     hooks:
     -   id: pyupgrade
         args: [--py36-plus]
@@ -50,7 +50,7 @@ repos:
       args: ["--ignore=D100,D101,D102,D103,D104,D105,D106,D107,D203,D212,D404"]
 
   - repo: https://github.com/psf/black
-    rev: 24.8.0
+    rev: 24.10.0
     hooks:
       - id: black
         args: ["--line-length=99"]
@@ -63,7 +63,7 @@ repos:
 
   # CPP hooks
   - repo: https://github.com/pre-commit/mirrors-clang-format
-    rev: v19.1.0
+    rev: v19.1.3
     hooks:
       - id: clang-format
         args: ['-fallback-style=none', '-i']
@@ -133,7 +133,7 @@ repos:
         exclude: CHANGELOG\.rst|\.(svg|pyc|drawio)$
 
   - repo: https://github.com/python-jsonschema/check-jsonschema
-    rev: 0.29.3
+    rev: 0.29.4
     hooks:
       - id: check-github-workflows
         args: ["--verbose"]

diff --git a/controller_interface/CHANGELOG.rst b/controller_interface/CHANGELOG.rst
@@ -2,6 +2,12 @@
 Changelog for package controller_interface
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.20.0 (2024-11-08)
+-------------------
+* reset the async variables upon activation to work post exceptions (`#1860 <https://github.com/ros-controls/ros2_control/issues/1860>`_)
+* [CM] Fix controller missing update cycles in a real setup (`#1774 <https://github.com/ros-controls/ros2_control/issues/1774>`_)
+* Contributors: Sai Kishor Kothakota
+
 4.19.0 (2024-10-26)
 -------------------
 * [CM] Async Function Handler for Controllers (`#1489 <https://github.com/ros-controls/ros2_control/issues/1489>`_)

diff --git a/controller_interface/include/controller_interface/controller_interface_base.hpp b/controller_interface/include/controller_interface/controller_interface_base.hpp
@@ -160,7 +160,7 @@ class ControllerInterfaceBase : public rclcpp_lifecycle::node_interfaces::Lifecy
    * **The method called in the (real-time) control loop.**
    *
    * \param[in] time The time at the start of this control loop iteration
-   * \param[in] period The measured time taken by the last control loop iteration
+   * \param[in] period The measured time since the last control loop iteration
    * \returns return_type::OK if update is successfully, otherwise return_type::ERROR.
    */
   CONTROLLER_INTERFACE_PUBLIC

diff --git a/controller_interface/package.xml b/controller_interface/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="2">
   <name>controller_interface</name>
-  <version>4.19.0</version>
+  <version>4.20.0</version>
   <description>Description of controller_interface</description>
   <maintainer email="[email protected]">Bence Magyar</maintainer>
   <maintainer email="[email protected]">Denis Štogl</maintainer>

diff --git a/controller_interface/src/controller_interface_base.cpp b/controller_interface/src/controller_interface_base.cpp
@@ -67,7 +67,15 @@ return_type ControllerInterfaceBase::init(
     });
 
   node_->register_on_activate(
-    std::bind(&ControllerInterfaceBase::on_activate, this, std::placeholders::_1));
+    [this](const rclcpp_lifecycle::State & previous_state) -> CallbackReturn
+    {
+      if (is_async() && async_handler_ && async_handler_->is_running())
+      {
+        // This is needed if it is disabled due to a thrown exception in the async callback thread
+        async_handler_->reset_variables();
+      }
+      return on_activate(previous_state);
+    });
 
   node_->register_on_deactivate(
     std::bind(&ControllerInterfaceBase::on_deactivate, this, std::placeholders::_1));

diff --git a/controller_manager/CHANGELOG.rst b/controller_manager/CHANGELOG.rst
@@ -2,6 +2,20 @@
 Changelog for package controller_manager
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.20.0 (2024-11-08)
+-------------------
+* change from thread_priority.hpp to realtime_helpers.hpp (`#1829 <https://github.com/ros-controls/ros2_control/issues/1829>`_)
+* Use Clock instead of Rate for backward compatibility of rolling (`#1864 <https://github.com/ros-controls/ros2_control/issues/1864>`_)
+* [ros2_control_node] Handle simulation environment clocks (`#1810 <https://github.com/ros-controls/ros2_control/issues/1810>`_)
+* [CM] Fix controller missing update cycles in a real setup (`#1774 <https://github.com/ros-controls/ros2_control/issues/1774>`_)
+* [ros2_control_node] Add option to set the CPU affinity  (`#1852 <https://github.com/ros-controls/ros2_control/issues/1852>`_)
+* [ros2_control_node] Add the realtime_tools lock_memory method to prevent page faults (`#1822 <https://github.com/ros-controls/ros2_control/issues/1822>`_)
+* Fix CMP0115 (`#1830 <https://github.com/ros-controls/ros2_control/issues/1830>`_)
+* fix: typo use thread_priority (`#1844 <https://github.com/ros-controls/ros2_control/issues/1844>`_)
+* Fix Hardware spawner and add tests for it (`#1759 <https://github.com/ros-controls/ros2_control/issues/1759>`_)
+* add thread_priority option to the ros2_control_node (`#1820 <https://github.com/ros-controls/ros2_control/issues/1820>`_)
+* Contributors: Baris Yazici, Christoph Fröhlich, Felix Exner (fexner), Sai Kishor Kothakota
+
 4.19.0 (2024-10-26)
 -------------------
 * Fix timeout value in std output (`#1807 <https://github.com/ros-controls/ros2_control/issues/1807>`_)

diff --git a/controller_manager/CMakeLists.txt b/controller_manager/CMakeLists.txt
@@ -87,6 +87,7 @@ if(BUILD_TESTING)
 
   ament_add_gmock(test_controller_manager
     test/test_controller_manager.cpp
+    TIMEOUT 180
   )
   target_link_libraries(test_controller_manager
     controller_manager
@@ -194,6 +195,15 @@ if(BUILD_TESTING)
     ros2_control_test_assets::ros2_control_test_assets
   )
 
+  ament_add_gmock(test_hardware_spawner
+    test/test_hardware_spawner.cpp
+    TIMEOUT 120
+  )
+  target_link_libraries(test_hardware_spawner
+    controller_manager
+    ros2_control_test_assets::ros2_control_test_assets
+  )
+
   install(FILES test/test_controller_spawner_with_fallback_controllers.yaml
     DESTINATION test)