Merge branch 'humble' into mergify/bp/humble/pr-1451

ros-controls · Jul 30, 2024 · 85fed6b · 85fed6b
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diff --git a/controller_interface/CHANGELOG.rst b/controller_interface/CHANGELOG.rst
@@ -2,6 +2,12 @@
 Changelog for package controller_interface
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.42.0 (2024-07-23)
+-------------------
+* [ControllerInterface] Avoid warning about conversion from `int64_t` to `unsigned int` (backport `#1173 <https://github.com/ros-controls/ros2_control/issues/1173>`_) (`#1631 <https://github.com/ros-controls/ros2_control/issues/1631>`_)
+* Fix dependencies for source build (`#1533 <https://github.com/ros-controls/ros2_control/issues/1533>`_) (`#1535 <https://github.com/ros-controls/ros2_control/issues/1535>`_)
+* Contributors: mergify[bot]
+
 2.41.0 (2024-04-30)
 -------------------
 

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>2.41.0</version>
+  <version>2.42.0</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
@@ -83,7 +83,7 @@ const rclcpp_lifecycle::State & ControllerInterfaceBase::configure()
   // Other solution is to add check into the LifecycleNode if a transition is valid to trigger
   if (get_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED)
   {
-    update_rate_ = get_node()->get_parameter("update_rate").as_int();
+    update_rate_ = static_cast<unsigned int>(get_node()->get_parameter("update_rate").as_int());
   }
 
   return get_node()->configure();

diff --git a/controller_manager/CHANGELOG.rst b/controller_manager/CHANGELOG.rst
@@ -2,6 +2,12 @@
 Changelog for package controller_manager
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.42.0 (2024-07-23)
+-------------------
+* Remove noqa (`#1626 <https://github.com/ros-controls/ros2_control/issues/1626>`_) (`#1628 <https://github.com/ros-controls/ros2_control/issues/1628>`_)
+* Bump version of pre-commit hooks (backport `#1556 <https://github.com/ros-controls/ros2_control/issues/1556>`_) (`#1557 <https://github.com/ros-controls/ros2_control/issues/1557>`_)
+* Contributors: mergify[bot]
+
 2.41.0 (2024-04-30)
 -------------------
 * check for state of the controller node before cleanup (backport `#1363 <https://github.com/ros-controls/ros2_control/issues/1363>`_) (`#1378 <https://github.com/ros-controls/ros2_control/issues/1378>`_)

diff --git a/controller_manager/controller_manager/launch_utils.py b/controller_manager/controller_manager/launch_utils.py
@@ -29,7 +29,7 @@ def generate_load_controller_launch_description(
     'unload_on_kill' LaunchArguments and a Node action that runs the controller_manager
     spawner node to load and activate a controller
 
-    Examples # noqa: D416
+    Examples
     --------
       # Assuming the controller type and controller parameters are known to the controller_manager
       generate_load_controller_launch_description('joint_state_broadcaster')

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>2.41.0</version>
+  <version>2.42.0</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_msgs/CHANGELOG.rst b/controller_manager_msgs/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package controller_manager_msgs
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.42.0 (2024-07-23)
+-------------------
+
 2.41.0 (2024-04-30)
 -------------------
 

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>2.41.0</version>
+  <version>2.42.0</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/debugging.rst b/doc/debugging.rst
@@ -0,0 +1,80 @@
+Debugging
+^^^^^^^^^
+
+All controllers and hardware components are plugins loaded into the ``controller_manager``. Therefore, the debugger must be attached to the ``controller_manager``. If multiple ``controller_manager`` instances are running on your robot or machine, you need to attach the debugger to the ``controller_manager`` associated with the hardware component or controller you want to debug.
+
+How-To
+******************
+
+* Install ``xterm``, ``gdb`` and ``gdbserver`` on your system
+
+  .. code-block:: bash
+
+    sudo apt install xterm gdb gdbserver
+
+* Make sure you run a "debug" or "release with debug information" build:
+  This is done by passing ``--cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo`` to ``colcon build``.
+  Remember that in release builds some breakpoints might not behave as you expect as the the corresponding line might have been optimized by the compiler. For such cases, a full Debug build (``--cmake-args -DCMAKE_BUILD_TYPE=Debug``) is recommended.
+
+* Adapt the launch file to run the controller manager with the debugger attached:
+
+  * Version A: Run it directly with the gdb CLI:
+
+    Add ``prefix=['xterm -e gdb -ex run --args']`` to the ``controller_manager`` node entry in your launch file.
+    Due to how ``ros2launch`` works we need to run the specific node in a separate terminal instance.
+
+  * Version B: Run it with gdbserver:
+
+    Add ``prefix=['gdbserver localhost:3000']`` to the ``controller_manager`` node entry in your launch file.
+    Afterwards, you can either attach a gdb CLI instance or any IDE of your choice to that ``gdbserver`` instance.
+    Ensure you start your debugger from a terminal where you have sourced your workspace to properly resolve all paths.
+
+  Example launch file entry:
+
+  .. code-block:: python
+
+    # Obtain the controller config file for the ros2 control node
+    controller_config_file = get_package_file("<package name>", "config/controllers.yaml")
+
+    controller_manager = Node(
+        package="controller_manager",
+        executable="ros2_control_node",
+        parameters=[controller_config_file],
+        output="both",
+        emulate_tty=True,
+        remappings=[
+            ("~/robot_description", "/robot_description")
+        ],
+        prefix=['xterm -e gdb -ex run --args']  # or prefix=['gdbserver localhost:3000']
+    )
+
+    ld.add_action(controller_manager)
+
+
+Additional notes
+*****************
+
+* Debugging plugins
+
+  You can only set breakpoints in plugins after the plugin has been loaded. In the ros2_control context this means after the controller / hardware component has been loaded:
+
+* Debug builds
+
+  It's often practical to include debug information only for the specific package you want to debug.
+  ``colcon build --packages-select [package_name] --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo`` or ``colcon build --packages-select [package_name] --cmake-args -DCMAKE_BUILD_TYPE=Debug``
+
+* Realtime
+
+.. warning::
+  The ``update/on_activate/on_deactivate`` method of a controller and the ``read/write/on_activate/perform_command_mode_switch`` methods of a hardware component all run in the context of the realtime update loop. Setting breakpoints there can and will cause issues that might even break your hardware in the worst case.
+
+From experience, it might be better to use meaningful logs for the real-time context (with caution) or to add additional debug state interfaces (or publishers in the case of a controller).
+
+However, running the controller_manager and your plugin with gdb can still be very useful for debugging errors such as segfaults, as you can gather a full backtrace.
+
+References
+***********
+
+* `ROS 2 and GDB <https://juraph.com/miscellaneous/ros2_and_gdb/>`_
+* `Using GDB to debug a plugin <https://stackoverflow.com/questions/10919832/how-to-use-gdb-to-debug-a-plugin>`_
+* `GDB CLI Tutorial <https://www.cs.umd.edu/~srhuang/teaching/cmsc212/gdb-tutorial-handout.pdf>`_
diff --git a/doc/index.rst b/doc/index.rst
@@ -28,3 +28,12 @@ Concepts
    Joint Kinematics <../hardware_interface/doc/joints_userdoc.rst>
    Hardware Components <../hardware_interface/doc/hardware_components_userdoc.rst>
    Mock Components <../hardware_interface/doc/mock_components_userdoc.rst>
+
+=====================================
+Guidelines and Best Practices
+=====================================
+
+.. toctree::
+   :titlesonly:
+
+   Debugging the Controller Manager and Plugins <debugging.rst>
diff --git a/doc/migration.rst b/doc/migration.rst
@@ -0,0 +1,9 @@
+:github_url: https://github.com/ros-controls/ros2_control/blob/{REPOS_FILE_BRANCH}/doc/migration.rst
+
+Migration Guides: Galactic to Humble
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+This list summarizes important changes between Galactic (previous) and Humble (current) releases, where changes to user code might be necessary.
+
+.. note::
+
+  This list was created in July 2024, earlier changes are not included.
diff --git a/doc/migration/Galactic.rst b/doc/migration/Galactic.rst
diff --git a/doc/release_notes.rst b/doc/release_notes.rst
@@ -0,0 +1,9 @@
+:github_url: https://github.com/ros-controls/ros2_control/blob/{REPOS_FILE_BRANCH}/doc/release_notes.rst
+
+Release Notes: Galactic to Humble
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+This list summarizes the changes between Galactic (previous) and Humble (current) releases. Bugfixes are not included in this list.
+
+.. note::
+
+  This list was created in July 2024, earlier changes may not be included.
diff --git a/hardware_interface/CHANGELOG.rst b/hardware_interface/CHANGELOG.rst
@@ -2,6 +2,15 @@
 Changelog for package hardware_interface
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.42.0 (2024-07-23)
+-------------------
+* Small improvements to the error output in component parser to make debugging easier. (backport `#1580 <https://github.com/ros-controls/ros2_control/issues/1580>`_) (`#1581 <https://github.com/ros-controls/ros2_control/issues/1581>`_)
+* Update joints_userdoc.rst (`#1604 <https://github.com/ros-controls/ros2_control/issues/1604>`_)
+* Fix link to gazebosim.org (`#1563 <https://github.com/ros-controls/ros2_control/issues/1563>`_) (`#1564 <https://github.com/ros-controls/ros2_control/issues/1564>`_)
+* Add doc page about joint kinematics (`#1497 <https://github.com/ros-controls/ros2_control/issues/1497>`_) (`#1559 <https://github.com/ros-controls/ros2_control/issues/1559>`_)
+* Bump version of pre-commit hooks (backport `#1556 <https://github.com/ros-controls/ros2_control/issues/1556>`_) (`#1557 <https://github.com/ros-controls/ros2_control/issues/1557>`_)
+* Contributors: Christoph Fröhlich, mergify[bot]
+
 2.41.0 (2024-04-30)
 -------------------
 * Add missing calculate_dynamics (`#1498 <https://github.com/ros-controls/ros2_control/issues/1498>`_) (`#1511 <https://github.com/ros-controls/ros2_control/issues/1511>`_)

diff --git a/hardware_interface/doc/joints_userdoc.rst b/hardware_interface/doc/joints_userdoc.rst
@@ -86,7 +86,7 @@ From the officially released packages, the following packages are already using
 
 * :ref:`mock_components (generic system) <mock_components_userdoc>`
 * :ref:`gazebo_ros2_control <gazebo_ros2_control>`
-* :ref:`gz_ros2_control <gz_ros2_control>`
+* :ref:`ign_ros2_control <ign_ros2_control>`
 
 As the URDF specifies only the kinematics, the mimic tag has to be independent of the hardware interface type used in ros2_control. This means that we interpret this info in the following way:
 

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>2.41.0</version>
+  <version>2.42.0</version>
   <description>ros2_control hardware interface</description>
   <maintainer email="[email protected]">Bence Magyar</maintainer>
   <maintainer email="[email protected]">Denis Štogl</maintainer>

diff --git a/hardware_interface/src/component_parser.cpp b/hardware_interface/src/component_parser.cpp
@@ -563,11 +563,13 @@ std::vector<HardwareInfo> parse_control_resources_from_urdf(const std::string &
   tinyxml2::XMLDocument doc;
   if (!doc.Parse(urdf.c_str()) && doc.Error())
   {
-    throw std::runtime_error("invalid URDF passed in to robot parser");
+    throw std::runtime_error(
+      "invalid URDF passed in to robot parser: " + std::string(doc.ErrorStr()));
   }
   if (doc.Error())
   {
-    throw std::runtime_error("invalid URDF passed in to robot parser");
+    throw std::runtime_error(
+      "invalid URDF passed in to robot parser: " + std::string(doc.ErrorStr()));
   }
 
   // Find robot tag

diff --git a/hardware_interface_testing/CHANGELOG.rst b/hardware_interface_testing/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package hardware_interface_testing
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.42.0 (2024-07-23)
+-------------------
+
 2.41.0 (2024-04-30)
 -------------------
 

diff --git a/hardware_interface_testing/package.xml b/hardware_interface_testing/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>hardware_interface_testing</name>
-  <version>2.41.0</version>
+  <version>2.42.0</version>
   <description>ros2_control hardware interface testing</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 +2,12 @@
 Changelog for package joint_limits
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.42.0 (2024-07-23)
+-------------------
+* Bump version of pre-commit hooks (backport `#1556 <https://github.com/ros-controls/ros2_control/issues/1556>`_) (`#1557 <https://github.com/ros-controls/ros2_control/issues/1557>`_)
+* Fix dependencies for source build (`#1533 <https://github.com/ros-controls/ros2_control/issues/1533>`_) (`#1535 <https://github.com/ros-controls/ros2_control/issues/1535>`_)
+* Contributors: mergify[bot]
+
 2.41.0 (2024-04-30)
 -------------------
 * Bump version of pre-commit hooks (backport `#1430 <https://github.com/ros-controls/ros2_control/issues/1430>`_) (`#1434 <https://github.com/ros-controls/ros2_control/issues/1434>`_)

diff --git a/joint_limits/package.xml b/joint_limits/package.xml
@@ -1,6 +1,6 @@
 <package format="3">
   <name>joint_limits</name>
-  <version>2.41.0</version>
+  <version>2.42.0</version>
   <description>Interfaces for handling of joint limits for controllers or hardware.</description>
 
   <maintainer email="[email protected]">Bence Magyar</maintainer>

diff --git a/ros2_control/CHANGELOG.rst b/ros2_control/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package ros2_control
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.42.0 (2024-07-23)
+-------------------
+
 2.41.0 (2024-04-30)
 -------------------
 

diff --git a/ros2_control/package.xml b/ros2_control/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>ros2_control</name>
-  <version>2.41.0</version>
+  <version>2.42.0</version>
   <description>Metapackage for ROS2 control related packages</description>
   <maintainer email="[email protected]">Bence Magyar</maintainer>
   <maintainer email="[email protected]">Denis Štogl</maintainer>

diff --git a/ros2_control_test_assets/CHANGELOG.rst b/ros2_control_test_assets/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package ros2_control_test_assets
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.42.0 (2024-07-23)
+-------------------
+
 2.41.0 (2024-04-30)
 -------------------
 

diff --git a/ros2_control_test_assets/package.xml b/ros2_control_test_assets/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>ros2_control_test_assets</name>
-  <version>2.41.0</version>
+  <version>2.42.0</version>
   <description>The package provides shared test resources for ros2_control stack
   </description>
   <maintainer email="[email protected]">Bence Magyar</maintainer>

diff --git a/ros2controlcli/CHANGELOG.rst b/ros2controlcli/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package ros2controlcli
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.42.0 (2024-07-23)
+-------------------
+
 2.41.0 (2024-04-30)
 -------------------
 * [CI] Specify runner/container images and codecov for joint_limits  (`#1504 <https://github.com/ros-controls/ros2_control/issues/1504>`_) (`#1519 <https://github.com/ros-controls/ros2_control/issues/1519>`_)

diff --git a/ros2controlcli/package.xml b/ros2controlcli/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>ros2controlcli</name>
-  <version>2.41.0</version>
+  <version>2.42.0</version>
   <description>
     The ROS 2 command line tools for ROS2 Control.
   </description>