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[CM] Remove deprecated parameters for initial component states. #1357

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merged 6 commits into from
Feb 28, 2024
Merged

[CM] Remove deprecated parameters for initial component states. #1357

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cb08aad
Remove deprecated parameters and warning about getting robot descritp…
destogl Dec 11, 2023
12f735a
Remove old parameter from tests.
destogl Dec 11, 2023
bdf210c
Revert unintended change.
destogl Feb 1, 2024
f833567
Merge branch 'master' into cm-remove-deprecated-parameters-for-compon…
destogl Feb 1, 2024
39e7050
Correct forgoten state definition
destogl Feb 2, 2024
3efb042
Merge branch 'master' into cm-remove-deprecated-parameters-for-compon…
destogl Feb 28, 2024
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55 changes: 7 additions & 48 deletions controller_manager/src/controller_manager.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -414,56 +414,15 @@ void ControllerManager::init_resource_manager(const std::string & robot_descript
State::PRIMARY_STATE_UNCONFIGURED, hardware_interface::lifecycle_state_names::UNCONFIGURED));

// inactive (configured)
// BEGIN: Keep old functionality on for backwards compatibility (Remove at the end of 2023)
std::vector<std::string> configure_components_on_start = std::vector<std::string>({});
get_parameter("configure_components_on_start", configure_components_on_start);
if (!configure_components_on_start.empty())
{
RCLCPP_WARN(
get_logger(),
"Parameter 'configure_components_on_start' is deprecated. "
"Use 'hardware_components_initial_state.inactive' instead, to set component's initial "
"state to 'inactive'. Don't use this parameters in combination with the new "
"'hardware_components_initial_state' parameter structure.");
set_components_to_state(
"configure_components_on_start",
rclcpp_lifecycle::State(
State::PRIMARY_STATE_INACTIVE, hardware_interface::lifecycle_state_names::INACTIVE));
}
// END: Keep old functionality on humble backwards compatibility (Remove at the end of 2023)
else
{
set_components_to_state(
"hardware_components_initial_state.inactive",
rclcpp_lifecycle::State(
State::PRIMARY_STATE_INACTIVE, hardware_interface::lifecycle_state_names::INACTIVE));
}
set_components_to_state(
"hardware_components_initial_state.inactive",
rclcpp_lifecycle::State(
State::PRIMARY_STATE_INACTIVE, hardware_interface::lifecycle_state_names::INACTIVE));

// BEGIN: Keep old functionality on for backwards compatibility (Remove at the end of 2023)
std::vector<std::string> activate_components_on_start = std::vector<std::string>({});
get_parameter("activate_components_on_start", activate_components_on_start);
rclcpp_lifecycle::State active_state(
State::PRIMARY_STATE_ACTIVE, hardware_interface::lifecycle_state_names::ACTIVE);
if (!activate_components_on_start.empty())
// activate all other components
for (const auto & [component, state] : components_to_activate)
{
RCLCPP_WARN(
get_logger(),
"Parameter 'activate_components_on_start' is deprecated. "
"Components are activated per default. Don't use this parameters in combination with the new "
"'hardware_components_initial_state' parameter structure.");
for (const auto & component : activate_components_on_start)
{
resource_manager_->set_component_state(component, active_state);
}
}
// END: Keep old functionality on humble for backwards compatibility (Remove at the end of 2023)
else
{
// activate all other components
for (const auto & [component, state] : components_to_activate)
{
resource_manager_->set_component_state(component, active_state);
}
resource_manager_->set_component_state(component, active_state);
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}
}

Expand Down
69 changes: 5 additions & 64 deletions controller_manager/test/test_hardware_management_srvs.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -207,7 +207,8 @@ class TestControllerManagerHWManagementSrvs : public TestControllerManagerSrvs
TEST_F(TestControllerManagerHWManagementSrvs, list_hardware_components)
{
// Default status after start:
// checks if "configure_components_on_start" and "activate_components_on_start" are correctly read
// checks if "hardware_components_initial_state.unconfigured" and
// "hardware_components_initial_state.inactive" are correctly read

list_hardware_components_and_check(
// actuator, sensor, system
Expand Down Expand Up @@ -395,8 +396,9 @@ class TestControllerManagerHWManagementSrvsWithoutParams

TEST_F(TestControllerManagerHWManagementSrvsWithoutParams, test_default_activation_of_all_hardware)
{
// "configure_components_on_start" and "activate_components_on_start" are not set (empty)
// therefore all hardware components are active
// "hardware_components_initial_state.unconfigured" and
// "hardware_components_initial_state.inactive" are not set (empty). Therefore, all hardware
// components are active.
list_hardware_components_and_check(
// actuator, sensor, system
std::vector<uint8_t>(
Expand All @@ -416,64 +418,3 @@ TEST_F(TestControllerManagerHWManagementSrvsWithoutParams, test_default_activati
{{false, false, false, false}, {false, false, false, false, false, false, false}}, // system
}));
}

// BEGIN: Remove at the end of 2023
class TestControllerManagerHWManagementSrvsOldParameters
: public TestControllerManagerHWManagementSrvs
{
public:
void SetUp() override
{
executor_ = std::make_shared<rclcpp::executors::SingleThreadedExecutor>();
cm_ = std::make_shared<controller_manager::ControllerManager>(
std::make_unique<hardware_interface::ResourceManager>(), executor_, TEST_CM_NAME);
run_updater_ = false;

cm_->set_parameter(
rclcpp::Parameter("robot_description", ros2_control_test_assets::minimal_robot_urdf));
cm_->set_parameter(rclcpp::Parameter(
"activate_components_on_start", std::vector<std::string>({TEST_ACTUATOR_HARDWARE_NAME})));
cm_->set_parameter(rclcpp::Parameter(
"configure_components_on_start", std::vector<std::string>({TEST_SENSOR_HARDWARE_NAME})));

std::string robot_description = "";
cm_->get_parameter("robot_description", robot_description);
if (robot_description.empty())
{
throw std::runtime_error(
"Unable to initialize resource manager, no robot description found.");
}

auto msg = std_msgs::msg::String();
msg.data = robot_description_;
cm_->robot_description_callback(msg);

SetUpSrvsCMExecutor();
}
};

TEST_F(TestControllerManagerHWManagementSrvsOldParameters, list_hardware_components)
{
// Default status after start:
// checks if "configure_components_on_start" and "activate_components_on_start" are correctly read

list_hardware_components_and_check(
// actuator, sensor, system
std::vector<uint8_t>(
{LFC_STATE::PRIMARY_STATE_ACTIVE, LFC_STATE::PRIMARY_STATE_INACTIVE,
LFC_STATE::PRIMARY_STATE_UNCONFIGURED}),
std::vector<std::string>({ACTIVE, INACTIVE, UNCONFIGURED}),
std::vector<std::vector<std::vector<bool>>>({
// is available
{{true, true}, {true, true, true}}, // actuator
{{}, {true}}, // sensor
{{false, false, false, false}, {false, false, false, false, false, false, false}}, // system
}),
std::vector<std::vector<std::vector<bool>>>({
// is claimed
{{false, false}, {false, false, false}}, // actuator
{{}, {false}}, // sensor
{{false, false, false, false}, {false, false, false, false, false, false, false}}, // system
}));
}
// END: Remove at the end of 2023
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