From f57eedd825874391ac076355a341a90e26e9a8ed Mon Sep 17 00:00:00 2001 From: Bence Magyar Date: Thu, 22 Aug 2024 19:50:49 +0100 Subject: [PATCH 1/5] Update changelogs --- ackermann_steering_controller/CHANGELOG.rst | 5 +++++ admittance_controller/CHANGELOG.rst | 6 ++++++ bicycle_steering_controller/CHANGELOG.rst | 5 +++++ diff_drive_controller/CHANGELOG.rst | 5 +++++ effort_controllers/CHANGELOG.rst | 3 +++ force_torque_sensor_broadcaster/CHANGELOG.rst | 5 +++++ forward_command_controller/CHANGELOG.rst | 3 +++ gripper_controllers/CHANGELOG.rst | 3 +++ imu_sensor_broadcaster/CHANGELOG.rst | 5 +++++ joint_state_broadcaster/CHANGELOG.rst | 5 +++++ joint_trajectory_controller/CHANGELOG.rst | 3 +++ parallel_gripper_controller/CHANGELOG.rst | 5 +++++ pid_controller/CHANGELOG.rst | 3 +++ position_controllers/CHANGELOG.rst | 3 +++ range_sensor_broadcaster/CHANGELOG.rst | 5 +++++ ros2_controllers/CHANGELOG.rst | 3 +++ ros2_controllers_test_nodes/CHANGELOG.rst | 3 +++ rqt_joint_trajectory_controller/CHANGELOG.rst | 3 +++ steering_controllers_library/CHANGELOG.rst | 3 +++ tricycle_controller/CHANGELOG.rst | 5 +++++ tricycle_steering_controller/CHANGELOG.rst | 5 +++++ velocity_controllers/CHANGELOG.rst | 3 +++ 22 files changed, 89 insertions(+) diff --git a/ackermann_steering_controller/CHANGELOG.rst b/ackermann_steering_controller/CHANGELOG.rst index d156aac14a..895bba5487 100644 --- a/ackermann_steering_controller/CHANGELOG.rst +++ b/ackermann_steering_controller/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package ackermann_steering_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* Fixes tests to work with use_global_arguments NodeOptions parameter (`#1256 `_) +* Contributors: Sai Kishor Kothakota + 4.12.1 (2024-08-14) ------------------- diff --git a/admittance_controller/CHANGELOG.rst b/admittance_controller/CHANGELOG.rst index 27944504fa..0c7259307e 100644 --- a/admittance_controller/CHANGELOG.rst +++ b/admittance_controller/CHANGELOG.rst @@ -2,6 +2,12 @@ Changelog for package admittance_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* Fix segfault at reconfigure of AdmittanceController (`#1248 `_) +* Fixes tests to work with use_global_arguments NodeOptions parameter (`#1256 `_) +* Contributors: Lennart Nachtigall, Sai Kishor Kothakota + 4.12.1 (2024-08-14) ------------------- * Fix admittance controller interface read/write logic (`#1232 `_) diff --git a/bicycle_steering_controller/CHANGELOG.rst b/bicycle_steering_controller/CHANGELOG.rst index ff5a8c13c7..abbdc8b28e 100644 --- a/bicycle_steering_controller/CHANGELOG.rst +++ b/bicycle_steering_controller/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package bicycle_steering_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* Fixes tests to work with use_global_arguments NodeOptions parameter (`#1256 `_) +* Contributors: Sai Kishor Kothakota + 4.12.1 (2024-08-14) ------------------- diff --git a/diff_drive_controller/CHANGELOG.rst b/diff_drive_controller/CHANGELOG.rst index a2a3a23ee2..18d6956fd5 100644 --- a/diff_drive_controller/CHANGELOG.rst +++ b/diff_drive_controller/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package diff_drive_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* Fixes tests to work with use_global_arguments NodeOptions parameter (`#1256 `_) +* Contributors: Sai Kishor Kothakota + 4.12.1 (2024-08-14) ------------------- diff --git a/effort_controllers/CHANGELOG.rst b/effort_controllers/CHANGELOG.rst index 23b1c687d8..9ed00feb8b 100644 --- a/effort_controllers/CHANGELOG.rst +++ b/effort_controllers/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package effort_controllers ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 4.12.1 (2024-08-14) ------------------- diff --git a/force_torque_sensor_broadcaster/CHANGELOG.rst b/force_torque_sensor_broadcaster/CHANGELOG.rst index 5c8f0da1bc..6dc273b420 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 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* Fixes tests to work with use_global_arguments NodeOptions parameter (`#1256 `_) +* Contributors: Sai Kishor Kothakota + 4.12.1 (2024-08-14) ------------------- diff --git a/forward_command_controller/CHANGELOG.rst b/forward_command_controller/CHANGELOG.rst index 24232cac8a..55b779c876 100644 --- a/forward_command_controller/CHANGELOG.rst +++ b/forward_command_controller/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package forward_command_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 4.12.1 (2024-08-14) ------------------- diff --git a/gripper_controllers/CHANGELOG.rst b/gripper_controllers/CHANGELOG.rst index add7f90438..8887be16c2 100644 --- a/gripper_controllers/CHANGELOG.rst +++ b/gripper_controllers/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package gripper_controllers ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 4.12.1 (2024-08-14) ------------------- diff --git a/imu_sensor_broadcaster/CHANGELOG.rst b/imu_sensor_broadcaster/CHANGELOG.rst index a8d07e2caf..9251f6ca43 100644 --- a/imu_sensor_broadcaster/CHANGELOG.rst +++ b/imu_sensor_broadcaster/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package imu_sensor_broadcaster ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* Fixes tests to work with use_global_arguments NodeOptions parameter (`#1256 `_) +* Contributors: Sai Kishor Kothakota + 4.12.1 (2024-08-14) ------------------- diff --git a/joint_state_broadcaster/CHANGELOG.rst b/joint_state_broadcaster/CHANGELOG.rst index 802f2f8b90..519943aeee 100644 --- a/joint_state_broadcaster/CHANGELOG.rst +++ b/joint_state_broadcaster/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package joint_state_broadcaster ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* [Joint State Broadcaster] Publish the joint_states of joints present in the URDF (`#1233 `_) +* Contributors: Sai Kishor Kothakota + 4.12.1 (2024-08-14) ------------------- diff --git a/joint_trajectory_controller/CHANGELOG.rst b/joint_trajectory_controller/CHANGELOG.rst index aefe4f1a68..a254b043ef 100644 --- a/joint_trajectory_controller/CHANGELOG.rst +++ b/joint_trajectory_controller/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package joint_trajectory_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 4.12.1 (2024-08-14) ------------------- diff --git a/parallel_gripper_controller/CHANGELOG.rst b/parallel_gripper_controller/CHANGELOG.rst index 96b3d90756..b619740475 100644 --- a/parallel_gripper_controller/CHANGELOG.rst +++ b/parallel_gripper_controller/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package parallel_gripper_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* Fixes tests to work with use_global_arguments NodeOptions parameter (`#1256 `_) +* Contributors: Sai Kishor Kothakota + 4.12.1 (2024-08-14) ------------------- diff --git a/pid_controller/CHANGELOG.rst b/pid_controller/CHANGELOG.rst index 05cfd65c65..0740cac45b 100644 --- a/pid_controller/CHANGELOG.rst +++ b/pid_controller/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package pid_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 4.12.1 (2024-08-14) ------------------- diff --git a/position_controllers/CHANGELOG.rst b/position_controllers/CHANGELOG.rst index caa2319219..04bf8e50d6 100644 --- a/position_controllers/CHANGELOG.rst +++ b/position_controllers/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package position_controllers ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 4.12.1 (2024-08-14) ------------------- diff --git a/range_sensor_broadcaster/CHANGELOG.rst b/range_sensor_broadcaster/CHANGELOG.rst index 13b29cbd8f..ad33ffdd91 100644 --- a/range_sensor_broadcaster/CHANGELOG.rst +++ b/range_sensor_broadcaster/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package range_sensor_broadcaster ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* Fixes tests to work with use_global_arguments NodeOptions parameter (`#1256 `_) +* Contributors: Sai Kishor Kothakota + 4.12.1 (2024-08-14) ------------------- diff --git a/ros2_controllers/CHANGELOG.rst b/ros2_controllers/CHANGELOG.rst index 5122cc1d98..36fec11996 100644 --- a/ros2_controllers/CHANGELOG.rst +++ b/ros2_controllers/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package ros2_controllers ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 4.12.1 (2024-08-14) ------------------- diff --git a/ros2_controllers_test_nodes/CHANGELOG.rst b/ros2_controllers_test_nodes/CHANGELOG.rst index bbd2aaf3d0..f66f6a86fb 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 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 4.12.1 (2024-08-14) ------------------- diff --git a/rqt_joint_trajectory_controller/CHANGELOG.rst b/rqt_joint_trajectory_controller/CHANGELOG.rst index c167335f3d..6dfd067460 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 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 4.12.1 (2024-08-14) ------------------- diff --git a/steering_controllers_library/CHANGELOG.rst b/steering_controllers_library/CHANGELOG.rst index 47cbebc6ce..b391f2fbb4 100644 --- a/steering_controllers_library/CHANGELOG.rst +++ b/steering_controllers_library/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package steering_controllers_library ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 4.12.1 (2024-08-14) ------------------- diff --git a/tricycle_controller/CHANGELOG.rst b/tricycle_controller/CHANGELOG.rst index 0424e7f4f5..76e23e1184 100644 --- a/tricycle_controller/CHANGELOG.rst +++ b/tricycle_controller/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package tricycle_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* Fixes tests to work with use_global_arguments NodeOptions parameter (`#1256 `_) +* Contributors: Sai Kishor Kothakota + 4.12.1 (2024-08-14) ------------------- diff --git a/tricycle_steering_controller/CHANGELOG.rst b/tricycle_steering_controller/CHANGELOG.rst index ae42dff585..ca8795f8b5 100644 --- a/tricycle_steering_controller/CHANGELOG.rst +++ b/tricycle_steering_controller/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package tricycle_steering_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* Fixes tests to work with use_global_arguments NodeOptions parameter (`#1256 `_) +* Contributors: Sai Kishor Kothakota + 4.12.1 (2024-08-14) ------------------- diff --git a/velocity_controllers/CHANGELOG.rst b/velocity_controllers/CHANGELOG.rst index be0f90301e..ad7015f903 100644 --- a/velocity_controllers/CHANGELOG.rst +++ b/velocity_controllers/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package velocity_controllers ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 4.12.1 (2024-08-14) ------------------- From 20f6f0bba9a73cb49b4547cc5316ee058a2298aa Mon Sep 17 00:00:00 2001 From: Bence Magyar Date: Thu, 22 Aug 2024 19:51:10 +0100 Subject: [PATCH 2/5] 4.13.0 --- ackermann_steering_controller/CHANGELOG.rst | 4 ++-- ackermann_steering_controller/package.xml | 2 +- admittance_controller/CHANGELOG.rst | 4 ++-- admittance_controller/package.xml | 2 +- bicycle_steering_controller/CHANGELOG.rst | 4 ++-- bicycle_steering_controller/package.xml | 2 +- diff_drive_controller/CHANGELOG.rst | 4 ++-- diff_drive_controller/package.xml | 2 +- effort_controllers/CHANGELOG.rst | 4 ++-- effort_controllers/package.xml | 2 +- force_torque_sensor_broadcaster/CHANGELOG.rst | 4 ++-- force_torque_sensor_broadcaster/package.xml | 2 +- forward_command_controller/CHANGELOG.rst | 4 ++-- forward_command_controller/package.xml | 2 +- gripper_controllers/CHANGELOG.rst | 4 ++-- gripper_controllers/package.xml | 2 +- imu_sensor_broadcaster/CHANGELOG.rst | 4 ++-- imu_sensor_broadcaster/package.xml | 2 +- joint_state_broadcaster/CHANGELOG.rst | 4 ++-- joint_state_broadcaster/package.xml | 2 +- joint_trajectory_controller/CHANGELOG.rst | 4 ++-- joint_trajectory_controller/package.xml | 2 +- parallel_gripper_controller/CHANGELOG.rst | 4 ++-- parallel_gripper_controller/package.xml | 2 +- pid_controller/CHANGELOG.rst | 4 ++-- pid_controller/package.xml | 2 +- position_controllers/CHANGELOG.rst | 4 ++-- position_controllers/package.xml | 2 +- range_sensor_broadcaster/CHANGELOG.rst | 4 ++-- range_sensor_broadcaster/package.xml | 2 +- ros2_controllers/CHANGELOG.rst | 4 ++-- ros2_controllers/package.xml | 2 +- ros2_controllers_test_nodes/CHANGELOG.rst | 4 ++-- ros2_controllers_test_nodes/package.xml | 2 +- ros2_controllers_test_nodes/setup.py | 2 +- rqt_joint_trajectory_controller/CHANGELOG.rst | 4 ++-- rqt_joint_trajectory_controller/package.xml | 2 +- rqt_joint_trajectory_controller/setup.py | 2 +- steering_controllers_library/CHANGELOG.rst | 4 ++-- steering_controllers_library/package.xml | 2 +- tricycle_controller/CHANGELOG.rst | 4 ++-- tricycle_controller/package.xml | 2 +- tricycle_steering_controller/CHANGELOG.rst | 4 ++-- tricycle_steering_controller/package.xml | 2 +- velocity_controllers/CHANGELOG.rst | 4 ++-- velocity_controllers/package.xml | 2 +- 46 files changed, 68 insertions(+), 68 deletions(-) diff --git a/ackermann_steering_controller/CHANGELOG.rst b/ackermann_steering_controller/CHANGELOG.rst index 895bba5487..e4ea6ceba8 100644 --- a/ackermann_steering_controller/CHANGELOG.rst +++ b/ackermann_steering_controller/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package ackermann_steering_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +4.13.0 (2024-08-22) +------------------- * Fixes tests to work with use_global_arguments NodeOptions parameter (`#1256 `_) * Contributors: Sai Kishor Kothakota diff --git a/ackermann_steering_controller/package.xml b/ackermann_steering_controller/package.xml index 1ab37fa944..a191cede5d 100644 --- a/ackermann_steering_controller/package.xml +++ b/ackermann_steering_controller/package.xml @@ -2,7 +2,7 @@ ackermann_steering_controller - 4.12.1 + 4.13.0 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/admittance_controller/CHANGELOG.rst b/admittance_controller/CHANGELOG.rst index 0c7259307e..3f0f44ebde 100644 --- a/admittance_controller/CHANGELOG.rst +++ b/admittance_controller/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package admittance_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +4.13.0 (2024-08-22) +------------------- * Fix segfault at reconfigure of AdmittanceController (`#1248 `_) * Fixes tests to work with use_global_arguments NodeOptions parameter (`#1256 `_) * Contributors: Lennart Nachtigall, Sai Kishor Kothakota diff --git a/admittance_controller/package.xml b/admittance_controller/package.xml index 75a2827417..bd37557b06 100644 --- a/admittance_controller/package.xml +++ b/admittance_controller/package.xml @@ -2,7 +2,7 @@ admittance_controller - 4.12.1 + 4.13.0 Implementation of admittance controllers for different input and output interface. Denis Štogl Bence Magyar diff --git a/bicycle_steering_controller/CHANGELOG.rst b/bicycle_steering_controller/CHANGELOG.rst index abbdc8b28e..9de6109a7e 100644 --- a/bicycle_steering_controller/CHANGELOG.rst +++ b/bicycle_steering_controller/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package bicycle_steering_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +4.13.0 (2024-08-22) +------------------- * Fixes tests to work with use_global_arguments NodeOptions parameter (`#1256 `_) * Contributors: Sai Kishor Kothakota diff --git a/bicycle_steering_controller/package.xml b/bicycle_steering_controller/package.xml index 819280a96b..73b658220a 100644 --- a/bicycle_steering_controller/package.xml +++ b/bicycle_steering_controller/package.xml @@ -2,7 +2,7 @@ bicycle_steering_controller - 4.12.1 + 4.13.0 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/diff_drive_controller/CHANGELOG.rst b/diff_drive_controller/CHANGELOG.rst index 18d6956fd5..e82c7ee4f4 100644 --- a/diff_drive_controller/CHANGELOG.rst +++ b/diff_drive_controller/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package diff_drive_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +4.13.0 (2024-08-22) +------------------- * Fixes tests to work with use_global_arguments NodeOptions parameter (`#1256 `_) * Contributors: Sai Kishor Kothakota diff --git a/diff_drive_controller/package.xml b/diff_drive_controller/package.xml index 4f77e3a919..d352de7ed4 100644 --- a/diff_drive_controller/package.xml +++ b/diff_drive_controller/package.xml @@ -1,7 +1,7 @@ diff_drive_controller - 4.12.1 + 4.13.0 Controller for a differential drive mobile base. Bence Magyar Jordan Palacios diff --git a/effort_controllers/CHANGELOG.rst b/effort_controllers/CHANGELOG.rst index 9ed00feb8b..573f951c1b 100644 --- a/effort_controllers/CHANGELOG.rst +++ b/effort_controllers/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package effort_controllers ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +4.13.0 (2024-08-22) +------------------- 4.12.1 (2024-08-14) ------------------- diff --git a/effort_controllers/package.xml b/effort_controllers/package.xml index 0cea01d743..3ec600b0fa 100644 --- a/effort_controllers/package.xml +++ b/effort_controllers/package.xml @@ -1,7 +1,7 @@ effort_controllers - 4.12.1 + 4.13.0 Generic controller for forwarding commands. Bence Magyar Jordan Palacios diff --git a/force_torque_sensor_broadcaster/CHANGELOG.rst b/force_torque_sensor_broadcaster/CHANGELOG.rst index 6dc273b420..d8ee1d38d1 100644 --- a/force_torque_sensor_broadcaster/CHANGELOG.rst +++ b/force_torque_sensor_broadcaster/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package force_torque_sensor_broadcaster ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +4.13.0 (2024-08-22) +------------------- * Fixes tests to work with use_global_arguments NodeOptions parameter (`#1256 `_) * Contributors: Sai Kishor Kothakota diff --git a/force_torque_sensor_broadcaster/package.xml b/force_torque_sensor_broadcaster/package.xml index 3973cd91cd..a41568d2d5 100644 --- a/force_torque_sensor_broadcaster/package.xml +++ b/force_torque_sensor_broadcaster/package.xml @@ -2,7 +2,7 @@ force_torque_sensor_broadcaster - 4.12.1 + 4.13.0 Controller to publish state of force-torque sensors. Bence Magyar Denis Štogl diff --git a/forward_command_controller/CHANGELOG.rst b/forward_command_controller/CHANGELOG.rst index 55b779c876..04ce12659e 100644 --- a/forward_command_controller/CHANGELOG.rst +++ b/forward_command_controller/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package forward_command_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +4.13.0 (2024-08-22) +------------------- 4.12.1 (2024-08-14) ------------------- diff --git a/forward_command_controller/package.xml b/forward_command_controller/package.xml index 1b996a1b5e..7bef16d4fd 100644 --- a/forward_command_controller/package.xml +++ b/forward_command_controller/package.xml @@ -1,7 +1,7 @@ forward_command_controller - 4.12.1 + 4.13.0 Generic controller for forwarding commands. Bence Magyar Jordan Palacios diff --git a/gripper_controllers/CHANGELOG.rst b/gripper_controllers/CHANGELOG.rst index 8887be16c2..8a22013b50 100644 --- a/gripper_controllers/CHANGELOG.rst +++ b/gripper_controllers/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package gripper_controllers ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +4.13.0 (2024-08-22) +------------------- 4.12.1 (2024-08-14) ------------------- diff --git a/gripper_controllers/package.xml b/gripper_controllers/package.xml index 47e809afae..65d8c58e0f 100644 --- a/gripper_controllers/package.xml +++ b/gripper_controllers/package.xml @@ -4,7 +4,7 @@ schematypens="http://www.w3.org/2001/XMLSchema"?> gripper_controllers - 4.12.1 + 4.13.0 The gripper_controllers package Bence Magyar diff --git a/imu_sensor_broadcaster/CHANGELOG.rst b/imu_sensor_broadcaster/CHANGELOG.rst index 9251f6ca43..1d357eb88f 100644 --- a/imu_sensor_broadcaster/CHANGELOG.rst +++ b/imu_sensor_broadcaster/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package imu_sensor_broadcaster ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +4.13.0 (2024-08-22) +------------------- * Fixes tests to work with use_global_arguments NodeOptions parameter (`#1256 `_) * Contributors: Sai Kishor Kothakota diff --git a/imu_sensor_broadcaster/package.xml b/imu_sensor_broadcaster/package.xml index 6efaea8076..c4e31db09f 100644 --- a/imu_sensor_broadcaster/package.xml +++ b/imu_sensor_broadcaster/package.xml @@ -2,7 +2,7 @@ imu_sensor_broadcaster - 4.12.1 + 4.13.0 Controller to publish readings of IMU sensors. Bence Magyar Denis Štogl diff --git a/joint_state_broadcaster/CHANGELOG.rst b/joint_state_broadcaster/CHANGELOG.rst index 519943aeee..3b61fbec71 100644 --- a/joint_state_broadcaster/CHANGELOG.rst +++ b/joint_state_broadcaster/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package joint_state_broadcaster ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +4.13.0 (2024-08-22) +------------------- * [Joint State Broadcaster] Publish the joint_states of joints present in the URDF (`#1233 `_) * Contributors: Sai Kishor Kothakota diff --git a/joint_state_broadcaster/package.xml b/joint_state_broadcaster/package.xml index aa66a9641e..121ca68f6a 100644 --- a/joint_state_broadcaster/package.xml +++ b/joint_state_broadcaster/package.xml @@ -1,7 +1,7 @@ joint_state_broadcaster - 4.12.1 + 4.13.0 Broadcaster to publish joint state Bence Magyar Denis Stogl diff --git a/joint_trajectory_controller/CHANGELOG.rst b/joint_trajectory_controller/CHANGELOG.rst index a254b043ef..9ba9778c37 100644 --- a/joint_trajectory_controller/CHANGELOG.rst +++ b/joint_trajectory_controller/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package joint_trajectory_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +4.13.0 (2024-08-22) +------------------- 4.12.1 (2024-08-14) ------------------- diff --git a/joint_trajectory_controller/package.xml b/joint_trajectory_controller/package.xml index edfef38b39..9ff1dd03c9 100644 --- a/joint_trajectory_controller/package.xml +++ b/joint_trajectory_controller/package.xml @@ -1,7 +1,7 @@ joint_trajectory_controller - 4.12.1 + 4.13.0 Controller for executing joint-space trajectories on a group of joints Bence Magyar Dr. Denis Štogl diff --git a/parallel_gripper_controller/CHANGELOG.rst b/parallel_gripper_controller/CHANGELOG.rst index b619740475..5a5a872dff 100644 --- a/parallel_gripper_controller/CHANGELOG.rst +++ b/parallel_gripper_controller/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package parallel_gripper_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +4.13.0 (2024-08-22) +------------------- * Fixes tests to work with use_global_arguments NodeOptions parameter (`#1256 `_) * Contributors: Sai Kishor Kothakota diff --git a/parallel_gripper_controller/package.xml b/parallel_gripper_controller/package.xml index 98b9cd1b14..82d38cc417 100644 --- a/parallel_gripper_controller/package.xml +++ b/parallel_gripper_controller/package.xml @@ -4,7 +4,7 @@ schematypens="http://www.w3.org/2001/XMLSchema"?> parallel_gripper_controller - 4.12.1 + 4.13.0 The parallel_gripper_controller package Bence Magyar diff --git a/pid_controller/CHANGELOG.rst b/pid_controller/CHANGELOG.rst index 0740cac45b..02a10e05db 100644 --- a/pid_controller/CHANGELOG.rst +++ b/pid_controller/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package pid_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +4.13.0 (2024-08-22) +------------------- 4.12.1 (2024-08-14) ------------------- diff --git a/pid_controller/package.xml b/pid_controller/package.xml index 6148c43b94..767e5eecbc 100644 --- a/pid_controller/package.xml +++ b/pid_controller/package.xml @@ -2,7 +2,7 @@ pid_controller - 4.12.1 + 4.13.0 Controller based on PID implememenation from control_toolbox package. Bence Magyar Denis Štogl diff --git a/position_controllers/CHANGELOG.rst b/position_controllers/CHANGELOG.rst index 04bf8e50d6..1aa9b26515 100644 --- a/position_controllers/CHANGELOG.rst +++ b/position_controllers/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package position_controllers ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +4.13.0 (2024-08-22) +------------------- 4.12.1 (2024-08-14) ------------------- diff --git a/position_controllers/package.xml b/position_controllers/package.xml index 5b05352a21..9545700d07 100644 --- a/position_controllers/package.xml +++ b/position_controllers/package.xml @@ -1,7 +1,7 @@ position_controllers - 4.12.1 + 4.13.0 Generic controller for forwarding commands. Bence Magyar Jordan Palacios diff --git a/range_sensor_broadcaster/CHANGELOG.rst b/range_sensor_broadcaster/CHANGELOG.rst index ad33ffdd91..5a60a36dcd 100644 --- a/range_sensor_broadcaster/CHANGELOG.rst +++ b/range_sensor_broadcaster/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package range_sensor_broadcaster ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +4.13.0 (2024-08-22) +------------------- * Fixes tests to work with use_global_arguments NodeOptions parameter (`#1256 `_) * Contributors: Sai Kishor Kothakota diff --git a/range_sensor_broadcaster/package.xml b/range_sensor_broadcaster/package.xml index 1271dd9db1..cb814b1b8f 100644 --- a/range_sensor_broadcaster/package.xml +++ b/range_sensor_broadcaster/package.xml @@ -2,7 +2,7 @@ range_sensor_broadcaster - 4.12.1 + 4.13.0 Controller to publish readings of Range sensors. Bence Magyar Florent Chretien diff --git a/ros2_controllers/CHANGELOG.rst b/ros2_controllers/CHANGELOG.rst index 36fec11996..cb8ac7281f 100644 --- a/ros2_controllers/CHANGELOG.rst +++ b/ros2_controllers/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package ros2_controllers ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +4.13.0 (2024-08-22) +------------------- 4.12.1 (2024-08-14) ------------------- diff --git a/ros2_controllers/package.xml b/ros2_controllers/package.xml index c6791dd0a5..5a5ad3f632 100644 --- a/ros2_controllers/package.xml +++ b/ros2_controllers/package.xml @@ -1,7 +1,7 @@ ros2_controllers - 4.12.1 + 4.13.0 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 f66f6a86fb..c4e08ae2c1 100644 --- a/ros2_controllers_test_nodes/CHANGELOG.rst +++ b/ros2_controllers_test_nodes/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package ros2_controllers_test_nodes ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +4.13.0 (2024-08-22) +------------------- 4.12.1 (2024-08-14) ------------------- diff --git a/ros2_controllers_test_nodes/package.xml b/ros2_controllers_test_nodes/package.xml index 6d7d362847..d1fd4d3844 100644 --- a/ros2_controllers_test_nodes/package.xml +++ b/ros2_controllers_test_nodes/package.xml @@ -2,7 +2,7 @@ ros2_controllers_test_nodes - 4.12.1 + 4.13.0 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 9b2a14c367..a9c8fb6b60 100644 --- a/ros2_controllers_test_nodes/setup.py +++ b/ros2_controllers_test_nodes/setup.py @@ -20,7 +20,7 @@ setup( name=package_name, - version="4.12.1", + version="4.13.0", 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 6dfd067460..f3371a8320 100644 --- a/rqt_joint_trajectory_controller/CHANGELOG.rst +++ b/rqt_joint_trajectory_controller/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package rqt_joint_trajectory_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +4.13.0 (2024-08-22) +------------------- 4.12.1 (2024-08-14) ------------------- diff --git a/rqt_joint_trajectory_controller/package.xml b/rqt_joint_trajectory_controller/package.xml index 13f6136350..c9b086e587 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 - 4.12.1 + 4.13.0 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 3d10574eec..cc2fc8b00b 100644 --- a/rqt_joint_trajectory_controller/setup.py +++ b/rqt_joint_trajectory_controller/setup.py @@ -21,7 +21,7 @@ setup( name=package_name, - version="4.12.1", + version="4.13.0", 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 b391f2fbb4..8b2791a8e7 100644 --- a/steering_controllers_library/CHANGELOG.rst +++ b/steering_controllers_library/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package steering_controllers_library ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +4.13.0 (2024-08-22) +------------------- 4.12.1 (2024-08-14) ------------------- diff --git a/steering_controllers_library/package.xml b/steering_controllers_library/package.xml index 73c2bf8198..bff5ccc8e5 100644 --- a/steering_controllers_library/package.xml +++ b/steering_controllers_library/package.xml @@ -2,7 +2,7 @@ steering_controllers_library - 4.12.1 + 4.13.0 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 76e23e1184..a4c6912ce0 100644 --- a/tricycle_controller/CHANGELOG.rst +++ b/tricycle_controller/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package tricycle_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +4.13.0 (2024-08-22) +------------------- * Fixes tests to work with use_global_arguments NodeOptions parameter (`#1256 `_) * Contributors: Sai Kishor Kothakota diff --git a/tricycle_controller/package.xml b/tricycle_controller/package.xml index 0e87370142..aa37106fac 100644 --- a/tricycle_controller/package.xml +++ b/tricycle_controller/package.xml @@ -2,7 +2,7 @@ tricycle_controller - 4.12.1 + 4.13.0 Controller for a tricycle drive mobile base Bence Magyar Tony Najjar diff --git a/tricycle_steering_controller/CHANGELOG.rst b/tricycle_steering_controller/CHANGELOG.rst index ca8795f8b5..f535a1309e 100644 --- a/tricycle_steering_controller/CHANGELOG.rst +++ b/tricycle_steering_controller/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package tricycle_steering_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +4.13.0 (2024-08-22) +------------------- * Fixes tests to work with use_global_arguments NodeOptions parameter (`#1256 `_) * Contributors: Sai Kishor Kothakota diff --git a/tricycle_steering_controller/package.xml b/tricycle_steering_controller/package.xml index 249d2041e7..041f4425e8 100644 --- a/tricycle_steering_controller/package.xml +++ b/tricycle_steering_controller/package.xml @@ -2,7 +2,7 @@ tricycle_steering_controller - 4.12.1 + 4.13.0 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/velocity_controllers/CHANGELOG.rst b/velocity_controllers/CHANGELOG.rst index ad7015f903..7b0e141de7 100644 --- a/velocity_controllers/CHANGELOG.rst +++ b/velocity_controllers/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package velocity_controllers ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +4.13.0 (2024-08-22) +------------------- 4.12.1 (2024-08-14) ------------------- diff --git a/velocity_controllers/package.xml b/velocity_controllers/package.xml index 03283cbc14..f7a6fcac72 100644 --- a/velocity_controllers/package.xml +++ b/velocity_controllers/package.xml @@ -1,7 +1,7 @@ velocity_controllers - 4.12.1 + 4.13.0 Generic controller for forwarding commands. Bence Magyar Jordan Palacios From 1c4d58e55efd86630451eb615ade5d1f7da7e952 Mon Sep 17 00:00:00 2001 From: Takashi Sato Date: Sun, 25 Aug 2024 01:55:15 +0900 Subject: [PATCH 3/5] [JSB] Move the initialize of urdf::Model from on_activate to on_configure to improve real-time performance (#1269) --- .../joint_state_broadcaster.hpp | 4 +++ .../src/joint_state_broadcaster.cpp | 27 ++++++++++--------- 2 files changed, 18 insertions(+), 13 deletions(-) diff --git a/joint_state_broadcaster/include/joint_state_broadcaster/joint_state_broadcaster.hpp b/joint_state_broadcaster/include/joint_state_broadcaster/joint_state_broadcaster.hpp index b3fa69f94c..ecc3c767f6 100644 --- a/joint_state_broadcaster/include/joint_state_broadcaster/joint_state_broadcaster.hpp +++ b/joint_state_broadcaster/include/joint_state_broadcaster/joint_state_broadcaster.hpp @@ -27,6 +27,7 @@ #include "joint_state_broadcaster_parameters.hpp" #include "realtime_tools/realtime_publisher.h" #include "sensor_msgs/msg/joint_state.hpp" +#include "urdf/model.h" namespace joint_state_broadcaster { @@ -111,6 +112,9 @@ class JointStateBroadcaster : public controller_interface::ControllerInterface dynamic_joint_state_publisher_; std::shared_ptr> realtime_dynamic_joint_state_publisher_; + + urdf::Model model_; + bool is_model_loaded_ = false; }; } // namespace joint_state_broadcaster diff --git a/joint_state_broadcaster/src/joint_state_broadcaster.cpp b/joint_state_broadcaster/src/joint_state_broadcaster.cpp index 209b44e557..fe0b32213a 100644 --- a/joint_state_broadcaster/src/joint_state_broadcaster.cpp +++ b/joint_state_broadcaster/src/joint_state_broadcaster.cpp @@ -164,6 +164,18 @@ controller_interface::CallbackReturn JointStateBroadcaster::on_configure( fprintf(stderr, "Exception thrown during init stage with message: %s \n", e.what()); return CallbackReturn::ERROR; } + + const std::string & urdf = get_robot_description(); + + is_model_loaded_ = !urdf.empty() && model_.initString(urdf); + if (!is_model_loaded_) + { + RCLCPP_ERROR( + get_node()->get_logger(), + "Failed to parse robot description. Will publish all the interfaces with '%s', '%s' and '%s'", + HW_IF_POSITION, HW_IF_VELOCITY, HW_IF_EFFORT); + } + return CallbackReturn::SUCCESS; } @@ -243,17 +255,6 @@ bool JointStateBroadcaster::init_joint_data() name_if_value_mapping_[si->get_prefix_name()][interface_name] = kUninitializedValue; } - const std::string & urdf = get_robot_description(); - - urdf::Model model; - const bool is_model_loaded = !urdf.empty() && model.initString(urdf); - if (!is_model_loaded) - { - RCLCPP_ERROR( - get_node()->get_logger(), - "Failed to parse robot description. Will publish all the interfaces with '%s', '%s' and '%s'", - HW_IF_POSITION, HW_IF_VELOCITY, HW_IF_EFFORT); - } // filter state interfaces that have at least one of the joint_states fields, // the rest will be ignored for this message for (const auto & name_ifv : name_if_value_mapping_) @@ -262,8 +263,8 @@ bool JointStateBroadcaster::init_joint_data() if (has_any_key(interfaces_and_values, {HW_IF_POSITION, HW_IF_VELOCITY, HW_IF_EFFORT})) { if ( - !params_.use_urdf_to_filter || !params_.joints.empty() || !is_model_loaded || - model.getJoint(name_ifv.first)) + !params_.use_urdf_to_filter || !params_.joints.empty() || !is_model_loaded_ || + model_.getJoint(name_ifv.first)) { joint_names_.push_back(name_ifv.first); } From ce12694c6c948509a470783fd3b770cfab60a26e Mon Sep 17 00:00:00 2001 From: Manuel Muth Date: Mon, 26 Aug 2024 14:51:49 +0200 Subject: [PATCH 4/5] rename get/set_state to get/set_lifecylce_state (#1250) --- diff_drive_controller/src/diff_drive_controller.cpp | 2 +- .../src/joint_trajectory_controller.cpp | 6 +++--- tricycle_controller/src/tricycle_controller.cpp | 2 +- 3 files changed, 5 insertions(+), 5 deletions(-) diff --git a/diff_drive_controller/src/diff_drive_controller.cpp b/diff_drive_controller/src/diff_drive_controller.cpp index a64f210503..66da6d6738 100644 --- a/diff_drive_controller/src/diff_drive_controller.cpp +++ b/diff_drive_controller/src/diff_drive_controller.cpp @@ -101,7 +101,7 @@ controller_interface::return_type DiffDriveController::update( const rclcpp::Time & time, const rclcpp::Duration & period) { auto logger = get_node()->get_logger(); - if (get_state().id() == State::PRIMARY_STATE_INACTIVE) + if (get_lifecycle_state().id() == State::PRIMARY_STATE_INACTIVE) { if (!is_halted) { diff --git a/joint_trajectory_controller/src/joint_trajectory_controller.cpp b/joint_trajectory_controller/src/joint_trajectory_controller.cpp index 9563568ad5..e4923604fd 100644 --- a/joint_trajectory_controller/src/joint_trajectory_controller.cpp +++ b/joint_trajectory_controller/src/joint_trajectory_controller.cpp @@ -137,7 +137,7 @@ JointTrajectoryController::state_interface_configuration() const controller_interface::return_type JointTrajectoryController::update( const rclcpp::Time & time, const rclcpp::Duration & period) { - if (get_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE) + if (get_lifecycle_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE) { return controller_interface::return_type::OK; } @@ -593,7 +593,7 @@ void JointTrajectoryController::query_state_service( { const auto logger = get_node()->get_logger(); // Preconditions - if (get_state().id() != lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE) + if (get_lifecycle_state().id() != lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE) { RCLCPP_ERROR(logger, "Can't sample trajectory. Controller is not active."); response->success = false; @@ -1112,7 +1112,7 @@ rclcpp_action::GoalResponse JointTrajectoryController::goal_received_callback( RCLCPP_INFO(get_node()->get_logger(), "Received new action goal"); // Precondition: Running controller - if (get_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE) + if (get_lifecycle_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE) { RCLCPP_ERROR( get_node()->get_logger(), "Can't accept new action goals. Controller is not running."); diff --git a/tricycle_controller/src/tricycle_controller.cpp b/tricycle_controller/src/tricycle_controller.cpp index 94ff63e659..ec7ca7bd5e 100644 --- a/tricycle_controller/src/tricycle_controller.cpp +++ b/tricycle_controller/src/tricycle_controller.cpp @@ -86,7 +86,7 @@ InterfaceConfiguration TricycleController::state_interface_configuration() const controller_interface::return_type TricycleController::update( const rclcpp::Time & time, const rclcpp::Duration & period) { - if (get_state().id() == State::PRIMARY_STATE_INACTIVE) + if (get_lifecycle_state().id() == State::PRIMARY_STATE_INACTIVE) { if (!is_halted) { From 3be3fe95c3eb2a6a7e07bde2b96a9b8acc558d9a Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Francisco=20Mart=C3=ADn=20Rico?= Date: Mon, 26 Aug 2024 14:52:27 +0200 Subject: [PATCH 5/5] Fix bug for displaying all controllers (#1259) --- .../joint_trajectory_controller.py | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/rqt_joint_trajectory_controller/rqt_joint_trajectory_controller/joint_trajectory_controller.py b/rqt_joint_trajectory_controller/rqt_joint_trajectory_controller/joint_trajectory_controller.py index 4cc6c901af..5b27c2c832 100644 --- a/rqt_joint_trajectory_controller/rqt_joint_trajectory_controller/joint_trajectory_controller.py +++ b/rqt_joint_trajectory_controller/rqt_joint_trajectory_controller/joint_trajectory_controller.py @@ -238,8 +238,11 @@ def _update_jtc_list(self): # for _all_ their joints running_jtc = self._running_jtc_info() if running_jtc and not self._robot_joint_limits: + self._robot_joint_limits = {} for jtc_info in running_jtc: - self._robot_joint_limits = get_joint_limits(self._node, _jtc_joint_names(jtc_info)) + self._robot_joint_limits.update( + get_joint_limits(self._node, _jtc_joint_names(jtc_info)) + ) valid_jtc = [] if self._robot_joint_limits: for jtc_info in running_jtc: