diff --git a/ackermann_steering_controller/CHANGELOG.rst b/ackermann_steering_controller/CHANGELOG.rst index e27cac2205..21840061d4 100644 --- a/ackermann_steering_controller/CHANGELOG.rst +++ b/ackermann_steering_controller/CHANGELOG.rst @@ -2,6 +2,12 @@ Changelog for package ackermann_steering_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +4.11.0 (2024-07-09) +------------------- +* added changes corresponding to the logger and clock propagation in ResourceManager (`#1184 `_) +* Fix steering controllers library kinematics (`#1150 `_) +* Contributors: Christoph Fröhlich, Sai Kishor Kothakota + 4.10.0 (2024-07-01) ------------------- * [Steering controllers library] Reference interfaces are body twist (`#1168 `_) diff --git a/ackermann_steering_controller/package.xml b/ackermann_steering_controller/package.xml index 77555c1f01..dfa733515f 100644 --- a/ackermann_steering_controller/package.xml +++ b/ackermann_steering_controller/package.xml @@ -2,7 +2,7 @@ ackermann_steering_controller - 4.10.0 + 4.11.0 Steering controller for Ackermann kinematics. Rear fixed wheels are powering the vehicle and front wheels are steering it. Apache License 2.0 Bence Magyar diff --git a/ackermann_steering_controller/test/test_load_ackermann_steering_controller.cpp b/ackermann_steering_controller/test/test_load_ackermann_steering_controller.cpp index 0a8cd7b80c..101ecce8ff 100644 --- a/ackermann_steering_controller/test/test_load_ackermann_steering_controller.cpp +++ b/ackermann_steering_controller/test/test_load_ackermann_steering_controller.cpp @@ -28,9 +28,7 @@ TEST(TestLoadAckermannSteeringController, load_controller) std::make_shared(); controller_manager::ControllerManager cm( - std::make_unique( - ros2_control_test_assets::minimal_robot_urdf), - executor, "test_controller_manager"); + executor, ros2_control_test_assets::minimal_robot_urdf, "test_controller_manager"); ASSERT_NE( cm.load_controller( diff --git a/admittance_controller/CHANGELOG.rst b/admittance_controller/CHANGELOG.rst index a3faf30ab1..4ae5ea39f8 100644 --- a/admittance_controller/CHANGELOG.rst +++ b/admittance_controller/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package admittance_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +4.11.0 (2024-07-09) +------------------- +* added changes corresponding to the logger and clock propagation in ResourceManager (`#1184 `_) +* Contributors: Sai Kishor Kothakota + 4.10.0 (2024-07-01) ------------------- diff --git a/admittance_controller/package.xml b/admittance_controller/package.xml index 9abdb5cf82..d6e13b0634 100644 --- a/admittance_controller/package.xml +++ b/admittance_controller/package.xml @@ -2,7 +2,7 @@ admittance_controller - 4.10.0 + 4.11.0 Implementation of admittance controllers for different input and output interface. Denis Štogl Bence Magyar diff --git a/admittance_controller/test/test_load_admittance_controller.cpp b/admittance_controller/test/test_load_admittance_controller.cpp index 23be1f23f5..69808f3505 100644 --- a/admittance_controller/test/test_load_admittance_controller.cpp +++ b/admittance_controller/test/test_load_admittance_controller.cpp @@ -29,9 +29,7 @@ TEST(TestLoadAdmittanceController, load_controller) std::make_shared(); controller_manager::ControllerManager cm( - std::make_unique( - ros2_control_test_assets::minimal_robot_urdf), - executor, "test_controller_manager"); + executor, ros2_control_test_assets::minimal_robot_urdf, "test_controller_manager"); ASSERT_EQ( cm.load_controller("load_admittance_controller", "admittance_controller/AdmittanceController"), diff --git a/bicycle_steering_controller/CHANGELOG.rst b/bicycle_steering_controller/CHANGELOG.rst index a8956560b5..831aa5a2b3 100644 --- a/bicycle_steering_controller/CHANGELOG.rst +++ b/bicycle_steering_controller/CHANGELOG.rst @@ -2,6 +2,12 @@ Changelog for package bicycle_steering_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +4.11.0 (2024-07-09) +------------------- +* added changes corresponding to the logger and clock propagation in ResourceManager (`#1184 `_) +* Fix steering controllers library kinematics (`#1150 `_) +* Contributors: Christoph Fröhlich, Sai Kishor Kothakota + 4.10.0 (2024-07-01) ------------------- * [Steering controllers library] Reference interfaces are body twist (`#1168 `_) diff --git a/bicycle_steering_controller/package.xml b/bicycle_steering_controller/package.xml index b49b9f1a23..7afcf53706 100644 --- a/bicycle_steering_controller/package.xml +++ b/bicycle_steering_controller/package.xml @@ -2,7 +2,7 @@ bicycle_steering_controller - 4.10.0 + 4.11.0 Steering controller with bicycle kinematics. Rear fixed wheel is powering the vehicle and front wheel is steering. Apache License 2.0 Bence Magyar diff --git a/bicycle_steering_controller/test/test_load_bicycle_steering_controller.cpp b/bicycle_steering_controller/test/test_load_bicycle_steering_controller.cpp index 955feb33c5..f3828660a5 100644 --- a/bicycle_steering_controller/test/test_load_bicycle_steering_controller.cpp +++ b/bicycle_steering_controller/test/test_load_bicycle_steering_controller.cpp @@ -28,9 +28,7 @@ TEST(TestLoadBicycleSteeringController, load_controller) std::make_shared(); controller_manager::ControllerManager cm( - std::make_unique( - ros2_control_test_assets::minimal_robot_urdf), - executor, "test_controller_manager"); + executor, ros2_control_test_assets::minimal_robot_urdf, "test_controller_manager"); ASSERT_NE( cm.load_controller( diff --git a/diff_drive_controller/CHANGELOG.rst b/diff_drive_controller/CHANGELOG.rst index 5b9275359d..00f777df67 100644 --- a/diff_drive_controller/CHANGELOG.rst +++ b/diff_drive_controller/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package diff_drive_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +4.11.0 (2024-07-09) +------------------- +* added changes corresponding to the logger and clock propagation in ResourceManager (`#1184 `_) +* Contributors: Sai Kishor Kothakota + 4.10.0 (2024-07-01) ------------------- diff --git a/diff_drive_controller/package.xml b/diff_drive_controller/package.xml index 9cfdee9a29..d7fa06b762 100644 --- a/diff_drive_controller/package.xml +++ b/diff_drive_controller/package.xml @@ -1,7 +1,7 @@ diff_drive_controller - 4.10.0 + 4.11.0 Controller for a differential drive mobile base. Bence Magyar Jordan Palacios diff --git a/diff_drive_controller/test/test_load_diff_drive_controller.cpp b/diff_drive_controller/test/test_load_diff_drive_controller.cpp index 4c9d2f984f..0c65532c38 100644 --- a/diff_drive_controller/test/test_load_diff_drive_controller.cpp +++ b/diff_drive_controller/test/test_load_diff_drive_controller.cpp @@ -28,8 +28,7 @@ TEST(TestLoadDiffDriveController, load_controller) std::make_shared(); controller_manager::ControllerManager cm( - std::make_unique(ros2_control_test_assets::diffbot_urdf), - executor, "test_controller_manager"); + executor, ros2_control_test_assets::diffbot_urdf, "test_controller_manager"); ASSERT_NE( cm.load_controller("test_diff_drive_controller", "diff_drive_controller/DiffDriveController"), diff --git a/effort_controllers/CHANGELOG.rst b/effort_controllers/CHANGELOG.rst index 9b1240263b..70cfaad021 100644 --- a/effort_controllers/CHANGELOG.rst +++ b/effort_controllers/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package effort_controllers ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +4.11.0 (2024-07-09) +------------------- +* added changes corresponding to the logger and clock propagation in ResourceManager (`#1184 `_) +* Contributors: Sai Kishor Kothakota + 4.10.0 (2024-07-01) ------------------- diff --git a/effort_controllers/package.xml b/effort_controllers/package.xml index faf31ada51..a7744927a1 100644 --- a/effort_controllers/package.xml +++ b/effort_controllers/package.xml @@ -1,7 +1,7 @@ effort_controllers - 4.10.0 + 4.11.0 Generic controller for forwarding commands. Bence Magyar Jordan Palacios diff --git a/effort_controllers/test/test_load_joint_group_effort_controller.cpp b/effort_controllers/test/test_load_joint_group_effort_controller.cpp index 52f1f9934a..4008ac8534 100644 --- a/effort_controllers/test/test_load_joint_group_effort_controller.cpp +++ b/effort_controllers/test/test_load_joint_group_effort_controller.cpp @@ -30,9 +30,7 @@ TEST(TestLoadJointGroupVelocityController, load_controller) std::make_shared(); controller_manager::ControllerManager cm( - std::make_unique( - ros2_control_test_assets::minimal_robot_urdf), - executor, "test_controller_manager"); + executor, ros2_control_test_assets::minimal_robot_urdf, "test_controller_manager"); ASSERT_NE( cm.load_controller( diff --git a/force_torque_sensor_broadcaster/CHANGELOG.rst b/force_torque_sensor_broadcaster/CHANGELOG.rst index 8f978cfd08..eac8c9959a 100644 --- a/force_torque_sensor_broadcaster/CHANGELOG.rst +++ b/force_torque_sensor_broadcaster/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package force_torque_sensor_broadcaster ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +4.11.0 (2024-07-09) +------------------- +* added changes corresponding to the logger and clock propagation in ResourceManager (`#1184 `_) +* Contributors: Sai Kishor Kothakota + 4.10.0 (2024-07-01) ------------------- diff --git a/force_torque_sensor_broadcaster/package.xml b/force_torque_sensor_broadcaster/package.xml index ae0c89dcf2..90fcb3a684 100644 --- a/force_torque_sensor_broadcaster/package.xml +++ b/force_torque_sensor_broadcaster/package.xml @@ -2,7 +2,7 @@ force_torque_sensor_broadcaster - 4.10.0 + 4.11.0 Controller to publish state of force-torque sensors. Bence Magyar Denis Štogl diff --git a/force_torque_sensor_broadcaster/test/test_load_force_torque_sensor_broadcaster.cpp b/force_torque_sensor_broadcaster/test/test_load_force_torque_sensor_broadcaster.cpp index 0c269d6a31..2e87505003 100644 --- a/force_torque_sensor_broadcaster/test/test_load_force_torque_sensor_broadcaster.cpp +++ b/force_torque_sensor_broadcaster/test/test_load_force_torque_sensor_broadcaster.cpp @@ -32,9 +32,7 @@ TEST(TestLoadForceTorqueSensorBroadcaster, load_controller) std::make_shared(); controller_manager::ControllerManager cm( - std::make_unique( - ros2_control_test_assets::minimal_robot_urdf), - executor, "test_controller_manager"); + executor, ros2_control_test_assets::minimal_robot_urdf, "test_controller_manager"); ASSERT_NE( cm.load_controller( diff --git a/forward_command_controller/CHANGELOG.rst b/forward_command_controller/CHANGELOG.rst index 75926feff6..17196fed65 100644 --- a/forward_command_controller/CHANGELOG.rst +++ b/forward_command_controller/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package forward_command_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +4.11.0 (2024-07-09) +------------------- +* added changes corresponding to the logger and clock propagation in ResourceManager (`#1184 `_) +* Contributors: Sai Kishor Kothakota + 4.10.0 (2024-07-01) ------------------- diff --git a/forward_command_controller/package.xml b/forward_command_controller/package.xml index 1e24ca0201..f4c02d8de7 100644 --- a/forward_command_controller/package.xml +++ b/forward_command_controller/package.xml @@ -1,7 +1,7 @@ forward_command_controller - 4.10.0 + 4.11.0 Generic controller for forwarding commands. Bence Magyar Jordan Palacios diff --git a/forward_command_controller/test/test_load_forward_command_controller.cpp b/forward_command_controller/test/test_load_forward_command_controller.cpp index b493e52b2a..c192f1eb5f 100644 --- a/forward_command_controller/test/test_load_forward_command_controller.cpp +++ b/forward_command_controller/test/test_load_forward_command_controller.cpp @@ -30,9 +30,7 @@ TEST(TestLoadForwardCommandController, load_controller) std::make_shared(); controller_manager::ControllerManager cm( - std::make_unique( - ros2_control_test_assets::minimal_robot_urdf), - executor, "test_controller_manager"); + executor, ros2_control_test_assets::minimal_robot_urdf, "test_controller_manager"); ASSERT_NE( cm.load_controller( diff --git a/forward_command_controller/test/test_load_multi_interface_forward_command_controller.cpp b/forward_command_controller/test/test_load_multi_interface_forward_command_controller.cpp index 41a9b74698..52b63bdae8 100644 --- a/forward_command_controller/test/test_load_multi_interface_forward_command_controller.cpp +++ b/forward_command_controller/test/test_load_multi_interface_forward_command_controller.cpp @@ -31,9 +31,7 @@ TEST(TestLoadMultiInterfaceForwardController, load_controller) std::make_shared(); controller_manager::ControllerManager cm( - std::make_unique( - ros2_control_test_assets::minimal_robot_urdf), - executor, "test_controller_manager"); + executor, ros2_control_test_assets::minimal_robot_urdf, "test_controller_manager"); ASSERT_NE( cm.load_controller( diff --git a/gripper_controllers/CHANGELOG.rst b/gripper_controllers/CHANGELOG.rst index adf9f8e208..968a1088c2 100644 --- a/gripper_controllers/CHANGELOG.rst +++ b/gripper_controllers/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package gripper_controllers ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +4.11.0 (2024-07-09) +------------------- +* added changes corresponding to the logger and clock propagation in ResourceManager (`#1184 `_) +* Contributors: Sai Kishor Kothakota + 4.10.0 (2024-07-01) ------------------- diff --git a/gripper_controllers/package.xml b/gripper_controllers/package.xml index 5a9ff6ed87..72d2ec48f2 100644 --- a/gripper_controllers/package.xml +++ b/gripper_controllers/package.xml @@ -4,7 +4,7 @@ schematypens="http://www.w3.org/2001/XMLSchema"?> gripper_controllers - 4.10.0 + 4.11.0 The gripper_controllers package Bence Magyar diff --git a/gripper_controllers/test/test_load_gripper_action_controllers.cpp b/gripper_controllers/test/test_load_gripper_action_controllers.cpp index 0ef5f0bcb2..5641e1b4b3 100644 --- a/gripper_controllers/test/test_load_gripper_action_controllers.cpp +++ b/gripper_controllers/test/test_load_gripper_action_controllers.cpp @@ -30,9 +30,7 @@ TEST(TestLoadGripperActionControllers, load_controller) std::make_shared(); controller_manager::ControllerManager cm( - std::make_unique( - ros2_control_test_assets::minimal_robot_urdf), - executor, "test_controller_manager"); + executor, ros2_control_test_assets::minimal_robot_urdf, "test_controller_manager"); ASSERT_NE( cm.load_controller( diff --git a/imu_sensor_broadcaster/CHANGELOG.rst b/imu_sensor_broadcaster/CHANGELOG.rst index 6649777076..5bacde755e 100644 --- a/imu_sensor_broadcaster/CHANGELOG.rst +++ b/imu_sensor_broadcaster/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package imu_sensor_broadcaster ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +4.11.0 (2024-07-09) +------------------- +* added changes corresponding to the logger and clock propagation in ResourceManager (`#1184 `_) +* Contributors: Sai Kishor Kothakota + 4.10.0 (2024-07-01) ------------------- diff --git a/imu_sensor_broadcaster/package.xml b/imu_sensor_broadcaster/package.xml index 383c90d89a..5f0e981605 100644 --- a/imu_sensor_broadcaster/package.xml +++ b/imu_sensor_broadcaster/package.xml @@ -2,7 +2,7 @@ imu_sensor_broadcaster - 4.10.0 + 4.11.0 Controller to publish readings of IMU sensors. Bence Magyar Denis Štogl diff --git a/imu_sensor_broadcaster/test/test_load_imu_sensor_broadcaster.cpp b/imu_sensor_broadcaster/test/test_load_imu_sensor_broadcaster.cpp index f4e6105ed6..a477a731ff 100644 --- a/imu_sensor_broadcaster/test/test_load_imu_sensor_broadcaster.cpp +++ b/imu_sensor_broadcaster/test/test_load_imu_sensor_broadcaster.cpp @@ -32,9 +32,7 @@ TEST(TestLoadIMUSensorBroadcaster, load_controller) std::make_shared(); controller_manager::ControllerManager cm( - std::make_unique( - ros2_control_test_assets::minimal_robot_urdf), - executor, "test_controller_manager"); + executor, ros2_control_test_assets::minimal_robot_urdf, "test_controller_manager"); ASSERT_NE( cm.load_controller( diff --git a/joint_state_broadcaster/CHANGELOG.rst b/joint_state_broadcaster/CHANGELOG.rst index e4f73e5cc6..cc01373289 100644 --- a/joint_state_broadcaster/CHANGELOG.rst +++ b/joint_state_broadcaster/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package joint_state_broadcaster ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +4.11.0 (2024-07-09) +------------------- +* added changes corresponding to the logger and clock propagation in ResourceManager (`#1184 `_) +* Contributors: Sai Kishor Kothakota + 4.10.0 (2024-07-01) ------------------- diff --git a/joint_state_broadcaster/package.xml b/joint_state_broadcaster/package.xml index 9ca30f4e52..77bbe2ca00 100644 --- a/joint_state_broadcaster/package.xml +++ b/joint_state_broadcaster/package.xml @@ -1,7 +1,7 @@ joint_state_broadcaster - 4.10.0 + 4.11.0 Broadcaster to publish joint state Bence Magyar Denis Stogl diff --git a/joint_state_broadcaster/test/test_load_joint_state_broadcaster.cpp b/joint_state_broadcaster/test/test_load_joint_state_broadcaster.cpp index 5efb587805..266e33c1c8 100644 --- a/joint_state_broadcaster/test/test_load_joint_state_broadcaster.cpp +++ b/joint_state_broadcaster/test/test_load_joint_state_broadcaster.cpp @@ -30,9 +30,7 @@ TEST(TestLoadJointStateBroadcaster, load_controller) std::make_shared(); controller_manager::ControllerManager cm( - std::make_unique( - ros2_control_test_assets::minimal_robot_urdf), - executor, "test_controller_manager"); + executor, ros2_control_test_assets::minimal_robot_urdf, "test_controller_manager"); ASSERT_NE( cm.load_controller( diff --git a/joint_trajectory_controller/CHANGELOG.rst b/joint_trajectory_controller/CHANGELOG.rst index 2c044b28b0..047d232155 100644 --- a/joint_trajectory_controller/CHANGELOG.rst +++ b/joint_trajectory_controller/CHANGELOG.rst @@ -2,6 +2,13 @@ Changelog for package joint_trajectory_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +4.11.0 (2024-07-09) +------------------- +* [JTC] Make goal_time_tolerance overwrite default value only if explicitly set (`#1192 `_) +* added changes corresponding to the logger and clock propagation in ResourceManager (`#1184 `_) +* [JTC] Process tolerances sent with action goal (`#716 `_) +* Contributors: Christoph Fröhlich, Felix Exner (fexner), Sai Kishor Kothakota + 4.10.0 (2024-07-01) ------------------- * Remove manual angle-wraparound parameter (`#1152 `_) diff --git a/joint_trajectory_controller/include/joint_trajectory_controller/tolerances.hpp b/joint_trajectory_controller/include/joint_trajectory_controller/tolerances.hpp index 1998930182..c4404920df 100644 --- a/joint_trajectory_controller/include/joint_trajectory_controller/tolerances.hpp +++ b/joint_trajectory_controller/include/joint_trajectory_controller/tolerances.hpp @@ -31,6 +31,7 @@ #define JOINT_TRAJECTORY_CONTROLLER__TOLERANCES_HPP_ #include +#include #include #include @@ -126,6 +127,33 @@ SegmentTolerances get_segment_tolerances(rclcpp::Logger & jtc_logger, const Para return tolerances; } +double resolve_tolerance_source(const double default_value, const double goal_value) +{ + // from + // https://github.com/ros-controls/control_msgs/blob/master/control_msgs/msg/JointTolerance.msg + // There are two special values for tolerances: + // * 0 - The tolerance is unspecified and will remain at whatever the default is + // * -1 - The tolerance is "erased". + // If there was a default, the joint will be allowed to move without restriction. + constexpr double ERASE_VALUE = -1.0; + auto is_erase_value = [](double value) + { return fabs(value - ERASE_VALUE) < std::numeric_limits::epsilon(); }; + + if (goal_value > 0.0) + { + return goal_value; + } + else if (is_erase_value(goal_value)) + { + return 0.0; + } + else if (goal_value < 0.0) + { + throw std::runtime_error("Illegal tolerance value."); + } + return default_value; +} + /** * \brief Populate trajectory segment tolerances using data from an action goal. * @@ -141,20 +169,22 @@ SegmentTolerances get_segment_tolerances( const std::vector & joints) { SegmentTolerances active_tolerances(default_tolerances); - - active_tolerances.goal_time_tolerance = rclcpp::Duration(goal.goal_time_tolerance).seconds(); static auto logger = jtc_logger.get_child("tolerance"); - RCLCPP_DEBUG(logger, "%s %f", "goal_time", active_tolerances.goal_time_tolerance); - // from - // https://github.com/ros-controls/control_msgs/blob/master/control_msgs/msg/JointTolerance.msg - // There are two special values for tolerances: - // * 0 - The tolerance is unspecified and will remain at whatever the default is - // * -1 - The tolerance is "erased". - // If there was a default, the joint will be allowed to move without restriction. - constexpr double ERASE_VALUE = -1.0; - auto is_erase_value = [](double value) - { return fabs(value - ERASE_VALUE) < std::numeric_limits::epsilon(); }; + try + { + active_tolerances.goal_time_tolerance = resolve_tolerance_source( + default_tolerances.goal_time_tolerance, rclcpp::Duration(goal.goal_time_tolerance).seconds()); + } + catch (const std::runtime_error & e) + { + RCLCPP_ERROR_STREAM( + logger, "Specified illegal goal_time_tolerance: " + << rclcpp::Duration(goal.goal_time_tolerance).seconds() + << ". Using default tolerances"); + return default_tolerances; + } + RCLCPP_DEBUG(logger, "%s %f", "goal_time", active_tolerances.goal_time_tolerance); // State and goal state tolerances for (auto joint_tol : goal.path_tolerance) @@ -173,60 +203,24 @@ SegmentTolerances get_segment_tolerances( return default_tolerances; } auto i = std::distance(joints.cbegin(), it); - if (joint_tol.position > 0.0) - { - active_tolerances.state_tolerance[i].position = joint_tol.position; - } - else if (is_erase_value(joint_tol.position)) + std::string interface = ""; + try { - active_tolerances.state_tolerance[i].position = 0.0; + interface = "position"; + active_tolerances.state_tolerance[i].position = resolve_tolerance_source( + default_tolerances.state_tolerance[i].position, joint_tol.position); + interface = "velocity"; + active_tolerances.state_tolerance[i].velocity = resolve_tolerance_source( + default_tolerances.state_tolerance[i].velocity, joint_tol.velocity); + interface = "acceleration"; + active_tolerances.state_tolerance[i].acceleration = resolve_tolerance_source( + default_tolerances.state_tolerance[i].acceleration, joint_tol.acceleration); } - else if (joint_tol.position < 0.0) + catch (const std::runtime_error & e) { - RCLCPP_ERROR( - logger, "%s", - ("joint '" + joint + - "' specified in goal.path_tolerance has a invalid position tolerance. " - "Using default tolerances.") - .c_str()); - return default_tolerances; - } - - if (joint_tol.velocity > 0.0) - { - active_tolerances.state_tolerance[i].velocity = joint_tol.velocity; - } - else if (is_erase_value(joint_tol.velocity)) - { - active_tolerances.state_tolerance[i].velocity = 0.0; - } - else if (joint_tol.velocity < 0.0) - { - RCLCPP_ERROR( - logger, "%s", - ("joint '" + joint + - "' specified in goal.path_tolerance has a invalid velocity tolerance. " - "Using default tolerances.") - .c_str()); - return default_tolerances; - } - - if (joint_tol.acceleration > 0.0) - { - active_tolerances.state_tolerance[i].acceleration = joint_tol.acceleration; - } - else if (is_erase_value(joint_tol.acceleration)) - { - active_tolerances.state_tolerance[i].acceleration = 0.0; - } - else if (joint_tol.acceleration < 0.0) - { - RCLCPP_ERROR( - logger, "%s", - ("joint '" + joint + - "' specified in goal.path_tolerance has a invalid acceleration tolerance. " - "Using default tolerances.") - .c_str()); + RCLCPP_ERROR_STREAM( + logger, "joint '" << joint << "' specified in goal.path_tolerance has a invalid " + << interface << " tolerance. Using default tolerances."); return default_tolerances; } @@ -256,60 +250,24 @@ SegmentTolerances get_segment_tolerances( return default_tolerances; } auto i = std::distance(joints.cbegin(), it); - if (goal_tol.position > 0.0) - { - active_tolerances.goal_state_tolerance[i].position = goal_tol.position; - } - else if (is_erase_value(goal_tol.position)) - { - active_tolerances.goal_state_tolerance[i].position = 0.0; - } - else if (goal_tol.position < 0.0) - { - RCLCPP_ERROR( - logger, "%s", - ("joint '" + joint + - "' specified in goal.goal_tolerance has a invalid position tolerance. " - "Using default tolerances.") - .c_str()); - return default_tolerances; - } - - if (goal_tol.velocity > 0.0) - { - active_tolerances.goal_state_tolerance[i].velocity = goal_tol.velocity; - } - else if (is_erase_value(goal_tol.velocity)) + std::string interface = ""; + try { - active_tolerances.goal_state_tolerance[i].velocity = 0.0; + interface = "position"; + active_tolerances.goal_state_tolerance[i].position = resolve_tolerance_source( + default_tolerances.goal_state_tolerance[i].position, goal_tol.position); + interface = "velocity"; + active_tolerances.goal_state_tolerance[i].velocity = resolve_tolerance_source( + default_tolerances.goal_state_tolerance[i].velocity, goal_tol.velocity); + interface = "acceleration"; + active_tolerances.goal_state_tolerance[i].acceleration = resolve_tolerance_source( + default_tolerances.goal_state_tolerance[i].acceleration, goal_tol.acceleration); } - else if (goal_tol.velocity < 0.0) + catch (const std::runtime_error & e) { - RCLCPP_ERROR( - logger, "%s", - ("joint '" + joint + - "' specified in goal.goal_tolerance has a invalid velocity tolerance. " - "Using default tolerances.") - .c_str()); - return default_tolerances; - } - - if (goal_tol.acceleration > 0.0) - { - active_tolerances.goal_state_tolerance[i].acceleration = goal_tol.acceleration; - } - else if (is_erase_value(goal_tol.acceleration)) - { - active_tolerances.goal_state_tolerance[i].acceleration = 0.0; - } - else if (goal_tol.acceleration < 0.0) - { - RCLCPP_ERROR( - logger, "%s", - ("joint '" + joint + - "' specified in goal.goal_tolerance has a invalid acceleration tolerance. " - "Using default tolerances.") - .c_str()); + RCLCPP_ERROR_STREAM( + logger, "joint '" << joint << "' specified in goal.goal_tolerance has a invalid " + << interface << " tolerance. Using default tolerances."); return default_tolerances; } diff --git a/joint_trajectory_controller/package.xml b/joint_trajectory_controller/package.xml index 733059736a..d32d4e3daf 100644 --- a/joint_trajectory_controller/package.xml +++ b/joint_trajectory_controller/package.xml @@ -1,7 +1,7 @@ joint_trajectory_controller - 4.10.0 + 4.11.0 Controller for executing joint-space trajectories on a group of joints Bence Magyar Dr. Denis Štogl diff --git a/joint_trajectory_controller/test/test_load_joint_trajectory_controller.cpp b/joint_trajectory_controller/test/test_load_joint_trajectory_controller.cpp index eb1a3691e6..b3635efaca 100644 --- a/joint_trajectory_controller/test/test_load_joint_trajectory_controller.cpp +++ b/joint_trajectory_controller/test/test_load_joint_trajectory_controller.cpp @@ -31,9 +31,7 @@ TEST(TestLoadJointStateController, load_controller) std::make_shared(); controller_manager::ControllerManager cm( - std::make_unique( - ros2_control_test_assets::minimal_robot_urdf), - executor, "test_controller_manager"); + executor, ros2_control_test_assets::minimal_robot_urdf, "test_controller_manager"); ASSERT_NE( cm.load_controller( diff --git a/joint_trajectory_controller/test/test_tolerances.cpp b/joint_trajectory_controller/test/test_tolerances.cpp index 66914b6da4..af5036b869 100644 --- a/joint_trajectory_controller/test/test_tolerances.cpp +++ b/joint_trajectory_controller/test/test_tolerances.cpp @@ -183,7 +183,7 @@ TEST_F(TestTolerancesFixture, test_deactivate_tolerances) path_tolerance.push_back(tolerance); goal_tolerance.push_back(tolerance); - auto goal_msg = prepareGoalMsg(points, 0.0, path_tolerance, goal_tolerance); + auto goal_msg = prepareGoalMsg(points, -1.0, path_tolerance, goal_tolerance); auto active_tolerances = joint_trajectory_controller::get_segment_tolerances( logger, default_tolerances, goal_msg, params.joints); @@ -215,6 +215,31 @@ TEST_F(TestTolerancesFixture, test_deactivate_tolerances) // send goal with invalid tolerances, are the default ones used? TEST_F(TestTolerancesFixture, test_invalid_tolerances) { + { + SCOPED_TRACE("negative goal_time_tolerance"); + std::vector points; + JointTrajectoryPoint point; + point.time_from_start = rclcpp::Duration::from_seconds(0.5); + point.positions.resize(joint_names_.size()); + + point.positions[0] = 1.0; + point.positions[1] = 2.0; + point.positions[2] = 3.0; + points.push_back(point); + + std::vector path_tolerance; + control_msgs::msg::JointTolerance tolerance; + tolerance.name = "joint1"; + tolerance.position = 0.0; + tolerance.velocity = 0.0; + tolerance.acceleration = 0.0; + path_tolerance.push_back(tolerance); + + auto goal_msg = prepareGoalMsg(points, -123.0, path_tolerance); + auto active_tolerances = joint_trajectory_controller::get_segment_tolerances( + logger, default_tolerances, goal_msg, params.joints); + expectDefaultTolerances(active_tolerances); + } { SCOPED_TRACE("negative path position tolerance"); std::vector points; @@ -238,7 +263,6 @@ TEST_F(TestTolerancesFixture, test_invalid_tolerances) auto goal_msg = prepareGoalMsg(points, 3.0, path_tolerance); auto active_tolerances = joint_trajectory_controller::get_segment_tolerances( logger, default_tolerances, goal_msg, params.joints); - EXPECT_DOUBLE_EQ(active_tolerances.goal_time_tolerance, default_goal_time); expectDefaultTolerances(active_tolerances); } { @@ -264,7 +288,6 @@ TEST_F(TestTolerancesFixture, test_invalid_tolerances) auto goal_msg = prepareGoalMsg(points, 3.0, path_tolerance); auto active_tolerances = joint_trajectory_controller::get_segment_tolerances( logger, default_tolerances, goal_msg, params.joints); - EXPECT_DOUBLE_EQ(active_tolerances.goal_time_tolerance, default_goal_time); expectDefaultTolerances(active_tolerances); } { @@ -290,7 +313,6 @@ TEST_F(TestTolerancesFixture, test_invalid_tolerances) auto goal_msg = prepareGoalMsg(points, 3.0, path_tolerance); auto active_tolerances = joint_trajectory_controller::get_segment_tolerances( logger, default_tolerances, goal_msg, params.joints); - EXPECT_DOUBLE_EQ(active_tolerances.goal_time_tolerance, default_goal_time); expectDefaultTolerances(active_tolerances); } { @@ -317,7 +339,6 @@ TEST_F(TestTolerancesFixture, test_invalid_tolerances) prepareGoalMsg(points, 3.0, std::vector(), goal_tolerance); auto active_tolerances = joint_trajectory_controller::get_segment_tolerances( logger, default_tolerances, goal_msg, params.joints); - EXPECT_DOUBLE_EQ(active_tolerances.goal_time_tolerance, default_goal_time); expectDefaultTolerances(active_tolerances); } { @@ -344,7 +365,6 @@ TEST_F(TestTolerancesFixture, test_invalid_tolerances) prepareGoalMsg(points, 3.0, std::vector(), goal_tolerance); auto active_tolerances = joint_trajectory_controller::get_segment_tolerances( logger, default_tolerances, goal_msg, params.joints); - EXPECT_DOUBLE_EQ(active_tolerances.goal_time_tolerance, default_goal_time); expectDefaultTolerances(active_tolerances); } { @@ -371,7 +391,6 @@ TEST_F(TestTolerancesFixture, test_invalid_tolerances) prepareGoalMsg(points, 3.0, std::vector(), goal_tolerance); auto active_tolerances = joint_trajectory_controller::get_segment_tolerances( logger, default_tolerances, goal_msg, params.joints); - EXPECT_DOUBLE_EQ(active_tolerances.goal_time_tolerance, default_goal_time); expectDefaultTolerances(active_tolerances); } } @@ -395,7 +414,6 @@ TEST_F(TestTolerancesFixture, test_invalid_joints_path_tolerance) auto goal_msg = prepareGoalMsg(points, 3.0, path_tolerance); auto active_tolerances = joint_trajectory_controller::get_segment_tolerances( logger, default_tolerances, goal_msg, params.joints); - EXPECT_DOUBLE_EQ(active_tolerances.goal_time_tolerance, default_goal_time); expectDefaultTolerances(active_tolerances); } TEST_F(TestTolerancesFixture, test_invalid_joints_goal_tolerance) @@ -419,6 +437,5 @@ TEST_F(TestTolerancesFixture, test_invalid_joints_goal_tolerance) prepareGoalMsg(points, 3.0, std::vector(), goal_tolerance); auto active_tolerances = joint_trajectory_controller::get_segment_tolerances( logger, default_tolerances, goal_msg, params.joints); - EXPECT_DOUBLE_EQ(active_tolerances.goal_time_tolerance, default_goal_time); expectDefaultTolerances(active_tolerances); } diff --git a/joint_trajectory_controller/test/test_trajectory_controller_utils.hpp b/joint_trajectory_controller/test/test_trajectory_controller_utils.hpp index 693e19e67a..bbe12251a1 100644 --- a/joint_trajectory_controller/test/test_trajectory_controller_utils.hpp +++ b/joint_trajectory_controller/test/test_trajectory_controller_utils.hpp @@ -45,6 +45,7 @@ const double stopped_velocity_tolerance = 0.1; [[maybe_unused]] void expectDefaultTolerances( joint_trajectory_controller::SegmentTolerances active_tolerances) { + EXPECT_DOUBLE_EQ(active_tolerances.goal_time_tolerance, default_goal_time); // acceleration is never set, and goal_state_tolerance.velocity from stopped_velocity_tolerance ASSERT_EQ(active_tolerances.state_tolerance.size(), 3); diff --git a/pid_controller/CHANGELOG.rst b/pid_controller/CHANGELOG.rst index 101d507f56..8e45f042f0 100644 --- a/pid_controller/CHANGELOG.rst +++ b/pid_controller/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package pid_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +4.11.0 (2024-07-09) +------------------- +* added changes corresponding to the logger and clock propagation in ResourceManager (`#1184 `_) +* Contributors: Sai Kishor Kothakota + 4.10.0 (2024-07-01) ------------------- diff --git a/pid_controller/package.xml b/pid_controller/package.xml index 3bd87c1875..2a44c9ad1b 100644 --- a/pid_controller/package.xml +++ b/pid_controller/package.xml @@ -2,7 +2,7 @@ pid_controller - 4.10.0 + 4.11.0 Controller based on PID implememenation from control_toolbox package. Bence Magyar Denis Štogl diff --git a/pid_controller/test/test_load_pid_controller.cpp b/pid_controller/test/test_load_pid_controller.cpp index 3a75f6e170..ed645b872c 100644 --- a/pid_controller/test/test_load_pid_controller.cpp +++ b/pid_controller/test/test_load_pid_controller.cpp @@ -33,9 +33,8 @@ TEST(TestLoadPidController, load_controller) std::make_shared(); controller_manager::ControllerManager cm( - std::make_unique( - ros2_control_test_assets::minimal_robot_urdf), - executor, "test_controller_manager"); + + executor, ros2_control_test_assets::minimal_robot_urdf, "test_controller_manager"); ASSERT_NO_THROW(cm.load_controller("test_pid_controller", "pid_controller/PidController")); diff --git a/position_controllers/CHANGELOG.rst b/position_controllers/CHANGELOG.rst index 0582a40895..c9e2c749b5 100644 --- a/position_controllers/CHANGELOG.rst +++ b/position_controllers/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package position_controllers ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +4.11.0 (2024-07-09) +------------------- +* added changes corresponding to the logger and clock propagation in ResourceManager (`#1184 `_) +* Contributors: Sai Kishor Kothakota + 4.10.0 (2024-07-01) ------------------- diff --git a/position_controllers/package.xml b/position_controllers/package.xml index 013b60c790..33f0f0c15e 100644 --- a/position_controllers/package.xml +++ b/position_controllers/package.xml @@ -1,7 +1,7 @@ position_controllers - 4.10.0 + 4.11.0 Generic controller for forwarding commands. Bence Magyar Jordan Palacios diff --git a/position_controllers/test/test_load_joint_group_position_controller.cpp b/position_controllers/test/test_load_joint_group_position_controller.cpp index bc27b5e629..950773351c 100644 --- a/position_controllers/test/test_load_joint_group_position_controller.cpp +++ b/position_controllers/test/test_load_joint_group_position_controller.cpp @@ -30,9 +30,7 @@ TEST(TestLoadJointGroupPositionController, load_controller) std::make_shared(); controller_manager::ControllerManager cm( - std::make_unique( - ros2_control_test_assets::minimal_robot_urdf), - executor, "test_controller_manager"); + executor, ros2_control_test_assets::minimal_robot_urdf, "test_controller_manager"); ASSERT_NE( cm.load_controller( diff --git a/range_sensor_broadcaster/CHANGELOG.rst b/range_sensor_broadcaster/CHANGELOG.rst index 7c671ae3d3..31458c07d6 100644 --- a/range_sensor_broadcaster/CHANGELOG.rst +++ b/range_sensor_broadcaster/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package range_sensor_broadcaster ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +4.11.0 (2024-07-09) +------------------- +* added changes corresponding to the logger and clock propagation in ResourceManager (`#1184 `_) +* Contributors: Sai Kishor Kothakota + 4.10.0 (2024-07-01) ------------------- diff --git a/range_sensor_broadcaster/package.xml b/range_sensor_broadcaster/package.xml index da74b2d62f..e4525f53fd 100644 --- a/range_sensor_broadcaster/package.xml +++ b/range_sensor_broadcaster/package.xml @@ -2,7 +2,7 @@ range_sensor_broadcaster - 4.10.0 + 4.11.0 Controller to publish readings of Range sensors. Bence Magyar Florent Chretien diff --git a/range_sensor_broadcaster/test/test_load_range_sensor_broadcaster.cpp b/range_sensor_broadcaster/test/test_load_range_sensor_broadcaster.cpp index 5c400bef91..1d8a55b932 100644 --- a/range_sensor_broadcaster/test/test_load_range_sensor_broadcaster.cpp +++ b/range_sensor_broadcaster/test/test_load_range_sensor_broadcaster.cpp @@ -32,9 +32,7 @@ TEST(TestLoadRangeSensorBroadcaster, load_controller) std::make_shared(); controller_manager::ControllerManager cm( - std::make_unique( - ros2_control_test_assets::minimal_robot_urdf), - executor, "test_controller_manager"); + executor, ros2_control_test_assets::minimal_robot_urdf, "test_controller_manager"); ASSERT_NE( cm.load_controller( diff --git a/ros2_controllers/CHANGELOG.rst b/ros2_controllers/CHANGELOG.rst index 1db9ae1c05..a54d39b85d 100644 --- a/ros2_controllers/CHANGELOG.rst +++ b/ros2_controllers/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package ros2_controllers ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +4.11.0 (2024-07-09) +------------------- + 4.10.0 (2024-07-01) ------------------- diff --git a/ros2_controllers/package.xml b/ros2_controllers/package.xml index 14f686cce4..24e4429ade 100644 --- a/ros2_controllers/package.xml +++ b/ros2_controllers/package.xml @@ -1,7 +1,7 @@ ros2_controllers - 4.10.0 + 4.11.0 Metapackage for ROS2 controllers related packages Bence Magyar Jordan Palacios diff --git a/ros2_controllers_test_nodes/CHANGELOG.rst b/ros2_controllers_test_nodes/CHANGELOG.rst index c483ee7c2f..78e18dffaa 100644 --- a/ros2_controllers_test_nodes/CHANGELOG.rst +++ b/ros2_controllers_test_nodes/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package ros2_controllers_test_nodes ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +4.11.0 (2024-07-09) +------------------- + 4.10.0 (2024-07-01) ------------------- diff --git a/ros2_controllers_test_nodes/package.xml b/ros2_controllers_test_nodes/package.xml index 2c26e5cfe0..87af6e6695 100644 --- a/ros2_controllers_test_nodes/package.xml +++ b/ros2_controllers_test_nodes/package.xml @@ -2,7 +2,7 @@ ros2_controllers_test_nodes - 4.10.0 + 4.11.0 Demo nodes for showing and testing functionalities of the ros2_control framework. Denis Štogl diff --git a/ros2_controllers_test_nodes/setup.py b/ros2_controllers_test_nodes/setup.py index bb9ff7b303..91db299739 100644 --- a/ros2_controllers_test_nodes/setup.py +++ b/ros2_controllers_test_nodes/setup.py @@ -20,7 +20,7 @@ setup( name=package_name, - version="4.10.0", + version="4.11.0", packages=[package_name], data_files=[ ("share/ament_index/resource_index/packages", ["resource/" + package_name]), diff --git a/rqt_joint_trajectory_controller/CHANGELOG.rst b/rqt_joint_trajectory_controller/CHANGELOG.rst index bd2b00a1fe..20450f3ca3 100644 --- a/rqt_joint_trajectory_controller/CHANGELOG.rst +++ b/rqt_joint_trajectory_controller/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package rqt_joint_trajectory_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +4.11.0 (2024-07-09) +------------------- + 4.10.0 (2024-07-01) ------------------- diff --git a/rqt_joint_trajectory_controller/package.xml b/rqt_joint_trajectory_controller/package.xml index 4d42c2d00d..85c44c58fe 100644 --- a/rqt_joint_trajectory_controller/package.xml +++ b/rqt_joint_trajectory_controller/package.xml @@ -4,7 +4,7 @@ schematypens="http://www.w3.org/2001/XMLSchema"?> rqt_joint_trajectory_controller - 4.10.0 + 4.11.0 Graphical frontend for interacting with joint_trajectory_controller instances. Bence Magyar diff --git a/rqt_joint_trajectory_controller/setup.py b/rqt_joint_trajectory_controller/setup.py index b966635801..2588a47cc8 100644 --- a/rqt_joint_trajectory_controller/setup.py +++ b/rqt_joint_trajectory_controller/setup.py @@ -21,7 +21,7 @@ setup( name=package_name, - version="4.10.0", + version="4.11.0", packages=[package_name], data_files=[ ("share/ament_index/resource_index/packages", ["resource/" + package_name]), diff --git a/steering_controllers_library/CHANGELOG.rst b/steering_controllers_library/CHANGELOG.rst index ee21fed403..d4f62b806c 100644 --- a/steering_controllers_library/CHANGELOG.rst +++ b/steering_controllers_library/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package steering_controllers_library ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +4.11.0 (2024-07-09) +------------------- +* Fix steering controllers library kinematics (`#1150 `_) +* Contributors: Christoph Fröhlich + 4.10.0 (2024-07-01) ------------------- * [STEERING] Add missing `tan` call for ackermann (`#1117 `_) diff --git a/steering_controllers_library/package.xml b/steering_controllers_library/package.xml index 5b55f7f9de..7d172d45a8 100644 --- a/steering_controllers_library/package.xml +++ b/steering_controllers_library/package.xml @@ -2,7 +2,7 @@ steering_controllers_library - 4.10.0 + 4.11.0 Package for steering robot configurations including odometry and interfaces. Apache License 2.0 Bence Magyar diff --git a/tricycle_controller/CHANGELOG.rst b/tricycle_controller/CHANGELOG.rst index 4034036e08..fdde4481e2 100644 --- a/tricycle_controller/CHANGELOG.rst +++ b/tricycle_controller/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package tricycle_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +4.11.0 (2024-07-09) +------------------- +* added changes corresponding to the logger and clock propagation in ResourceManager (`#1184 `_) +* Contributors: Sai Kishor Kothakota + 4.10.0 (2024-07-01) ------------------- * Remove unstamped twist subscribers + parameters (`#1151 `_) diff --git a/tricycle_controller/package.xml b/tricycle_controller/package.xml index cdb62117fd..20310e6b9a 100644 --- a/tricycle_controller/package.xml +++ b/tricycle_controller/package.xml @@ -2,7 +2,7 @@ tricycle_controller - 4.10.0 + 4.11.0 Controller for a tricycle drive mobile base Bence Magyar Tony Najjar diff --git a/tricycle_controller/test/test_load_tricycle_controller.cpp b/tricycle_controller/test/test_load_tricycle_controller.cpp index bd54459780..bb4194909c 100644 --- a/tricycle_controller/test/test_load_tricycle_controller.cpp +++ b/tricycle_controller/test/test_load_tricycle_controller.cpp @@ -32,9 +32,7 @@ TEST(TestLoadTricycleController, load_controller) std::make_shared(); controller_manager::ControllerManager cm( - std::make_unique( - ros2_control_test_assets::minimal_robot_urdf), - executor, "test_controller_manager"); + executor, ros2_control_test_assets::minimal_robot_urdf, "test_controller_manager"); ASSERT_NE( cm.load_controller("test_tricycle_controller", "tricycle_controller/TricycleController"), diff --git a/tricycle_steering_controller/CHANGELOG.rst b/tricycle_steering_controller/CHANGELOG.rst index c80b90ff0f..6f4ad5d8c1 100644 --- a/tricycle_steering_controller/CHANGELOG.rst +++ b/tricycle_steering_controller/CHANGELOG.rst @@ -2,6 +2,12 @@ Changelog for package tricycle_steering_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +4.11.0 (2024-07-09) +------------------- +* added changes corresponding to the logger and clock propagation in ResourceManager (`#1184 `_) +* Fix steering controllers library kinematics (`#1150 `_) +* Contributors: Christoph Fröhlich, Sai Kishor Kothakota + 4.10.0 (2024-07-01) ------------------- * [Steering controllers library] Reference interfaces are body twist (`#1168 `_) diff --git a/tricycle_steering_controller/package.xml b/tricycle_steering_controller/package.xml index f2408123df..4aeb8a086f 100644 --- a/tricycle_steering_controller/package.xml +++ b/tricycle_steering_controller/package.xml @@ -2,7 +2,7 @@ tricycle_steering_controller - 4.10.0 + 4.11.0 Steering controller with tricycle kinematics. Rear fixed wheels are powering the vehicle and front wheel is steering. Apache License 2.0 Bence Magyar diff --git a/tricycle_steering_controller/test/test_load_tricycle_steering_controller.cpp b/tricycle_steering_controller/test/test_load_tricycle_steering_controller.cpp index 0d04afdf38..4fa3698409 100644 --- a/tricycle_steering_controller/test/test_load_tricycle_steering_controller.cpp +++ b/tricycle_steering_controller/test/test_load_tricycle_steering_controller.cpp @@ -28,9 +28,7 @@ TEST(TestLoadTricycleSteeringController, load_controller) std::make_shared(); controller_manager::ControllerManager cm( - std::make_unique( - ros2_control_test_assets::minimal_robot_urdf), - executor, "test_controller_manager"); + executor, ros2_control_test_assets::minimal_robot_urdf, "test_controller_manager"); ASSERT_NE( cm.load_controller( diff --git a/velocity_controllers/CHANGELOG.rst b/velocity_controllers/CHANGELOG.rst index c4d146a21d..614e023984 100644 --- a/velocity_controllers/CHANGELOG.rst +++ b/velocity_controllers/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package velocity_controllers ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +4.11.0 (2024-07-09) +------------------- +* added changes corresponding to the logger and clock propagation in ResourceManager (`#1184 `_) +* Contributors: Sai Kishor Kothakota + 4.10.0 (2024-07-01) ------------------- diff --git a/velocity_controllers/package.xml b/velocity_controllers/package.xml index 75c05fab94..d128f2b45b 100644 --- a/velocity_controllers/package.xml +++ b/velocity_controllers/package.xml @@ -1,7 +1,7 @@ velocity_controllers - 4.10.0 + 4.11.0 Generic controller for forwarding commands. Bence Magyar Jordan Palacios diff --git a/velocity_controllers/test/test_load_joint_group_velocity_controller.cpp b/velocity_controllers/test/test_load_joint_group_velocity_controller.cpp index e426349f96..7070594639 100644 --- a/velocity_controllers/test/test_load_joint_group_velocity_controller.cpp +++ b/velocity_controllers/test/test_load_joint_group_velocity_controller.cpp @@ -30,9 +30,7 @@ TEST(TestLoadJointGroupVelocityController, load_controller) std::make_shared(); controller_manager::ControllerManager cm( - std::make_unique( - ros2_control_test_assets::minimal_robot_urdf), - executor, "test_controller_manager"); + executor, ros2_control_test_assets::minimal_robot_urdf, "test_controller_manager"); ASSERT_NE( cm.load_controller(