Merge branch 'master' into jtc/dof_independent

.github/workflows/ci-coverage-build.yml

@@ -27,9 +27,25 @@ jobs:
         with:
           target-ros2-distro: ${{ env.ROS_DISTRO }}
           import-token: ${{ secrets.GITHUB_TOKEN }}
-          # build all packages listed in the meta package
+          # build all packages listed here
           package-name:
+            ackermann_steering_controller
+            admittance_controller
+            bicycle_steering_controller
             diff_drive_controller
+            effort_controllers
+            force_torque_sensor_broadcaster
+            forward_command_controller
+            gripper_controllers
+            imu_sensor_broadcaster
+            joint_state_broadcaster
+            joint_trajectory_controller
+            position_controllers
+            range_sensor_broadcaster
+            steering_controllers_library
+            tricycle_controller
+            tricycle_steering_controller
+            velocity_controllers
 
           vcs-repo-file-url: |
             https://raw.githubusercontent.com/${{ github.repository }}/${{ github.sha }}/ros2_controllers-not-released.${{ env.ROS_DISTRO }}.repos?token=${{ secrets.GITHUB_TOKEN }}

codecov.yml

@@ -9,6 +9,8 @@ coverage:
     patch: off
 fixes:
   - "ros_ws/src/ros2_controllers/::"
+ignore:
+  - "**/test"
 comment:
   layout: "diff, flags, files"
   behavior: default

joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller.hpp

@@ -71,15 +71,13 @@ class JointTrajectoryController : public controller_interface::ControllerInterfa
   JointTrajectoryController();
 
   /**
-   * @brief command_interface_configuration This controller requires the position command
-   * interfaces for the controlled joints
+   * @brief command_interface_configuration
    */
   JOINT_TRAJECTORY_CONTROLLER_PUBLIC
   controller_interface::InterfaceConfiguration command_interface_configuration() const override;
 
   /**
-   * @brief command_interface_configuration This controller requires the position and velocity
-   * state interfaces for the controlled joints
+   * @brief command_interface_configuration
    */
   JOINT_TRAJECTORY_CONTROLLER_PUBLIC
   controller_interface::InterfaceConfiguration state_interface_configuration() const override;

joint_trajectory_controller/src/joint_trajectory_controller.cpp

@@ -656,17 +656,7 @@ controller_interface::CallbackReturn JointTrajectoryController::on_configure(
   // get parameters from the listener in case they were updated
   params_ = param_listener_->get_params();
 
-  // Check if the DoF has changed
-  if ((dof_ > 0) && (params_.joints.size() != dof_))
-  {
-    RCLCPP_ERROR(
-      logger,
-      "The JointTrajectoryController does not support restarting with a different number of DOF");
-    // TODO(andyz): update vector lengths if num. joints did change and re-initialize them so we
-    // can continue
-    return CallbackReturn::FAILURE;
-  }
-
+  // get degrees of freedom
   dof_ = params_.joints.size();
 
   // TODO(destogl): why is this here? Add comment or move
@@ -724,12 +714,6 @@ controller_interface::CallbackReturn JointTrajectoryController::on_configure(
     std::iota(map_cmd_to_joints_.begin(), map_cmd_to_joints_.end(), 0);
   }
 
-  //  // Specialized, child controllers set interfaces before calling configure function.
-  //  if (command_interface_types_.empty())
-  //  {
-  //   command_interface_types_ = get_node()->get_parameter("command_interfaces").as_string_array();
-  //  }
-
   if (params_.command_interfaces.empty())
   {
     RCLCPP_ERROR(logger, "'command_interfaces' parameter is empty.");