Merge branch 'master' into add/sw_joint_limiter

ros-controls · Aug 28, 2024 · c4da2d0 · c4da2d0
2 parents b515464 + d200408
commit c4da2d0
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diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
@@ -37,7 +37,7 @@ repos:
 
   # Python hooks
   - repo: https://github.com/asottile/pyupgrade
-    rev: v3.16.0
+    rev: v3.17.0
     hooks:
     -   id: pyupgrade
         args: [--py36-plus]
@@ -133,7 +133,7 @@ repos:
         exclude: CHANGELOG\.rst|\.(svg|pyc|drawio)$
 
   - repo: https://github.com/python-jsonschema/check-jsonschema
-    rev: 0.28.6
+    rev: 0.29.1
     hooks:
       - id: check-github-workflows
         args: ["--verbose"]

diff --git a/codecov.yml b/codecov.yml
@@ -14,8 +14,6 @@ fixes:
 comment:
   layout: "diff, flags, files"
   behavior: default
-ignore:
-  - "**/test"
 flags:
   unittests:
     paths:

diff --git a/controller_interface/CHANGELOG.rst b/controller_interface/CHANGELOG.rst
@@ -2,6 +2,24 @@
 Changelog for package controller_interface
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.16.1 (2024-08-24)
+-------------------
+
+4.16.0 (2024-08-22)
+-------------------
+* Fix params_file typo in spawner and update release notes for use_global_arguments (`#1701 <https://github.com/ros-controls/ros2_control/issues/1701>`_)
+* Avoid using the global arguments for internal controller nodes (`#1694 <https://github.com/ros-controls/ros2_control/issues/1694>`_)
+* Contributors: Sai Kishor Kothakota
+
+4.15.0 (2024-08-05)
+-------------------
+
+4.14.0 (2024-07-23)
+-------------------
+* Unused header cleanup (`#1627 <https://github.com/ros-controls/ros2_control/issues/1627>`_)
+* move critical variables to the private context (`#1623 <https://github.com/ros-controls/ros2_control/issues/1623>`_)
+* Contributors: Henry Moore, Sai Kishor Kothakota
+
 4.13.0 (2024-07-08)
 -------------------
 * [ControllerChaining] Export state interfaces from chainable controllers (`#1021 <https://github.com/ros-controls/ros2_control/issues/1021>`_)

diff --git a/controller_interface/include/controller_interface/async_controller.hpp b/controller_interface/include/controller_interface/async_controller.hpp
@@ -82,7 +82,8 @@ class AsyncControllerThread
       TimePoint next_iteration_time =
         TimePoint(std::chrono::nanoseconds(controller_->get_node()->now().nanoseconds()));
 
-      if (controller_->get_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE)
+      if (
+        controller_->get_lifecycle_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE)
       {
         auto const current_time = controller_->get_node()->now();
         auto const measured_period = current_time - previous_time;

diff --git a/controller_interface/include/controller_interface/controller_interface_base.hpp b/controller_interface/include/controller_interface/controller_interface_base.hpp
@@ -147,7 +147,7 @@ class ControllerInterfaceBase : public rclcpp_lifecycle::node_interfaces::Lifecy
   std::shared_ptr<const rclcpp_lifecycle::LifecycleNode> get_node() const;
 
   CONTROLLER_INTERFACE_PUBLIC
-  const rclcpp_lifecycle::State & get_state() const;
+  const rclcpp_lifecycle::State & get_lifecycle_state() const;
 
   CONTROLLER_INTERFACE_PUBLIC
   unsigned int get_update_rate() const;

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>4.13.0</version>
+  <version>4.16.1</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/chainable_controller_interface.cpp b/controller_interface/src/chainable_controller_interface.cpp
@@ -97,7 +97,7 @@ bool ChainableControllerInterface::set_chained_mode(bool chained_mode)
 {
   bool result = false;
 
-  if (get_state().id() != lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE)
+  if (get_lifecycle_state().id() != lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE)
   {
     result = on_set_chained_mode(chained_mode);
 
@@ -112,7 +112,8 @@ bool ChainableControllerInterface::set_chained_mode(bool chained_mode)
       get_node()->get_logger(),
       "Can not change controller's chained mode because it is no in '%s' state. "
       "Current state is '%s'.",
-      hardware_interface::lifecycle_state_names::UNCONFIGURED, get_state().label().c_str());
+      hardware_interface::lifecycle_state_names::UNCONFIGURED,
+      get_lifecycle_state().label().c_str());
   }
 
   return result;

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()
   // Then we don't need to do state-machine related checks.
   //
   // 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)
+  if (get_lifecycle_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED)
   {
     update_rate_ = static_cast<unsigned int>(get_node()->get_parameter("update_rate").as_int());
     is_async_ = get_node()->get_parameter("is_async").as_bool();
@@ -106,7 +106,7 @@ void ControllerInterfaceBase::release_interfaces()
   state_interfaces_.clear();
 }
 
-const rclcpp_lifecycle::State & ControllerInterfaceBase::get_state() const
+const rclcpp_lifecycle::State & ControllerInterfaceBase::get_lifecycle_state() const
 {
   return node_->get_current_state();
 }

diff --git a/controller_interface/test/test_controller_interface.cpp b/controller_interface/test/test_controller_interface.cpp
@@ -16,6 +16,8 @@
 
 #include <gmock/gmock.h>
 #include <memory>
+#include <string>
+#include <vector>
 
 #include "rclcpp/executor_options.hpp"
 #include "rclcpp/executors/multi_threaded_executor.hpp"
@@ -57,13 +59,16 @@ TEST(TestableControllerInterface, init)
 TEST(TestableControllerInterface, setting_update_rate_in_configure)
 {
   // mocks the declaration of overrides parameters in a yaml file
-  char const * const argv[] = {"", "--ros-args", "-p", "update_rate:=2812"};
-  int argc = arrlen(argv);
-  rclcpp::init(argc, argv);
+  rclcpp::init(0, nullptr);
 
   TestableControllerInterface controller;
   // initialize, create node
-  const auto node_options = controller.define_custom_node_options();
+  auto node_options = controller.define_custom_node_options();
+  std::vector<std::string> node_options_arguments = node_options.arguments();
+  node_options_arguments.push_back("--ros-args");
+  node_options_arguments.push_back("-p");
+  node_options_arguments.push_back("update_rate:=2812");
+  node_options = node_options.arguments(node_options_arguments);
   ASSERT_EQ(
     controller.init(TEST_CONTROLLER_NAME, "", 1.0, "", node_options),
     controller_interface::return_type::OK);

diff --git a/controller_manager/CHANGELOG.rst b/controller_manager/CHANGELOG.rst
@@ -2,6 +2,44 @@
 Changelog for package controller_manager
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.16.1 (2024-08-24)
+-------------------
+* propage a portion of global args to the controller nodes (`#1712 <https://github.com/ros-controls/ros2_control/issues/1712>`_)
+* Contributors: Sai Kishor Kothakota
+
+4.16.0 (2024-08-22)
+-------------------
+* inform user what reason is for not setting rt policy, inform is policy (`#1705 <https://github.com/ros-controls/ros2_control/issues/1705>`_)
+* Fix params_file typo in spawner and update release notes for use_global_arguments (`#1701 <https://github.com/ros-controls/ros2_control/issues/1701>`_)
+* Fix spawner tests timeout (`#1692 <https://github.com/ros-controls/ros2_control/issues/1692>`_)
+* Refactor spawner to be able to reuse code for ros2controlcli (`#1661 <https://github.com/ros-controls/ros2_control/issues/1661>`_)
+* Robustify controller spawner and add integration test with many controllers (`#1501 <https://github.com/ros-controls/ros2_control/issues/1501>`_)
+* Handle waiting in Spawner and align Hardware Spawner functionality (`#1562 <https://github.com/ros-controls/ros2_control/issues/1562>`_)
+* Make list controller and list hardware components immediately visualize the state. (`#1606 <https://github.com/ros-controls/ros2_control/issues/1606>`_)
+* [CI] Add coveragepy and remove ignore: test (`#1668 <https://github.com/ros-controls/ros2_control/issues/1668>`_)
+* Fix spawner unload on kill test (`#1675 <https://github.com/ros-controls/ros2_control/issues/1675>`_)
+* [CM] Add more logging for easier debugging (`#1645 <https://github.com/ros-controls/ros2_control/issues/1645>`_)
+* refactor SwitchParams to fix the incosistencies in the spawner tests (`#1638 <https://github.com/ros-controls/ros2_control/issues/1638>`_)
+* Contributors: Bence Magyar, Christoph Fröhlich, Dr. Denis, Felix Exner (fexner), Manuel Muth, Sai Kishor Kothakota
+
+4.15.0 (2024-08-05)
+-------------------
+* Add missing include for executors (`#1653 <https://github.com/ros-controls/ros2_control/issues/1653>`_)
+* Fix the namespaced controller_manager spawner + added tests (`#1640 <https://github.com/ros-controls/ros2_control/issues/1640>`_)
+* CM: Add missing includes (`#1641 <https://github.com/ros-controls/ros2_control/issues/1641>`_)
+* Fix rst markup (`#1642 <https://github.com/ros-controls/ros2_control/issues/1642>`_)
+* Add a pytest launch file to test ros2_control_node (`#1636 <https://github.com/ros-controls/ros2_control/issues/1636>`_)
+* [CM] Remove deprecated spawner args (`#1639 <https://github.com/ros-controls/ros2_control/issues/1639>`_)
+* Contributors: Christoph Fröhlich, Sai Kishor Kothakota
+
+4.14.0 (2024-07-23)
+-------------------
+* Unused header cleanup (`#1627 <https://github.com/ros-controls/ros2_control/issues/1627>`_)
+* Remove noqa (`#1626 <https://github.com/ros-controls/ros2_control/issues/1626>`_)
+* Fix controller starting with later load of robot description test (`#1624 <https://github.com/ros-controls/ros2_control/issues/1624>`_)
+* [CM] Remove support for the description parameter and use only `robot_description` topic (`#1358 <https://github.com/ros-controls/ros2_control/issues/1358>`_)
+* Contributors: Christoph Fröhlich, Dr. Denis, Henry Moore, Sai Kishor Kothakota
+
 4.13.0 (2024-07-08)
 -------------------
 * Change the spamming checking interface ERROR to DEBUG (`#1605 <https://github.com/ros-controls/ros2_control/issues/1605>`_)

diff --git a/controller_manager/CMakeLists.txt b/controller_manager/CMakeLists.txt
@@ -185,6 +185,7 @@ if(BUILD_TESTING)
 
   ament_add_gmock(test_spawner_unspawner
     test/test_spawner_unspawner.cpp
+    TIMEOUT 120
   )
   target_link_libraries(test_spawner_unspawner
     controller_manager
@@ -209,6 +210,11 @@ if(BUILD_TESTING)
   ament_target_dependencies(test_hardware_management_srvs
     controller_manager_msgs
   )
+
+  find_package(ament_cmake_pytest REQUIRED)
+  install(FILES test/test_ros2_control_node.yaml
+    DESTINATION test)
+  ament_add_pytest_test(test_ros2_control_node test/test_ros2_control_node_launch.py)
 endif()
 
 install(

diff --git a/controller_manager/controller_manager/__init__.py b/controller_manager/controller_manager/__init__.py
@@ -23,6 +23,10 @@
     set_hardware_component_state,
     switch_controllers,
     unload_controller,
+    get_parameter_from_param_file,
+    set_controller_parameters,
+    set_controller_parameters_from_param_file,
+    bcolors,
 )
 
 __all__ = [
@@ -36,4 +40,8 @@
     "set_hardware_component_state",
     "switch_controllers",
     "unload_controller",
+    "get_parameter_from_param_file",
+    "set_controller_parameters",
+    "set_controller_parameters_from_param_file",
+    "bcolors",
 ]