Merge branch 'master' into controller_node_options_method

ros-controls · Jan 31, 2024 · 40cfe05 · 40cfe05
2 parents e72ba34 + fd8b91f
commit 40cfe05
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diff --git a/.github/mergify.yml b/.github/mergify.yml
@@ -32,19 +32,19 @@ pull_request_rules:
       - author=mergify[bot]
     actions:
         comment:
-          message: This pull request is in conflict. Could you fix it @bmagyar @dstogl @christophfroehlich?
+          message: This pull request is in conflict. Could you fix it @bmagyar @destogl @christophfroehlich?
 
   - name: development targets master branch
     conditions:
       - base!=master
       - author!=bmagyar
-      - author!=dstogl
+      - author!=destogl
       - author!=christophfroehlich
       - author!=mergify[bot]
       - author!=dependabot[bot]
     actions:
         comment:
           message: |
             @{{author}}, all pull requests must be targeted towards the `master` development branch.
-            Once merged into `master`, it is possible to backport to @{{base}}, but it must be in `master`
+            Once merged into `master`, it is possible to backport to `{{base}}`, but it must be in `master`
             to have these changes reflected into new distributions.
diff --git a/.github/workflows/ci-coverage-build-humble.yml b/.github/workflows/ci-coverage-build-humble.yml
@@ -21,7 +21,7 @@ jobs:
         with:
           required-ros-distributions: ${{ env.ROS_DISTRO }}
       - uses: actions/checkout@v4
-      - uses: ros-tooling/[email protected].5
+      - uses: ros-tooling/[email protected].6
         with:
           target-ros2-distro: ${{ env.ROS_DISTRO }}
           import-token: ${{ secrets.GITHUB_TOKEN }}
@@ -55,12 +55,12 @@ jobs:
               }
             }
           colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
-      - uses: codecov/[email protected].4
+      - uses: codecov/[email protected].5
         with:
           file: ros_ws/lcov/total_coverage.info
           flags: unittests
           name: codecov-umbrella
-      - uses: actions/upload-artifact@v4.0.0
+      - uses: actions/upload-artifact@v4.3.0
         with:
           name: colcon-logs-coverage-humble
           path: ros_ws/log
diff --git a/.github/workflows/ci-coverage-build-iron.yml b/.github/workflows/ci-coverage-build-iron.yml
@@ -21,7 +21,7 @@ jobs:
         with:
           required-ros-distributions: ${{ env.ROS_DISTRO }}
       - uses: actions/checkout@v4
-      - uses: ros-tooling/[email protected].5
+      - uses: ros-tooling/[email protected].6
         with:
           target-ros2-distro: ${{ env.ROS_DISTRO }}
           import-token: ${{ secrets.GITHUB_TOKEN }}
@@ -55,12 +55,12 @@ jobs:
               }
             }
           colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
-      - uses: codecov/[email protected].4
+      - uses: codecov/[email protected].5
         with:
           file: ros_ws/lcov/total_coverage.info
           flags: unittests
           name: codecov-umbrella
-      - uses: actions/upload-artifact@v4.0.0
+      - uses: actions/upload-artifact@v4.3.0
         with:
           name: colcon-logs-coverage-iron
           path: ros_ws/log
diff --git a/.github/workflows/ci-coverage-build.yml b/.github/workflows/ci-coverage-build.yml
@@ -21,7 +21,7 @@ jobs:
         with:
           required-ros-distributions: ${{ env.ROS_DISTRO }}
       - uses: actions/checkout@v4
-      - uses: ros-tooling/[email protected].5
+      - uses: ros-tooling/[email protected].6
         with:
           target-ros2-distro: ${{ env.ROS_DISTRO }}
           import-token: ${{ secrets.GITHUB_TOKEN }}
@@ -55,12 +55,12 @@ jobs:
               }
             }
           colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
-      - uses: codecov/[email protected].4
+      - uses: codecov/[email protected].5
         with:
           file: ros_ws/lcov/total_coverage.info
           flags: unittests
           name: codecov-umbrella
-      - uses: actions/upload-artifact@v4.0.0
+      - uses: actions/upload-artifact@v4.3.0
         with:
           name: colcon-logs-coverage-rolling
           path: ros_ws/log
diff --git a/.github/workflows/humble-debian-build.yml b/.github/workflows/humble-debian-build.yml
@@ -0,0 +1,30 @@
+name: Debian Humble Build
+on:
+  workflow_dispatch:
+  pull_request:
+    branches:
+      - humble
+  schedule:
+    # Run every day to detect flakiness and broken dependencies
+    - cron: '03 1 * * *'
+
+
+jobs:
+  humble_debian:
+    name: Humble debian build
+    runs-on: ubuntu-latest
+    env:
+      ROS_DISTRO: humble
+    container: ghcr.io/ros-controls/ros:humble-debian
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          path: src/ros2_controllers
+      - name: Build and test
+        shell: bash
+        run: |
+          source /opt/ros2_ws/install/setup.bash
+          vcs import src < src/ros2_controllers/ros2_controllers.${{ env.ROS_DISTRO }}.repos
+          colcon build --packages-skip rqt_controller_manager rqt_joint_trajectory_controller
+          colcon test --packages-skip rqt_controller_manager rqt_joint_trajectory_controller control_msgs controller_manager_msgs
+          colcon test-result --verbose
diff --git a/.github/workflows/humble-rhel-binary-build.yml b/.github/workflows/humble-rhel-binary-build.yml
@@ -1,19 +1,13 @@
-name: Humble RHEL Binary Build
+name: RHEL Humble Binary Build
 on:
   workflow_dispatch:
-    branches:
-      - humble
   pull_request:
     branches:
       - humble
-  push:
-    branches:
-      - humble
   schedule:
     # Run every day to detect flakiness and broken dependencies
     - cron: '03 1 * * *'
 
-
 jobs:
   humble_rhel_binary:
     name: Humble RHEL binary build
@@ -25,9 +19,13 @@ jobs:
       - uses: actions/checkout@v4
         with:
           path: src/ros2_controllers
-      - run: |
+      - name: Install dependencies
+        run: |
           rosdep update
-          rosdep install -iy --from-path src/ros2_controllers
+          rosdep install -iyr --from-path src/ros2_controllers || true
+      - name: Build and test
+        run: |
           source /opt/ros/${{ env.ROS_DISTRO }}/setup.bash
-          colcon build
-          colcon test
+          colcon build --packages-skip rqt_joint_trajectory_controller
+          colcon test --packages-skip rqt_joint_trajectory_controller
+          colcon test-result --verbose
diff --git a/.github/workflows/iron-debian-build.yml b/.github/workflows/iron-debian-build.yml
@@ -0,0 +1,30 @@
+name: Debian Iron Build
+on:
+  workflow_dispatch:
+  pull_request:
+    branches:
+      - iron
+  schedule:
+    # Run every day to detect flakiness and broken dependencies
+    - cron: '03 1 * * *'
+
+
+jobs:
+  iron_debian:
+    name: Iron debian build
+    runs-on: ubuntu-latest
+    env:
+      ROS_DISTRO: iron
+    container: ghcr.io/ros-controls/ros:iron-debian
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          path: src/ros2_controllers
+      - name: Build and test
+        shell: bash
+        run: |
+          source /opt/ros2_ws/install/setup.bash
+          vcs import src < src/ros2_controllers/ros2_controllers.${{ env.ROS_DISTRO }}.repos
+          colcon build --packages-skip rqt_controller_manager rqt_joint_trajectory_controller
+          colcon test --packages-skip rqt_controller_manager rqt_joint_trajectory_controller control_msgs controller_manager_msgs
+          colcon test-result --verbose
diff --git a/.github/workflows/iron-rhel-binary-build.yml b/.github/workflows/iron-rhel-binary-build.yml
@@ -1,7 +1,7 @@
-name: Iron RHEL Binary Build
+name: RHEL Iron Binary Build
 on:
   workflow_dispatch:
-  push:
+  pull_request:
     branches:
       - iron
   schedule:
@@ -20,9 +20,15 @@ jobs:
       - uses: actions/checkout@v4
         with:
           path: src/ros2_controllers
-      - run: |
+      - name: Install dependencies
+        run: |
           rosdep update
-          rosdep install -iy --from-path src/ros2_controllers
+          rosdep install -iyr --from-path src/ros2_controllers || true
+      - name: Build and test
+      # source also underlay workspace with generate_parameter_library on rhel9
+        run: |
           source /opt/ros/${{ env.ROS_DISTRO }}/setup.bash
-          colcon build
-          colcon test
+          source /opt/ros2_ws/install/setup.bash
+          colcon build --packages-skip rqt_joint_trajectory_controller
+          colcon test --packages-skip rqt_joint_trajectory_controller
+          colcon test-result --verbose
diff --git a/.github/workflows/reusable-ros-tooling-source-build.yml b/.github/workflows/reusable-ros-tooling-source-build.yml
@@ -32,7 +32,7 @@ jobs:
       - uses: actions/checkout@v4
         with:
           ref: ${{ inputs.ref }}
-      - uses: ros-tooling/[email protected].5
+      - uses: ros-tooling/[email protected].6
         with:
           target-ros2-distro: ${{ inputs.ros_distro }}
           ref: ${{ inputs.ref }}
@@ -63,7 +63,7 @@ jobs:
             https://raw.githubusercontent.com/ros2/ros2/${{ inputs.ros2_repo_branch }}/ros2.repos
             https://raw.githubusercontent.com/${{ github.repository }}/${{ github.sha }}/ros2_controllers.${{ inputs.ros_distro }}.repos?token=${{ secrets.GITHUB_TOKEN }}
           colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
-      - uses: actions/upload-artifact@v4.0.0
+      - uses: actions/upload-artifact@v4.3.0
         with:
           name: colcon-logs-ubuntu-22.04
           path: ros_ws/log
diff --git a/.github/workflows/rolling-debian-build.yml b/.github/workflows/rolling-debian-build.yml
@@ -0,0 +1,30 @@
+name: Debian Rolling Build
+on:
+  workflow_dispatch:
+  pull_request:
+    branches:
+      - master
+  schedule:
+    # Run every day to detect flakiness and broken dependencies
+    - cron: '03 1 * * *'
+
+
+jobs:
+  rolling_debian:
+    name: Rolling debian build
+    runs-on: ubuntu-latest
+    env:
+      ROS_DISTRO: rolling
+    container: ghcr.io/ros-controls/ros:rolling-debian
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          path: src/ros2_controllers
+      - name: Build and test
+        shell: bash
+        run: |
+          source /opt/ros2_ws/install/setup.bash
+          vcs import src < src/ros2_controllers/ros2_controllers.${{ env.ROS_DISTRO }}.repos
+          colcon build --packages-skip rqt_controller_manager rqt_joint_trajectory_controller
+          colcon test --packages-skip rqt_controller_manager rqt_joint_trajectory_controller
+          colcon test-result --verbose
diff --git a/.github/workflows/rolling-rhel-binary-build.yml b/.github/workflows/rolling-rhel-binary-build.yml
@@ -1,7 +1,7 @@
-name: Rolling RHEL Binary Build
+name: RHEL Rolling Binary Build
 on:
   workflow_dispatch:
-  push:
+  pull_request:
     branches:
       - master
   schedule:
@@ -20,9 +20,15 @@ jobs:
       - uses: actions/checkout@v4
         with:
           path: src/ros2_controllers
-      - run: |
+      - name: Install dependencies
+        run: |
           rosdep update
-          rosdep install -iy --from-path src/ros2_controllers
+          rosdep install -iyr --from-path src/ros2_controllers || true
+      - name: Build and test
+        # source also underlay workspace with generate_parameter_library on rhel9
+        run: |
           source /opt/ros/${{ env.ROS_DISTRO }}/setup.bash
-          colcon build
-          colcon test
+          source /opt/ros2_ws/install/setup.bash
+          colcon build --packages-skip rqt_joint_trajectory_controller
+          colcon test --packages-skip rqt_joint_trajectory_controller
+          colcon test-result --verbose
diff --git a/ackermann_steering_controller/CHANGELOG.rst b/ackermann_steering_controller/CHANGELOG.rst
@@ -2,6 +2,11 @@
 Changelog for package ackermann_steering_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.5.0 (2024-01-31)
+------------------
+* Add tests for `interface_configuration_type` consistently (`#899 <https://github.com/ros-controls/ros2_controllers/issues/899>`_)
+* Contributors: Christoph Fröhlich
+
 4.4.0 (2024-01-11)
 ------------------
 

diff --git a/ackermann_steering_controller/package.xml b/ackermann_steering_controller/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>ackermann_steering_controller</name>
-  <version>4.4.0</version>
+  <version>4.5.0</version>
   <description>Steering controller for Ackermann kinematics. Rear fixed wheels are powering the vehicle and front wheels are steering it.</description>
   <license>Apache License 2.0</license>
   <maintainer email="[email protected]">Bence Magyar</maintainer>

diff --git a/ackermann_steering_controller/test/test_ackermann_steering_controller.cpp b/ackermann_steering_controller/test/test_ackermann_steering_controller.cpp
@@ -46,41 +46,43 @@ TEST_F(AckermannSteeringControllerTest, all_parameters_set_configure_success)
   ASSERT_EQ(controller_->ackermann_params_.rear_wheel_track, rear_wheel_track_);
 }
 
-TEST_F(AckermannSteeringControllerTest, check_exported_intefaces)
+TEST_F(AckermannSteeringControllerTest, check_exported_interfaces)
 {
   SetUpController();
 
   ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS);
 
-  auto command_intefaces = controller_->command_interface_configuration();
-  ASSERT_EQ(command_intefaces.names.size(), joint_command_values_.size());
+  auto cmd_if_conf = controller_->command_interface_configuration();
+  ASSERT_EQ(cmd_if_conf.names.size(), joint_command_values_.size());
   EXPECT_EQ(
-    command_intefaces.names[CMD_TRACTION_RIGHT_WHEEL],
+    cmd_if_conf.names[CMD_TRACTION_RIGHT_WHEEL],
     rear_wheels_names_[0] + "/" + traction_interface_name_);
   EXPECT_EQ(
-    command_intefaces.names[CMD_TRACTION_LEFT_WHEEL],
+    cmd_if_conf.names[CMD_TRACTION_LEFT_WHEEL],
     rear_wheels_names_[1] + "/" + traction_interface_name_);
   EXPECT_EQ(
-    command_intefaces.names[CMD_STEER_RIGHT_WHEEL],
+    cmd_if_conf.names[CMD_STEER_RIGHT_WHEEL],
     front_wheels_names_[0] + "/" + steering_interface_name_);
   EXPECT_EQ(
-    command_intefaces.names[CMD_STEER_LEFT_WHEEL],
+    cmd_if_conf.names[CMD_STEER_LEFT_WHEEL],
     front_wheels_names_[1] + "/" + steering_interface_name_);
+  EXPECT_EQ(cmd_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL);
 
-  auto state_intefaces = controller_->state_interface_configuration();
-  ASSERT_EQ(state_intefaces.names.size(), joint_state_values_.size());
+  auto state_if_conf = controller_->state_interface_configuration();
+  ASSERT_EQ(state_if_conf.names.size(), joint_state_values_.size());
   EXPECT_EQ(
-    state_intefaces.names[STATE_TRACTION_RIGHT_WHEEL],
+    state_if_conf.names[STATE_TRACTION_RIGHT_WHEEL],
     controller_->rear_wheels_state_names_[0] + "/" + traction_interface_name_);
   EXPECT_EQ(
-    state_intefaces.names[STATE_TRACTION_LEFT_WHEEL],
+    state_if_conf.names[STATE_TRACTION_LEFT_WHEEL],
     controller_->rear_wheels_state_names_[1] + "/" + traction_interface_name_);
   EXPECT_EQ(
-    state_intefaces.names[STATE_STEER_RIGHT_WHEEL],
+    state_if_conf.names[STATE_STEER_RIGHT_WHEEL],
     controller_->front_wheels_state_names_[0] + "/" + steering_interface_name_);
   EXPECT_EQ(
-    state_intefaces.names[STATE_STEER_LEFT_WHEEL],
+    state_if_conf.names[STATE_STEER_LEFT_WHEEL],
     controller_->front_wheels_state_names_[1] + "/" + steering_interface_name_);
+  EXPECT_EQ(state_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL);
 
   // check ref itfsTIME
   auto reference_interfaces = controller_->export_reference_interfaces();

diff --git a/ackermann_steering_controller/test/test_ackermann_steering_controller.hpp b/ackermann_steering_controller/test/test_ackermann_steering_controller.hpp
@@ -62,7 +62,7 @@ class TestableAckermannSteeringController
 : public ackermann_steering_controller::AckermannSteeringController
 {
   FRIEND_TEST(AckermannSteeringControllerTest, all_parameters_set_configure_success);
-  FRIEND_TEST(AckermannSteeringControllerTest, check_exported_intefaces);
+  FRIEND_TEST(AckermannSteeringControllerTest, check_exported_interfaces);
   FRIEND_TEST(AckermannSteeringControllerTest, activate_success);
   FRIEND_TEST(AckermannSteeringControllerTest, update_success);
   FRIEND_TEST(AckermannSteeringControllerTest, deactivate_success);