diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index b3b9424576..c71a8b66bb 100644 --- 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 @@ -36,7 +36,7 @@ repos: # Python hooks - repo: https://github.com/asottile/pyupgrade - rev: v3.17.0 + rev: v3.19.0 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: 24.8.0 + rev: 24.10.0 hooks: - id: black args: ["--line-length=99"] @@ -62,7 +62,7 @@ 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'] @@ -132,7 +132,7 @@ 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 index a2e0eed08d..e03704bf5e 100644 --- a/controller_interface/CHANGELOG.rst +++ b/controller_interface/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package controller_interface ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +3.29.0 (2024-11-02) +------------------- +* `PoseSensor` semantic component (backport `#1775 `_) (`#1786 `_) +* Contributors: mergify[bot] + 3.28.1 (2024-09-11) ------------------- diff --git a/controller_interface/package.xml b/controller_interface/package.xml index 86061a7e05..52007e66d9 100644 --- a/controller_interface/package.xml +++ b/controller_interface/package.xml @@ -2,7 +2,7 @@ controller_interface - 3.28.1 + 3.29.0 Description of controller_interface Bence Magyar Denis Štogl diff --git a/controller_manager/CHANGELOG.rst b/controller_manager/CHANGELOG.rst index 66feb6d892..f41e4902e0 100644 --- a/controller_manager/CHANGELOG.rst +++ b/controller_manager/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package controller_manager ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +3.29.0 (2024-11-02) +------------------- +* add thread_priority option to the ros2_control_node (`#1820 `_) (`#1825 `_) +* Fix timeout value in std output (backport `#1807 `_) (`#1813 `_) +* Improve launch utils to support the multiple controller names (`#1782 `_) (`#1784 `_) +* allow extra spawner arguments to not declare every argument in launch utils (`#1505 `_) (`#1793 `_) +* Refactor spawner to be able to reuse code for ros2controlcli (backport `#1661 `_) (`#1696 `_) +* [CM] Handle other exceptions while loading the controller plugin (`#1731 `_) (`#1734 `_) +* [CM] Throw an exception when the components initially fail to be in the required state (backport `#1729 `_) (`#1778 `_) +* Fix spawner tests timeout on source builds (backport `#1692 `_) (`#1698 `_) +* Contributors: mergify[bot] + 3.28.1 (2024-09-11) ------------------- * fix: the print of the information in control node was in wrong order (`#1726 `_) (`#1727 `_) diff --git a/controller_manager/controller_manager/controller_manager_services.py b/controller_manager/controller_manager/controller_manager_services.py index b7eb027fef..46ca665b76 100644 --- a/controller_manager/controller_manager/controller_manager_services.py +++ b/controller_manager/controller_manager/controller_manager_services.py @@ -245,24 +245,57 @@ def unload_controller(node, controller_manager_name, controller_name, service_ti ) -def get_parameter_from_param_file(controller_name, namespace, parameter_file, parameter_name): +def get_parameter_from_param_file( + node, controller_name, namespace, parameter_file, parameter_name +): with open(parameter_file) as f: namespaced_controller = ( - controller_name if namespace == "/" else f"{namespace}/{controller_name}" + f"/{controller_name}" if namespace == "/" else f"{namespace}/{controller_name}" ) + WILDCARD_KEY = "/**" + ROS_PARAMS_KEY = "ros__parameters" parameters = yaml.safe_load(f) - if namespaced_controller in parameters: - value = parameters[namespaced_controller] - if not isinstance(value, dict) or "ros__parameters" not in value: + controller_param_dict = None + # check for the parameter in 'controller_name' or 'namespaced_controller' or '/**/namespaced_controller' or '/**/controller_name' + for key in [ + controller_name, + namespaced_controller, + f"{WILDCARD_KEY}/{controller_name}", + f"{WILDCARD_KEY}{namespaced_controller}", + ]: + if key in parameters: + if key == controller_name and namespace != "/": + node.get_logger().fatal( + f"{bcolors.FAIL}Missing namespace : {namespace} or wildcard in parameter file for controller : {controller_name}{bcolors.ENDC}" + ) + break + controller_param_dict = parameters[key] + + if WILDCARD_KEY in parameters and key in parameters[WILDCARD_KEY]: + controller_param_dict = parameters[WILDCARD_KEY][key] + + if controller_param_dict and ( + not isinstance(controller_param_dict, dict) + or ROS_PARAMS_KEY not in controller_param_dict + ): raise RuntimeError( - f"YAML file : {parameter_file} is not a valid ROS parameter file for controller : {namespaced_controller}" + f"YAML file : {parameter_file} is not a valid ROS parameter file for controller node : {namespaced_controller}" ) - if parameter_name in parameters[namespaced_controller]["ros__parameters"]: - return parameters[namespaced_controller]["ros__parameters"][parameter_name] - else: - return None - else: - return None + if ( + controller_param_dict + and ROS_PARAMS_KEY in controller_param_dict + and parameter_name in controller_param_dict[ROS_PARAMS_KEY] + ): + break + + if controller_param_dict is None: + node.get_logger().fatal( + f"{bcolors.FAIL}Controller : {namespaced_controller} parameters not found in parameter file : {parameter_file}{bcolors.ENDC}" + ) + if parameter_name in controller_param_dict[ROS_PARAMS_KEY]: + return controller_param_dict[ROS_PARAMS_KEY][parameter_name] + + return None def set_controller_parameters( @@ -312,11 +345,11 @@ def set_controller_parameters_from_param_file( if parameter_file: spawner_namespace = namespace if namespace else node.get_namespace() set_controller_parameters( - node, controller_manager_name, controller_name, "param_file", parameter_file + node, controller_manager_name, controller_name, "params_file", parameter_file ) controller_type = get_parameter_from_param_file( - controller_name, spawner_namespace, parameter_file, "type" + node, controller_name, spawner_namespace, parameter_file, "type" ) if controller_type: if not set_controller_parameters( diff --git a/controller_manager/controller_manager/spawner.py b/controller_manager/controller_manager/spawner.py index e40d52aa4d..6889acae04 100644 --- a/controller_manager/controller_manager/spawner.py +++ b/controller_manager/controller_manager/spawner.py @@ -237,7 +237,7 @@ def main(args=None): node.get_logger().info( bcolors.OKGREEN - + "Configured and activated all the parsed controllers list!" + + f"Configured and activated all the parsed controllers list : {controller_names}!" + bcolors.ENDC ) @@ -261,16 +261,25 @@ def main(args=None): ) return 1 - node.get_logger().info("Deactivated controller") - - ret = unload_controller(node, controller_manager_name, controller_name) - if not ret.ok: - node.get_logger().error( - bcolors.FAIL + "Failed to unload controller" + bcolors.ENDC + node.get_logger().info( + f"Successfully deactivated controllers : {controller_names}" ) - return 1 - node.get_logger().info("Unloaded controller") + unload_status = True + for controller_name in controller_names: + ret = unload_controller(node, controller_manager_name, controller_name) + if not ret.ok: + unload_status = False + node.get_logger().error( + bcolors.FAIL + + f"Failed to unload controller : {controller_name}" + + bcolors.ENDC + ) + + if unload_status: + node.get_logger().info(f"Successfully unloaded controllers : {controller_names}") + else: + return 1 return 0 except KeyboardInterrupt: pass diff --git a/controller_manager/doc/userdoc.rst b/controller_manager/doc/userdoc.rst index 0615e81719..18ee42e9e2 100644 --- a/controller_manager/doc/userdoc.rst +++ b/controller_manager/doc/userdoc.rst @@ -114,6 +114,60 @@ There are two scripts to interact with controller manager from launch files: Time to wait for the controller manager +The parsed controller config file can follow the same conventions as the typical ROS 2 parameter file format. Now, the spawner can handle config files with wildcard entries and also the controller name in the absolute namespace. See the following examples on the config files: + + .. code-block:: yaml + + /**/position_trajectory_controller: + ros__parameters: + type: joint_trajectory_controller/JointTrajectoryController + joints: + - joint1 + - joint2 + + command_interfaces: + - position + ..... + + .. code-block:: yaml + + /position_trajectory_controller: + ros__parameters: + type: joint_trajectory_controller/JointTrajectoryController + joints: + - joint1 + - joint2 + + command_interfaces: + - position + ..... + + .. code-block:: yaml + + position_trajectory_controller: + ros__parameters: + type: joint_trajectory_controller/JointTrajectoryController + joints: + - joint1 + - joint2 + + command_interfaces: + - position + ..... + + .. code-block:: yaml + + /rrbot_1/position_trajectory_controller: + ros__parameters: + type: joint_trajectory_controller/JointTrajectoryController + joints: + - joint1 + - joint2 + + command_interfaces: + - position + ..... + ``unspawner`` ^^^^^^^^^^^^^^^^ diff --git a/controller_manager/package.xml b/controller_manager/package.xml index 500f97620b..1c6f72a373 100644 --- a/controller_manager/package.xml +++ b/controller_manager/package.xml @@ -2,7 +2,7 @@ controller_manager - 3.28.1 + 3.29.0 Description of controller_manager Bence Magyar Denis Štogl diff --git a/controller_manager/test/test_controller_spawner_with_type.yaml b/controller_manager/test/test_controller_spawner_with_type.yaml index 892427bab7..087994bd23 100644 --- a/controller_manager/test/test_controller_spawner_with_type.yaml +++ b/controller_manager/test/test_controller_spawner_with_type.yaml @@ -3,25 +3,40 @@ ctrl_with_parameters_and_type: type: "controller_manager/test_controller" joint_names: ["joint0"] -chainable_ctrl_with_parameters_and_type: - ros__parameters: - type: "controller_manager/test_chainable_controller" - joint_names: ["joint1"] +/**: + chainable_ctrl_with_parameters_and_type: + ros__parameters: + type: "controller_manager/test_chainable_controller" + joint_names: ["joint1"] + + wildcard_ctrl_with_parameters_and_type: + ros__parameters: + type: "controller_manager/test_controller" + joint_names: ["joint1"] ctrl_with_parameters_and_no_type: ros__parameters: joint_names: ["joint2"] -/foo_namespace/ctrl_with_parameters_and_type: +/foo_namespace/ns_ctrl_with_parameters_and_type: ros__parameters: type: "controller_manager/test_controller" joint_names: ["joint1"] -/foo_namespace/chainable_ctrl_with_parameters_and_type: +/foo_namespace/ns_chainable_ctrl_with_parameters_and_type: + ros__parameters: + type: "controller_manager/test_chainable_controller" + joint_names: ["joint1"] + +/foo_namespace/ns_ctrl_with_parameters_and_no_type: + ros__parameters: + joint_names: ["joint2"] + +/**/wildcard_chainable_ctrl_with_parameters_and_type: ros__parameters: type: "controller_manager/test_chainable_controller" joint_names: ["joint1"] -/foo_namespace/ctrl_with_parameters_and_no_type: +/**/wildcard_ctrl_with_parameters_and_no_type: ros__parameters: joint_names: ["joint2"] diff --git a/controller_manager/test/test_spawner_unspawner.cpp b/controller_manager/test/test_spawner_unspawner.cpp index a709af915b..6d0630c8bf 100644 --- a/controller_manager/test/test_spawner_unspawner.cpp +++ b/controller_manager/test/test_spawner_unspawner.cpp @@ -267,6 +267,69 @@ TEST_F(TestLoadController, spawner_test_type_in_arg) ASSERT_EQ(ctrl_2.c->get_state().id(), lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE); } +TEST_F(TestLoadController, spawner_test_type_in_params_file) +{ + const std::string test_file_path = ament_index_cpp::get_package_prefix("controller_manager") + + "/test/test_controller_spawner_with_type.yaml"; + + ControllerManagerRunner cm_runner(this); + // Provide controller type via the parsed file + EXPECT_EQ( + call_spawner( + "ctrl_with_parameters_and_type chainable_ctrl_with_parameters_and_type --load-only -c " + "test_controller_manager -p " + + test_file_path), + 0); + + ASSERT_EQ(cm_->get_loaded_controllers().size(), 2ul); + + auto ctrl_with_parameters_and_type = cm_->get_loaded_controllers()[0]; + ASSERT_EQ(ctrl_with_parameters_and_type.info.name, "ctrl_with_parameters_and_type"); + ASSERT_EQ(ctrl_with_parameters_and_type.info.type, test_controller::TEST_CONTROLLER_CLASS_NAME); + ASSERT_EQ( + ctrl_with_parameters_and_type.c->get_state().id(), + lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED); + ASSERT_EQ( + cm_->get_parameter("ctrl_with_parameters_and_type.params_file").as_string(), test_file_path); + + auto chain_ctrl_with_parameters_and_type = cm_->get_loaded_controllers()[1]; + ASSERT_EQ( + chain_ctrl_with_parameters_and_type.info.name, "chainable_ctrl_with_parameters_and_type"); + ASSERT_EQ( + chain_ctrl_with_parameters_and_type.info.type, + test_chainable_controller::TEST_CONTROLLER_CLASS_NAME); + ASSERT_EQ( + chain_ctrl_with_parameters_and_type.c->get_state().id(), + lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED); + ASSERT_EQ( + cm_->get_parameter("chainable_ctrl_with_parameters_and_type.params_file").as_string(), + test_file_path); + + EXPECT_EQ( + call_spawner( + "ctrl_with_parameters_and_no_type -c test_controller_manager --controller-manager-timeout " + "1.0 -p " + + test_file_path), + 256); + // Will still be same as the current call will fail + ASSERT_EQ(cm_->get_loaded_controllers().size(), 2ul); + + auto ctrl_1 = cm_->get_loaded_controllers()[0]; + ASSERT_EQ(ctrl_1.info.name, "ctrl_with_parameters_and_type"); + ASSERT_EQ(ctrl_1.info.type, test_controller::TEST_CONTROLLER_CLASS_NAME); + ASSERT_EQ(ctrl_1.c->get_state().id(), lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED); + ASSERT_EQ( + cm_->get_parameter("ctrl_with_parameters_and_type.params_file").as_string(), test_file_path); + + auto ctrl_2 = cm_->get_loaded_controllers()[1]; + ASSERT_EQ(ctrl_2.info.name, "chainable_ctrl_with_parameters_and_type"); + ASSERT_EQ(ctrl_2.info.type, test_chainable_controller::TEST_CONTROLLER_CLASS_NAME); + ASSERT_EQ(ctrl_2.c->get_state().id(), lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED); + ASSERT_EQ( + cm_->get_parameter("chainable_ctrl_with_parameters_and_type.params_file").as_string(), + test_file_path); +} + TEST_F(TestLoadController, unload_on_kill) { // Launch spawner with unload on kill @@ -285,6 +348,25 @@ TEST_F(TestLoadController, unload_on_kill) ASSERT_EQ(cm_->get_loaded_controllers().size(), 0ul); } +TEST_F(TestLoadController, unload_on_kill_activate_as_group) +{ + // Launch spawner with unload on kill + // timeout command will kill it after the specified time with signal SIGINT + ControllerManagerRunner cm_runner(this); + cm_->set_parameter(rclcpp::Parameter("ctrl_3.type", test_controller::TEST_CONTROLLER_CLASS_NAME)); + cm_->set_parameter(rclcpp::Parameter("ctrl_2.type", test_controller::TEST_CONTROLLER_CLASS_NAME)); + std::stringstream ss; + ss << "timeout --signal=INT 5 " + << std::string(coveragepy_script) + + " $(ros2 pkg prefix controller_manager)/lib/controller_manager/spawner " + << "ctrl_3 ctrl_2 --activate-as-group -c test_controller_manager --unload-on-kill"; + + EXPECT_NE(std::system(ss.str().c_str()), 0) + << "timeout should have killed spawner and returned non 0 code"; + + ASSERT_EQ(cm_->get_loaded_controllers().size(), 0ul); +} + TEST_F(TestLoadController, spawner_with_many_controllers) { std::stringstream ss; @@ -544,14 +626,14 @@ TEST_F(TestLoadControllerWithNamespacedCM, spawner_test_type_in_params_file) // Provide controller type via the parsed file EXPECT_EQ( call_spawner( - "ctrl_with_parameters_and_type chainable_ctrl_with_parameters_and_type --load-only -c " + "ns_ctrl_with_parameters_and_type ns_chainable_ctrl_with_parameters_and_type --load-only -c " "test_controller_manager --controller-manager-timeout 1.0 -p " + test_file_path), 256) << "Should fail without the namespacing it"; EXPECT_EQ( call_spawner( - "ctrl_with_parameters_and_type chainable_ctrl_with_parameters_and_type --load-only -c " + "ns_ctrl_with_parameters_and_type ns_chainable_ctrl_with_parameters_and_type --load-only -c " "test_controller_manager -p " + test_file_path + " --ros-args -r __ns:=/foo_namespace"), 0); @@ -559,25 +641,31 @@ TEST_F(TestLoadControllerWithNamespacedCM, spawner_test_type_in_params_file) ASSERT_EQ(cm_->get_loaded_controllers().size(), 2ul); auto ctrl_with_parameters_and_type = cm_->get_loaded_controllers()[0]; - ASSERT_EQ(ctrl_with_parameters_and_type.info.name, "ctrl_with_parameters_and_type"); + ASSERT_EQ(ctrl_with_parameters_and_type.info.name, "ns_ctrl_with_parameters_and_type"); ASSERT_EQ(ctrl_with_parameters_and_type.info.type, test_controller::TEST_CONTROLLER_CLASS_NAME); ASSERT_EQ( ctrl_with_parameters_and_type.c->get_state().id(), lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED); + ASSERT_EQ( + cm_->get_parameter(ctrl_with_parameters_and_type.info.name + ".params_file").as_string(), + test_file_path); auto chain_ctrl_with_parameters_and_type = cm_->get_loaded_controllers()[1]; ASSERT_EQ( - chain_ctrl_with_parameters_and_type.info.name, "chainable_ctrl_with_parameters_and_type"); + chain_ctrl_with_parameters_and_type.info.name, "ns_chainable_ctrl_with_parameters_and_type"); ASSERT_EQ( chain_ctrl_with_parameters_and_type.info.type, test_chainable_controller::TEST_CONTROLLER_CLASS_NAME); ASSERT_EQ( chain_ctrl_with_parameters_and_type.c->get_state().id(), lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED); + ASSERT_EQ( + cm_->get_parameter(chain_ctrl_with_parameters_and_type.info.name + ".params_file").as_string(), + test_file_path); EXPECT_EQ( call_spawner( - "ctrl_with_parameters_and_no_type -c test_controller_manager -p " + test_file_path + + "ns_ctrl_with_parameters_and_no_type -c test_controller_manager -p " + test_file_path + " --ros-args -r __ns:=/foo_namespace"), 256) << "Should fail as no type is defined!"; @@ -585,14 +673,16 @@ TEST_F(TestLoadControllerWithNamespacedCM, spawner_test_type_in_params_file) ASSERT_EQ(cm_->get_loaded_controllers().size(), 2ul); auto ctrl_1 = cm_->get_loaded_controllers()[0]; - ASSERT_EQ(ctrl_1.info.name, "ctrl_with_parameters_and_type"); + ASSERT_EQ(ctrl_1.info.name, "ns_ctrl_with_parameters_and_type"); ASSERT_EQ(ctrl_1.info.type, test_controller::TEST_CONTROLLER_CLASS_NAME); ASSERT_EQ(ctrl_1.c->get_state().id(), lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED); + ASSERT_EQ(cm_->get_parameter(ctrl_1.info.name + ".params_file").as_string(), test_file_path); auto ctrl_2 = cm_->get_loaded_controllers()[1]; - ASSERT_EQ(ctrl_2.info.name, "chainable_ctrl_with_parameters_and_type"); + ASSERT_EQ(ctrl_2.info.name, "ns_chainable_ctrl_with_parameters_and_type"); ASSERT_EQ(ctrl_2.info.type, test_chainable_controller::TEST_CONTROLLER_CLASS_NAME); ASSERT_EQ(ctrl_2.c->get_state().id(), lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED); + ASSERT_EQ(cm_->get_parameter(ctrl_2.info.name + ".params_file").as_string(), test_file_path); } TEST_F( @@ -605,28 +695,28 @@ TEST_F( // Provide controller type via the parsed file EXPECT_EQ( call_spawner( - "ctrl_with_parameters_and_type chainable_ctrl_with_parameters_and_type --load-only -c " + "ns_ctrl_with_parameters_and_type ns_chainable_ctrl_with_parameters_and_type --load-only -c " "test_controller_manager --controller-manager-timeout 1.0 -p " + test_file_path), 256) << "Should fail without the namespacing it"; EXPECT_EQ( call_spawner( - "ctrl_with_parameters_and_type chainable_ctrl_with_parameters_and_type --load-only -c " + "ns_ctrl_with_parameters_and_type ns_chainable_ctrl_with_parameters_and_type --load-only -c " "test_controller_manager --namespace foo_namespace --controller-manager-timeout 1.0 -p " + test_file_path + " --ros-args -r __ns:=/random_namespace"), 256) << "Should fail when parsed namespace through both way with different namespaces"; EXPECT_EQ( call_spawner( - "ctrl_with_parameters_and_type chainable_ctrl_with_parameters_and_type --load-only -c " + "ns_ctrl_with_parameters_and_type ns_chainable_ctrl_with_parameters_and_type --load-only -c " "test_controller_manager --namespace foo_namespace --controller-manager-timeout 1.0 -p" + test_file_path + " --ros-args -r __ns:=/foo_namespace"), 256) << "Should fail when parsed namespace through both ways even with same namespacing name"; EXPECT_EQ( call_spawner( - "ctrl_with_parameters_and_type chainable_ctrl_with_parameters_and_type --load-only -c " + "ns_ctrl_with_parameters_and_type ns_chainable_ctrl_with_parameters_and_type --load-only -c " "test_controller_manager --namespace foo_namespace -p " + test_file_path), 0) @@ -635,25 +725,32 @@ TEST_F( ASSERT_EQ(cm_->get_loaded_controllers().size(), 2ul); auto ctrl_with_parameters_and_type = cm_->get_loaded_controllers()[0]; - ASSERT_EQ(ctrl_with_parameters_and_type.info.name, "ctrl_with_parameters_and_type"); + ASSERT_EQ(ctrl_with_parameters_and_type.info.name, "ns_ctrl_with_parameters_and_type"); ASSERT_EQ(ctrl_with_parameters_and_type.info.type, test_controller::TEST_CONTROLLER_CLASS_NAME); ASSERT_EQ( ctrl_with_parameters_and_type.c->get_state().id(), lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED); + ASSERT_EQ( + cm_->get_parameter(ctrl_with_parameters_and_type.info.name + ".params_file").as_string(), + test_file_path); auto chain_ctrl_with_parameters_and_type = cm_->get_loaded_controllers()[1]; ASSERT_EQ( - chain_ctrl_with_parameters_and_type.info.name, "chainable_ctrl_with_parameters_and_type"); + chain_ctrl_with_parameters_and_type.info.name, "ns_chainable_ctrl_with_parameters_and_type"); ASSERT_EQ( chain_ctrl_with_parameters_and_type.info.type, test_chainable_controller::TEST_CONTROLLER_CLASS_NAME); ASSERT_EQ( chain_ctrl_with_parameters_and_type.c->get_state().id(), lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED); + ASSERT_EQ( + cm_->get_parameter(chain_ctrl_with_parameters_and_type.info.name + ".params_file").as_string(), + test_file_path); EXPECT_EQ( call_spawner( - "ctrl_with_parameters_and_no_type -c test_controller_manager --namespace foo_namespace -p " + + "ns_ctrl_with_parameters_and_no_type -c test_controller_manager --namespace foo_namespace " + "-p " + test_file_path), 256) << "Should fail as no type is defined!"; @@ -661,12 +758,119 @@ TEST_F( ASSERT_EQ(cm_->get_loaded_controllers().size(), 2ul); auto ctrl_1 = cm_->get_loaded_controllers()[0]; - ASSERT_EQ(ctrl_1.info.name, "ctrl_with_parameters_and_type"); + ASSERT_EQ(ctrl_1.info.name, "ns_ctrl_with_parameters_and_type"); ASSERT_EQ(ctrl_1.info.type, test_controller::TEST_CONTROLLER_CLASS_NAME); ASSERT_EQ(ctrl_1.c->get_state().id(), lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED); + ASSERT_EQ(cm_->get_parameter(ctrl_1.info.name + ".params_file").as_string(), test_file_path); auto ctrl_2 = cm_->get_loaded_controllers()[1]; - ASSERT_EQ(ctrl_2.info.name, "chainable_ctrl_with_parameters_and_type"); + ASSERT_EQ(ctrl_2.info.name, "ns_chainable_ctrl_with_parameters_and_type"); + ASSERT_EQ(ctrl_2.info.type, test_chainable_controller::TEST_CONTROLLER_CLASS_NAME); + ASSERT_EQ(ctrl_2.c->get_state().id(), lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED); + ASSERT_EQ(cm_->get_parameter(ctrl_2.info.name + ".params_file").as_string(), test_file_path); +} + +TEST_F(TestLoadControllerWithNamespacedCM, spawner_test_with_wildcard_entries_in_params_file) +{ + const std::string test_file_path = ament_index_cpp::get_package_prefix("controller_manager") + + "/test/test_controller_spawner_with_type.yaml"; + + ControllerManagerRunner cm_runner(this); + // Provide controller type via the parsed file + EXPECT_EQ( + call_spawner( + "wildcard_ctrl_with_parameters_and_type wildcard_chainable_ctrl_with_parameters_and_type " + "--load-only -c " + "test_controller_manager --controller-manager-timeout 1.0 -p " + + test_file_path), + 256) + << "Should fail without the namespacing it due to timeout but can find the parameters"; + EXPECT_EQ( + call_spawner( + "wildcard_ctrl_with_parameters_and_type wildcard_chainable_ctrl_with_parameters_and_type " + "--load-only -c " + "test_controller_manager -p " + + test_file_path + " --ros-args -r __ns:=/foo_namespace"), + 0); + + ASSERT_EQ(cm_->get_loaded_controllers().size(), 2ul); + + auto ctrl_with_parameters_and_type = cm_->get_loaded_controllers()[0]; + ASSERT_EQ(ctrl_with_parameters_and_type.info.name, "wildcard_ctrl_with_parameters_and_type"); + ASSERT_EQ(ctrl_with_parameters_and_type.info.type, test_controller::TEST_CONTROLLER_CLASS_NAME); + ASSERT_EQ( + ctrl_with_parameters_and_type.c->get_state().id(), + lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED); + + auto chain_ctrl_with_parameters_and_type = cm_->get_loaded_controllers()[1]; + ASSERT_EQ( + chain_ctrl_with_parameters_and_type.info.name, + "wildcard_chainable_ctrl_with_parameters_and_type"); + ASSERT_EQ( + chain_ctrl_with_parameters_and_type.info.type, + test_chainable_controller::TEST_CONTROLLER_CLASS_NAME); + ASSERT_EQ( + chain_ctrl_with_parameters_and_type.c->get_state().id(), + lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED); + + EXPECT_EQ( + call_spawner( + "wildcard_ctrl_with_parameters_and_no_type -c test_controller_manager -p " + test_file_path + + " --ros-args -r __ns:=/foo_namespace"), + 256) + << "Should fail as no type is defined!"; + // Will still be same as the current call will fail + ASSERT_EQ(cm_->get_loaded_controllers().size(), 2ul); + + auto ctrl_1 = cm_->get_loaded_controllers()[0]; + ASSERT_EQ(ctrl_1.info.name, "wildcard_ctrl_with_parameters_and_type"); + ASSERT_EQ(ctrl_1.info.type, test_controller::TEST_CONTROLLER_CLASS_NAME); + ASSERT_EQ(ctrl_1.c->get_state().id(), lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED); + + auto ctrl_2 = cm_->get_loaded_controllers()[1]; + ASSERT_EQ(ctrl_2.info.name, "wildcard_chainable_ctrl_with_parameters_and_type"); ASSERT_EQ(ctrl_2.info.type, test_chainable_controller::TEST_CONTROLLER_CLASS_NAME); ASSERT_EQ(ctrl_2.c->get_state().id(), lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED); } + +TEST_F( + TestLoadControllerWithNamespacedCM, + spawner_test_fail_namespaced_controllers_with_non_wildcard_entries) +{ + const std::string test_file_path = ament_index_cpp::get_package_prefix("controller_manager") + + "/test/test_controller_spawner_with_type.yaml"; + + ControllerManagerRunner cm_runner(this); + // Provide controller type via the parsed file + EXPECT_EQ( + call_spawner( + "ctrl_with_parameters_and_type --load-only -c " + "test_controller_manager --controller-manager-timeout 1.0 -p " + + test_file_path), + 256) + << "Should fail without the namespacing it"; + EXPECT_EQ( + call_spawner( + "ctrl_with_parameters_and_type --load-only -c " + "test_controller_manager --namespace foo_namespace -p " + + test_file_path), + 256) + << "Should fail even namespacing it as ctrl_with_parameters_and_type is not a wildcard entry"; + EXPECT_EQ( + call_spawner( + "chainable_ctrl_with_parameters_and_type --load-only -c " + "test_controller_manager --namespace foo_namespace -p " + + test_file_path), + 0) + << "Should work as chainable_ctrl_with_parameters_and_type is a wildcard entry"; + + ASSERT_EQ(cm_->get_loaded_controllers().size(), 1ul); + + auto ctrl_with_parameters_and_type = cm_->get_loaded_controllers()[0]; + ASSERT_EQ(ctrl_with_parameters_and_type.info.name, "chainable_ctrl_with_parameters_and_type"); + ASSERT_EQ( + ctrl_with_parameters_and_type.info.type, test_chainable_controller::TEST_CONTROLLER_CLASS_NAME); + ASSERT_EQ( + ctrl_with_parameters_and_type.c->get_state().id(), + lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED); +} diff --git a/controller_manager_msgs/CHANGELOG.rst b/controller_manager_msgs/CHANGELOG.rst index 4fb3c33c67..6fe7689162 100644 --- a/controller_manager_msgs/CHANGELOG.rst +++ b/controller_manager_msgs/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package controller_manager_msgs ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +3.29.0 (2024-11-02) +------------------- + 3.28.1 (2024-09-11) ------------------- diff --git a/controller_manager_msgs/package.xml b/controller_manager_msgs/package.xml index 145230662e..bd71e72b34 100644 --- a/controller_manager_msgs/package.xml +++ b/controller_manager_msgs/package.xml @@ -2,7 +2,7 @@ controller_manager_msgs - 3.28.1 + 3.29.0 Messages and services for the controller manager. Bence Magyar Denis Štogl diff --git a/doc/release_notes.rst b/doc/release_notes.rst index 9cae57e260..b9ad7a195f 100644 --- a/doc/release_notes.rst +++ b/doc/release_notes.rst @@ -18,3 +18,4 @@ controller_manager ****************** * The ``ros2_control_node`` node now accepts the ``thread_priority`` parameter to set the scheduler priority of the controller_manager's RT thread (`#1820 `_). +* Added support for the wildcard entries for the controller configuration files (`#1724 `_). diff --git a/hardware_interface/CHANGELOG.rst b/hardware_interface/CHANGELOG.rst index bf32aaad7a..df304977ee 100644 --- a/hardware_interface/CHANGELOG.rst +++ b/hardware_interface/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package hardware_interface ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +3.29.0 (2024-11-02) +------------------- +* Add resources_lock\_ lock_guards to avoid race condition when loading robot_description through topic (backport `#1451 `_) (`#1600 `_) +* Contributors: mergify[bot] + 3.28.1 (2024-09-11) ------------------- diff --git a/hardware_interface/package.xml b/hardware_interface/package.xml index 2954348444..9fb3b5a7b3 100644 --- a/hardware_interface/package.xml +++ b/hardware_interface/package.xml @@ -1,7 +1,7 @@ hardware_interface - 3.28.1 + 3.29.0 ros2_control hardware interface Bence Magyar Denis Štogl diff --git a/hardware_interface_testing/CHANGELOG.rst b/hardware_interface_testing/CHANGELOG.rst index 5820fd84d8..ba19eb3eee 100644 --- a/hardware_interface_testing/CHANGELOG.rst +++ b/hardware_interface_testing/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package hardware_interface_testing ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +3.29.0 (2024-11-02) +------------------- + 3.28.1 (2024-09-11) ------------------- diff --git a/hardware_interface_testing/package.xml b/hardware_interface_testing/package.xml index 3c0974af52..a700170731 100644 --- a/hardware_interface_testing/package.xml +++ b/hardware_interface_testing/package.xml @@ -1,7 +1,7 @@ hardware_interface_testing - 3.28.1 + 3.29.0 ros2_control hardware interface testing Bence Magyar Denis Štogl diff --git a/joint_limits/CHANGELOG.rst b/joint_limits/CHANGELOG.rst index eb158d8f9e..5abdff6213 100644 --- a/joint_limits/CHANGELOG.rst +++ b/joint_limits/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package joint_limits ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +3.29.0 (2024-11-02) +------------------- + 3.28.1 (2024-09-11) ------------------- diff --git a/joint_limits/package.xml b/joint_limits/package.xml index c9f155d3b5..f037853f05 100644 --- a/joint_limits/package.xml +++ b/joint_limits/package.xml @@ -1,6 +1,6 @@ joint_limits - 3.28.1 + 3.29.0 Interfaces for handling of joint limits for controllers or hardware. Bence Magyar diff --git a/ros2_control/CHANGELOG.rst b/ros2_control/CHANGELOG.rst index 2244f54911..17561e2470 100644 --- a/ros2_control/CHANGELOG.rst +++ b/ros2_control/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package ros2_control ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +3.29.0 (2024-11-02) +------------------- + 3.28.1 (2024-09-11) ------------------- diff --git a/ros2_control/package.xml b/ros2_control/package.xml index f1b6cc4c82..f9ed5970ff 100644 --- a/ros2_control/package.xml +++ b/ros2_control/package.xml @@ -1,7 +1,7 @@ ros2_control - 3.28.1 + 3.29.0 Metapackage for ROS2 control related packages Bence Magyar Denis Štogl diff --git a/ros2_control_test_assets/CHANGELOG.rst b/ros2_control_test_assets/CHANGELOG.rst index ca5f90482c..7f87c8d8bf 100644 --- 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 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +3.29.0 (2024-11-02) +------------------- + 3.28.1 (2024-09-11) ------------------- diff --git a/ros2_control_test_assets/package.xml b/ros2_control_test_assets/package.xml index c35dc6ab83..44b3dac4fc 100644 --- a/ros2_control_test_assets/package.xml +++ b/ros2_control_test_assets/package.xml @@ -2,7 +2,7 @@ ros2_control_test_assets - 3.28.1 + 3.29.0 The package provides shared test resources for ros2_control stack Bence Magyar diff --git a/ros2controlcli/CHANGELOG.rst b/ros2controlcli/CHANGELOG.rst index f470fabff6..c656dfe19a 100644 --- a/ros2controlcli/CHANGELOG.rst +++ b/ros2controlcli/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package ros2controlcli ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +3.29.0 (2024-11-02) +------------------- +* Refactor spawner to be able to reuse code for ros2controlcli (backport `#1661 `_) (`#1696 `_) +* Contributors: mergify[bot] + 3.28.1 (2024-09-11) ------------------- * [ros2controlcli] fix list_controllers when no controllers are loaded (`#1721 `_) (`#1723 `_) diff --git a/ros2controlcli/package.xml b/ros2controlcli/package.xml index e91ea1daec..b9636686aa 100644 --- a/ros2controlcli/package.xml +++ b/ros2controlcli/package.xml @@ -2,7 +2,7 @@ ros2controlcli - 3.28.1 + 3.29.0 The ROS 2 command line tools for ROS2 Control. diff --git a/ros2controlcli/setup.py b/ros2controlcli/setup.py index ee417de569..babc17a562 100644 --- a/ros2controlcli/setup.py +++ b/ros2controlcli/setup.py @@ -19,7 +19,7 @@ setup( name=package_name, - version="3.28.1", + version="3.29.0", packages=find_packages(exclude=["test"]), data_files=[ ("share/" + package_name, ["package.xml"]), diff --git a/rqt_controller_manager/CHANGELOG.rst b/rqt_controller_manager/CHANGELOG.rst index e47791eff8..b03f4c692d 100644 --- a/rqt_controller_manager/CHANGELOG.rst +++ b/rqt_controller_manager/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package rqt_controller_manager ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +3.29.0 (2024-11-02) +------------------- +* fix: call configure_controller on 'unconfigured' state instead load_controller (`#1794 `_) (`#1798 `_) +* Contributors: mergify[bot] + 3.28.1 (2024-09-11) ------------------- diff --git a/rqt_controller_manager/package.xml b/rqt_controller_manager/package.xml index e1b2b554f3..c8369cf0a8 100644 --- a/rqt_controller_manager/package.xml +++ b/rqt_controller_manager/package.xml @@ -2,7 +2,7 @@ rqt_controller_manager - 3.28.1 + 3.29.0 Graphical frontend for interacting with the controller manager. Bence Magyar Denis Štogl diff --git a/rqt_controller_manager/setup.py b/rqt_controller_manager/setup.py index 3e8b054f8d..1c11e55bc6 100644 --- a/rqt_controller_manager/setup.py +++ b/rqt_controller_manager/setup.py @@ -20,7 +20,7 @@ setup( name=package_name, - version="3.28.1", + version="3.29.0", packages=[package_name], data_files=[ ("share/ament_index/resource_index/packages", ["resource/" + package_name]), diff --git a/transmission_interface/CHANGELOG.rst b/transmission_interface/CHANGELOG.rst index fa07282281..9f4d4d131d 100644 --- a/transmission_interface/CHANGELOG.rst +++ b/transmission_interface/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package transmission_interface ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +3.29.0 (2024-11-02) +------------------- + 3.28.1 (2024-09-11) ------------------- diff --git a/transmission_interface/package.xml b/transmission_interface/package.xml index 7b3eb3482e..ac8bcf05a8 100644 --- a/transmission_interface/package.xml +++ b/transmission_interface/package.xml @@ -2,7 +2,7 @@ transmission_interface - 3.28.1 + 3.29.0 transmission_interface contains data structures for representing mechanical transmissions, methods for propagating values between actuator and joint spaces and tooling to support this. Bence Magyar Denis Štogl