Merge branch 'master' into async_hwif_lifecycle

ros-controls · May 14, 2023 · 38b4ef6 · 38b4ef6
2 parents 1e6555a + 5065d0c
commit 38b4ef6
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Showing 10 changed files with 28 additions and 28 deletions.
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
@@ -36,7 +36,7 @@ repos:
 
   # Python hooks
   - repo: https://github.com/asottile/pyupgrade
-    rev: v3.3.1
+    rev: v3.4.0
     hooks:
     -   id: pyupgrade
         args: [--py36-plus]
@@ -49,7 +49,7 @@ repos:
       args: ["--ignore=D100,D101,D102,D103,D104,D105,D106,D107,D203,D212,D404"]
 
   - repo: https://github.com/psf/black
-    rev: 23.1.0
+    rev: 23.3.0
     hooks:
       - id: black
         args: ["--line-length=99"]
@@ -128,7 +128,7 @@ repos:
   # Spellcheck in comments and docs
   # skipping of *.svg files is not working...
   - repo: https://github.com/codespell-project/codespell
-    rev: v2.2.2
+    rev: v2.2.4
     hooks:
       - id: codespell
         args: ['--write-changes']

diff --git a/controller_manager/controller_manager/spawner.py b/controller_manager/controller_manager/spawner.py
@@ -184,13 +184,6 @@ def main(args=None):
         default=10,
         type=int,
     )
-    parser.add_argument(
-        "--log-level",
-        help="Log level for spawner node",
-        required=False,
-        choices=["debug", "info", "warn", "error", "fatal"],
-        default="info",
-    )
 
     command_line_args = rclpy.utilities.remove_ros_args(args=sys.argv)[1:]
     args = parser.parse_args(command_line_args)
@@ -200,15 +193,6 @@ def main(args=None):
     param_file = args.param_file
     controller_type = args.controller_type
     controller_manager_timeout = args.controller_manager_timeout
-    log_level = args.log_level
-
-    loglevel_to_severity = {
-        "debug": rclpy.logging.LoggingSeverity.DEBUG,
-        "info": rclpy.logging.LoggingSeverity.INFO,
-        "warn": rclpy.logging.LoggingSeverity.WARN,
-        "error": rclpy.logging.LoggingSeverity.ERROR,
-        "fatal": rclpy.logging.LoggingSeverity.FATAL,
-    }
 
     if param_file and not os.path.isfile(param_file):
         raise FileNotFoundError(errno.ENOENT, os.strerror(errno.ENOENT), param_file)
@@ -218,7 +202,6 @@ def main(args=None):
         prefixed_controller_name = controller_namespace + "/" + controller_name
 
     node = Node("spawner_" + controller_name)
-    rclpy.logging.set_logger_level("spawner_" + controller_name, loglevel_to_severity[log_level])
 
     if not controller_manager_name.startswith("/"):
         spawner_namespace = node.get_namespace()

diff --git a/doc/index.rst b/doc/index.rst
@@ -1,3 +1,5 @@
+:github_url: https://github.com/ros-controls/ros2_control/blob/|github_branch|/doc/index.rst
+
 .. _ros2_control_framework:
 
 #################

diff --git a/hardware_interface/doc/hardware_components_userdoc.rst b/hardware_interface/doc/hardware_components_userdoc.rst
@@ -1,10 +1,12 @@
+:github_url: https://github.com/ros-controls/ros2_control/blob/|github_branch|/hardware_interface/doc/hardware_components_userdoc.rst
+
 .. _hardware_components_userdoc:
 
 Hardware Components
 -------------------
 Hardware components represent abstraction of physical hardware in ros2_control framework.
 There are three types of hardware Actuator, Sensor and System.
-For details on each type check `Hardware Components description <https://ros-controls.github.io/control.ros.org/getting_started.html#hardware-components>`_.
+For details on each type check :ref:`overview_hardware_components` description.
 
 Guidelines and Best Practices
 *****************************

diff --git a/hardware_interface/doc/mock_components_userdoc.rst b/hardware_interface/doc/mock_components_userdoc.rst
@@ -1,3 +1,5 @@
+:github_url: https://github.com/ros-controls/ros2_control/blob/|github_branch|/hardware_interface/doc/mock_components_userdoc.rst
+
 .. _mock_components_userdoc:
 
 Mock Components

diff --git a/hardware_interface/doc/writing_new_hardware_interface.rst b/hardware_interface/doc/writing_new_hardware_interface.rst
@@ -1,3 +1,5 @@
+:github_url: https://github.com/ros-controls/ros2_control/blob/|github_branch|/hardware_interface/doc/writing_new_hardware_interface.rst
+
 .. _writing_new_hardware_interface:
 
 Writing a new hardware interface

diff --git a/hardware_interface/include/hardware_interface/component_parser.hpp b/hardware_interface/include/hardware_interface/component_parser.hpp
@@ -33,5 +33,8 @@ namespace hardware_interface
 HARDWARE_INTERFACE_PUBLIC
 std::vector<HardwareInfo> parse_control_resources_from_urdf(const std::string & urdf);
 
+HARDWARE_INTERFACE_PUBLIC
+bool parse_bool(const std::string & bool_string);
+
 }  // namespace hardware_interface
 #endif  // HARDWARE_INTERFACE__COMPONENT_PARSER_HPP_
diff --git a/hardware_interface/src/component_parser.cpp b/hardware_interface/src/component_parser.cpp
@@ -224,7 +224,7 @@ std::string parse_data_type_attribute(const tinyxml2::XMLElement * elem)
 bool parse_is_async_attribute(const tinyxml2::XMLElement * elem)
 {
   const tinyxml2::XMLAttribute * attr = elem->FindAttribute(kIsAsyncAttribute);
-  return attr ? strcasecmp(attr->Value(), "true") == 0 : false;
+  return attr ? parse_bool(attr->Value()) : false;
 }
 
 /// Search XML snippet from URDF for parameters.
@@ -612,4 +612,9 @@ std::vector<HardwareInfo> parse_control_resources_from_urdf(const std::string &
   return hardware_info;
 }
 
+bool parse_bool(const std::string & bool_string)
+{
+  return bool_string == "true" || bool_string == "True";
+}
+
 }  // namespace hardware_interface
diff --git a/hardware_interface/src/mock_components/generic_system.cpp b/hardware_interface/src/mock_components/generic_system.cpp
@@ -25,6 +25,7 @@
 #include <string>
 #include <vector>
 
+#include "hardware_interface/component_parser.hpp"
 #include "hardware_interface/types/hardware_interface_type_values.hpp"
 #include "rcutils/logging_macros.h"
 
@@ -74,16 +75,15 @@ CallbackReturn GenericSystem::on_init(const hardware_interface::HardwareInfo & i
   auto it = info_.hardware_parameters.find("mock_sensor_commands");
   if (it != info_.hardware_parameters.end())
   {
-    // TODO(anyone): change this to parse_bool() (see ros2_control#339)
-    use_mock_sensor_command_interfaces_ = it->second == "true" || it->second == "True";
+    use_mock_sensor_command_interfaces_ = hardware_interface::parse_bool(it->second);
   }
   else
   {
     // check if fake_sensor_commands was set instead and issue warning.
     it = info_.hardware_parameters.find("fake_sensor_commands");
     if (it != info_.hardware_parameters.end())
     {
-      use_mock_sensor_command_interfaces_ = it->second == "true" || it->second == "True";
+      use_mock_sensor_command_interfaces_ = hardware_interface::parse_bool(it->second);
       RCUTILS_LOG_WARN_NAMED(
         "fake_generic_system",
         "Parameter 'fake_sensor_commands' has been deprecated from usage. Use"
@@ -99,8 +99,7 @@ CallbackReturn GenericSystem::on_init(const hardware_interface::HardwareInfo & i
   it = info_.hardware_parameters.find("fake_gpio_commands");
   if (it != info_.hardware_parameters.end())
   {
-    // TODO(anyone): change this to parse_bool() (see ros2_control#339)
-    use_fake_gpio_command_interfaces_ = it->second == "true" || it->second == "True";
+    use_fake_gpio_command_interfaces_ = hardware_interface::parse_bool(it->second);
   }
   else
   {
@@ -121,7 +120,7 @@ CallbackReturn GenericSystem::on_init(const hardware_interface::HardwareInfo & i
       custom_interface_with_following_offset_ = it->second;
     }
   }
-  // its extremlly unprobably that std::distance results int this value - therefore default
+  // it's extremely improbable that std::distance results int this value - therefore default
   index_custom_interface_with_following_offset_ = std::numeric_limits<size_t>::max();
 
   // Initialize storage for standard interfaces

diff --git a/ros2controlcli/doc/userdoc.rst b/ros2controlcli/doc/userdoc.rst
@@ -1,3 +1,5 @@
+:github_url: https://github.com/ros-controls/ros2_control/blob/|github_branch|/ros2controlcli/doc/userdoc.rst
+
 .. _ros2controlcli_userdoc:
 
 Command Line Interface