Merge branch 'master' into async_hwif_lifecycle

ros-controls · May 3, 2023 · 1e6555a · 1e6555a
2 parents 7e12436 + adb8897
commit 1e6555a
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diff --git a/...REQUEST_TEMPLATE/pull_request_template.md → .github/pull_request_template.md b/...REQUEST_TEMPLATE/pull_request_template.md → .github/pull_request_template.md
@@ -1,13 +1,3 @@
-
----
-name: Pull request
-about: Create a pull request
-title: ''
-labels: ''
-assignees: ''
-
----
-
 Contributions via pull requests are much appreciated. Before sending us a pull request, please ensure that:
 
 1. Limited scope. Your PR should do one thing or one set of things. Avoid adding “random fixes” to PRs. Put those on separate PRs.

diff --git a/.github/reviewer-lottery.yml b/.github/reviewer-lottery.yml
@@ -16,13 +16,16 @@ groups:
       - rosterloh
       - progtologist
       - arne48
+      - christophfroehlich
       - DasRoteSkelett
-      - Serafadam
+      - sgmurray
       - harderthan
       - jaron-l
       - malapatiravi
-      - homalozoa
       - erickisos
+      - sachinkum0009
+      - qiayuanliao
+      - homalozoa
       - anfemosa
       - jackcenter
       - VX792
@@ -31,6 +34,7 @@ groups:
       - aprotyas
       - peterdavidfagan
       - duringhof
+      - VanshGehlot
       - bijoua29
-      - lm2292
+      - LukasMacha97
       - mcbed
diff --git a/.github/workflows/ci-coverage-build.yml b/.github/workflows/ci-coverage-build.yml
@@ -44,7 +44,7 @@ jobs:
               }
             }
           colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
-      - uses: codecov/[email protected].1
+      - uses: codecov/[email protected].3
         with:
           file: ros_ws/lcov/total_coverage.info
           flags: unittests

diff --git a/.github/workflows/ci-format.yml b/.github/workflows/ci-format.yml
@@ -13,11 +13,11 @@ jobs:
     runs-on: ubuntu-latest
     steps:
     - uses: actions/checkout@v3
-    - uses: actions/setup-python@v4.5.0
+    - uses: actions/setup-python@v4.6.0
       with:
         python-version: '3.10'
     - name: Install system hooks
-      run: sudo apt install -qq clang-format-14 cppcheck
+      run: sudo apt install -qq cppcheck
     - uses: pre-commit/[email protected]
       with:
         extra_args: --all-files --hook-stage manual
diff --git a/.github/workflows/rolling-rhel-binary-build.yml b/.github/workflows/rolling-rhel-binary-build.yml
@@ -1,11 +1,6 @@
 name: Rolling RHEL Binary Build
 on:
   workflow_dispatch:
-    branches:
-      - master
-  pull_request:
-    branches:
-      - master
   push:
     branches:
       - master

diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
@@ -61,15 +61,10 @@ repos:
       args: ["--extend-ignore=E501"]
 
   # CPP hooks
-  - repo: local
+  - repo: https://github.com/pre-commit/mirrors-clang-format
+    rev: v14.0.6
     hooks:
       - id: clang-format
-        name: clang-format
-        description: Format files with ClangFormat.
-        entry: clang-format-14
-        language: system
-        files: \.(c|cc|cxx|cpp|frag|glsl|h|hpp|hxx|ih|ispc|ipp|java|js|m|proto|vert)$
-        args: ['-fallback-style=none', '-i']
 
   - repo: local
     hooks:

diff --git a/MIGRATION.md b/MIGRATION.md
@@ -0,0 +1,12 @@
+# Migration Notes
+
+API changes in ros2_control releases
+
+## ROS Rolling
+
+#### Controller Interface
+
+`update_reference_from_subscribers()` method got parameters and now has the following signature:
+```
+update_reference_from_subscribers(const rclcpp::Time & time, const rclcpp::Duration & /*period*/)
+```
diff --git a/controller_interface/CHANGELOG.rst b/controller_interface/CHANGELOG.rst
@@ -2,6 +2,19 @@
 Changelog for package controller_interface
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.12.2 (2023-04-29)
+-------------------
+
+3.12.1 (2023-04-14)
+-------------------
+* Add missing build_export_depends to controller_interface (`#989 <https://github.com/ros-controls/ros2_control/issues/989>`_)
+* Contributors: Scott K Logan
+
+3.12.0 (2023-04-02)
+-------------------
+* [Controller Interface] Add time and period paramters to update_reference_from_subscribers() (`#846 <https://github.com/ros-controls/ros2_control/issues/846>`_) #API-break
+* Contributors: Robotgir, Denis Štogl
+
 3.11.0 (2023-03-22)
 -------------------
 * [ControllerManager] Add Class for Async Controllers and Lifecycle Management (`#932 <https://github.com/ros-controls/ros2_control/issues/932>`_)

diff --git a/controller_interface/include/controller_interface/chainable_controller_interface.hpp b/controller_interface/include/controller_interface/chainable_controller_interface.hpp
@@ -94,7 +94,8 @@ class ChainableControllerInterface : public ControllerInterfaceBase
    *
    * \returns return_type::OK if update is successfully, otherwise return_type::ERROR.
    */
-  virtual return_type update_reference_from_subscribers() = 0;
+  virtual return_type update_reference_from_subscribers(
+    const rclcpp::Time & time, const rclcpp::Duration & period) = 0;
 
   /// Execute calculations of the controller and update command interfaces.
   /**

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>3.11.0</version>
+  <version>3.12.2</version>
   <description>Description of controller_interface</description>
   <maintainer email="[email protected]">Bence Magyar</maintainer>
   <maintainer email="[email protected]">Denis Štogl</maintainer>
@@ -14,6 +14,9 @@
   <build_depend>rclcpp_lifecycle</build_depend>
   <build_depend>sensor_msgs</build_depend>
 
+  <build_export_depend>hardware_interface</build_export_depend>
+  <build_export_depend>rclcpp_lifecycle</build_export_depend>
+
   <test_depend>ament_cmake_gmock</test_depend>
   <test_depend>sensor_msgs</test_depend>
 

diff --git a/controller_interface/src/chainable_controller_interface.cpp b/controller_interface/src/chainable_controller_interface.cpp
@@ -32,7 +32,7 @@ return_type ChainableControllerInterface::update(
 
   if (!is_in_chained_mode())
   {
-    ret = update_reference_from_subscribers();
+    ret = update_reference_from_subscribers(time, period);
     if (ret != return_type::OK)
     {
       return ret;

diff --git a/controller_interface/test/test_chainable_controller_interface.hpp b/controller_interface/test/test_chainable_controller_interface.hpp
@@ -86,7 +86,8 @@ class TestableChainableControllerInterface
     }
   }
 
-  controller_interface::return_type update_reference_from_subscribers() override
+  controller_interface::return_type update_reference_from_subscribers(
+    const rclcpp::Time & /*time*/, const rclcpp::Duration & /*period*/) override
   {
     if (reference_interface_value_ == INTERFACE_VALUE_SUBSCRIBER_ERROR)
     {

diff --git a/controller_manager/CHANGELOG.rst b/controller_manager/CHANGELOG.rst
@@ -2,6 +2,17 @@
 Changelog for package controller_manager
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.12.2 (2023-04-29)
+-------------------
+
+3.12.1 (2023-04-14)
+-------------------
+
+3.12.0 (2023-04-02)
+-------------------
+* [Controller Interface] Add time and period paramters to update_reference_from_subscribers() (`#846 <https://github.com/ros-controls/ros2_control/issues/846>`_) #API-break
+* Contributors: Robotgir
+
 3.11.0 (2023-03-22)
 -------------------
 * [ControllerManager] Add Class for Async Controllers and Lifecycle Management (`#932 <https://github.com/ros-controls/ros2_control/issues/932>`_)

diff --git a/controller_manager/package.xml b/controller_manager/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_manager</name>
-  <version>3.11.0</version>
+  <version>3.12.2</version>
   <description>Description of controller_manager</description>
   <maintainer email="[email protected]">Bence Magyar</maintainer>
   <maintainer email="[email protected]">Denis Štogl</maintainer>

diff --git a/controller_manager/test/test_chainable_controller/test_chainable_controller.cpp b/controller_manager/test/test_chainable_controller/test_chainable_controller.cpp
@@ -61,7 +61,8 @@ TestChainableController::state_interface_configuration() const
   }
 }
 
-controller_interface::return_type TestChainableController::update_reference_from_subscribers()
+controller_interface::return_type TestChainableController::update_reference_from_subscribers(
+  const rclcpp::Time & /*time*/, const rclcpp::Duration & /*period*/)
 {
   for (size_t i = 0; i < reference_interfaces_.size(); ++i)
   {

diff --git a/controller_manager/test/test_chainable_controller/test_chainable_controller.hpp b/controller_manager/test/test_chainable_controller/test_chainable_controller.hpp
@@ -63,7 +63,8 @@ class TestChainableController : public controller_interface::ChainableController
   CONTROLLER_MANAGER_PUBLIC
   std::vector<hardware_interface::CommandInterface> on_export_reference_interfaces() override;
 
-  controller_interface::return_type update_reference_from_subscribers() override;
+  controller_interface::return_type update_reference_from_subscribers(
+    const rclcpp::Time & time, const rclcpp::Duration & period) override;
 
   controller_interface::return_type update_and_write_commands(
     const rclcpp::Time & time, const rclcpp::Duration & period) override;

diff --git a/controller_manager_msgs/CHANGELOG.rst b/controller_manager_msgs/CHANGELOG.rst
@@ -2,6 +2,15 @@
 Changelog for package controller_manager_msgs
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.12.2 (2023-04-29)
+-------------------
+
+3.12.1 (2023-04-14)
+-------------------
+
+3.12.0 (2023-04-02)
+-------------------
+
 3.11.0 (2023-03-22)
 -------------------
 

diff --git a/controller_manager_msgs/package.xml b/controller_manager_msgs/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>controller_manager_msgs</name>
-  <version>3.11.0</version>
+  <version>3.12.2</version>
   <description>Messages and services for the controller manager.</description>
   <maintainer email="[email protected]">Bence Magyar</maintainer>
   <maintainer email="[email protected]">Denis Štogl</maintainer>

diff --git a/doc/index.rst b/doc/index.rst
@@ -1,23 +1,27 @@
 .. _ros2_control_framework:
 
+#################
+ros2_control
+#################
+
+`GitHub Repository <https://github.com/ros-controls/ros2_control>`_
+
 =================
 API Documentation
 =================
 
 API documentation is parsed by doxygen and can be found `here <../../api/index.html>`_
 
-=====================
-Core functionalities
-=====================
 
-`GitHub Repository <https://github.com/ros-controls/ros2_control>`_
 
+=========
 Features
 =========
 
-- :ref:`Command Line Interface (CLI) <ros2controlcli_userdoc>`
+* :ref:`Command Line Interface (CLI) <ros2controlcli_userdoc>`
 
 
+========
 Concepts
 ========
 

diff --git a/hardware_interface/CHANGELOG.rst b/hardware_interface/CHANGELOG.rst
@@ -2,6 +2,15 @@
 Changelog for package hardware_interface
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.12.2 (2023-04-29)
+-------------------
+
+3.12.1 (2023-04-14)
+-------------------
+
+3.12.0 (2023-04-02)
+-------------------
+
 3.11.0 (2023-03-22)
 -------------------
 * Check for missing hardware interfaces that use the gpio tag. (`#975 <https://github.com/ros-controls/ros2_control/issues/975>`_)

diff --git a/hardware_interface/package.xml b/hardware_interface/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>hardware_interface</name>
-  <version>3.11.0</version>
+  <version>3.12.2</version>
   <description>ros2_control hardware interface</description>
   <maintainer email="[email protected]">Bence Magyar</maintainer>
   <maintainer email="[email protected]">Denis Štogl</maintainer>

diff --git a/joint_limits/CHANGELOG.rst b/joint_limits/CHANGELOG.rst
@@ -2,6 +2,17 @@
 Changelog for package joint_limits
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.12.2 (2023-04-29)
+-------------------
+
+3.12.1 (2023-04-14)
+-------------------
+
+3.12.0 (2023-04-02)
+-------------------
+* Extend joint limits structure with deceleration limits. (`#977 <https://github.com/ros-controls/ros2_control/issues/977>`_)
+* Contributors: Dr. Denis
+
 3.11.0 (2023-03-22)
 -------------------
 

diff --git a/joint_limits/include/joint_limits/joint_limits.hpp b/joint_limits/include/joint_limits/joint_limits.hpp
@@ -38,11 +38,13 @@ struct JointLimits
     max_position(std::numeric_limits<double>::quiet_NaN()),
     max_velocity(std::numeric_limits<double>::quiet_NaN()),
     max_acceleration(std::numeric_limits<double>::quiet_NaN()),
+    max_deceleration(std::numeric_limits<double>::quiet_NaN()),
     max_jerk(std::numeric_limits<double>::quiet_NaN()),
     max_effort(std::numeric_limits<double>::quiet_NaN()),
     has_position_limits(false),
     has_velocity_limits(false),
     has_acceleration_limits(false),
+    has_deceleration_limits(false),
     has_jerk_limits(false),
     has_effort_limits(false),
     angle_wraparound(false)
@@ -53,12 +55,14 @@ struct JointLimits
   double max_position;
   double max_velocity;
   double max_acceleration;
+  double max_deceleration;
   double max_jerk;
   double max_effort;
 
   bool has_position_limits;
   bool has_velocity_limits;
   bool has_acceleration_limits;
+  bool has_deceleration_limits;
   bool has_jerk_limits;
   bool has_effort_limits;
   bool angle_wraparound;
@@ -73,6 +77,8 @@ struct JointLimits
               << max_velocity << "]\n";
     ss_output << "  has acceleration limits: " << (has_acceleration_limits ? "true" : "false")
               << " [" << max_acceleration << "]\n";
+    ss_output << "  has deceleration limits: " << (has_deceleration_limits ? "true" : "false")
+              << " [" << max_deceleration << "]\n";
     ss_output << "  has jerk limits: " << (has_jerk_limits ? "true" : "false") << " [" << max_jerk
               << "]\n";
     ss_output << "  has effort limits: " << (has_effort_limits ? "true" : "false") << " ["