Merge branch 'master' into jtc/action_tolerances

ros-controls · Oct 9, 2023 · 6a95acb · 6a95acb
2 parents 16a8828 + f62fc3a
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diff --git a/.github/workflows/ci-coverage-build.yml b/.github/workflows/ci-coverage-build.yml
@@ -3,6 +3,9 @@ on:
   workflow_dispatch:
     branches:
       - master
+  push:
+    branches:
+      - master
   pull_request:
     branches:
       - master
@@ -42,7 +45,7 @@ jobs:
           file: ros_ws/lcov/total_coverage.info
           flags: unittests
           name: codecov-umbrella
-      - uses: actions/[email protected].2
+      - uses: actions/[email protected].3
         with:
           name: colcon-logs-coverage-rolling
           path: ros_ws/log
diff --git a/.github/workflows/ci-format.yml b/.github/workflows/ci-format.yml
@@ -12,7 +12,7 @@ jobs:
     runs-on: ubuntu-latest
     steps:
     - uses: actions/checkout@v4
-    - uses: actions/[email protected].0
+    - uses: actions/[email protected].1
       with:
         python-version: '3.10'
     - name: Install system hooks

diff --git a/.github/workflows/reusable-ros-tooling-source-build.yml b/.github/workflows/reusable-ros-tooling-source-build.yml
@@ -44,7 +44,7 @@ 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/[email protected].2
+      - uses: actions/[email protected].3
         with:
           name: colcon-logs-ubuntu-22.04
           path: ros_ws/log
diff --git a/ackermann_steering_controller/CHANGELOG.rst b/ackermann_steering_controller/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package ackermann_steering_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.16.0 (2023-09-20)
+-------------------
+
 3.15.0 (2023-09-11)
 -------------------
 

diff --git a/ackermann_steering_controller/doc/userdoc.rst b/ackermann_steering_controller/doc/userdoc.rst
@@ -19,4 +19,6 @@ This controller uses the `generate_parameter_library <https://github.com/PickNik
 
 For an exemplary parameterization see the ``test`` folder of the controller's package.
 
+Additionally to the parameters of the :ref:`Steering Controller Library <doc/ros2_controllers/steering_controllers_library/doc/userdoc:parameters>`, this controller adds the following parameters:
+
 .. generate_parameter_library_details:: ../src/ackermann_steering_controller.yaml
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>3.15.0</version>
+  <version>3.16.0</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/admittance_controller/CHANGELOG.rst b/admittance_controller/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package admittance_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.16.0 (2023-09-20)
+-------------------
+
 3.15.0 (2023-09-11)
 -------------------
 * Update docs for diff drive controller (`#751 <https://github.com/ros-controls/ros2_controllers/issues/751>`_)

diff --git a/admittance_controller/package.xml b/admittance_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>admittance_controller</name>
-  <version>3.15.0</version>
+  <version>3.16.0</version>
   <description>Implementation of admittance controllers for different input and output interface.</description>
   <maintainer email="[email protected]">Denis Štogl</maintainer>
   <maintainer email="[email protected]">Bence Magyar</maintainer>

diff --git a/bicycle_steering_controller/CHANGELOG.rst b/bicycle_steering_controller/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package bicycle_steering_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.16.0 (2023-09-20)
+-------------------
+
 3.15.0 (2023-09-11)
 -------------------
 

diff --git a/bicycle_steering_controller/doc/userdoc.rst b/bicycle_steering_controller/doc/userdoc.rst
@@ -20,4 +20,6 @@ This controller uses the `generate_parameter_library <https://github.com/PickNik
 
 For an exemplary parameterization see the ``test`` folder of the controller's package.
 
+Additionally to the parameters of the :ref:`Steering Controller Library <doc/ros2_controllers/steering_controllers_library/doc/userdoc:parameters>`, this controller adds the following parameters:
+
 .. generate_parameter_library_details:: ../src/bicycle_steering_controller.yaml
diff --git a/bicycle_steering_controller/package.xml b/bicycle_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>bicycle_steering_controller</name>
-  <version>3.15.0</version>
+  <version>3.16.0</version>
   <description>Steering controller with bicycle kinematics. Rear fixed wheel is powering the vehicle and front wheel is steering.</description>
   <license>Apache License 2.0</license>
   <maintainer email="[email protected]">Bence Magyar</maintainer>

diff --git a/diff_drive_controller/CHANGELOG.rst b/diff_drive_controller/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package diff_drive_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.16.0 (2023-09-20)
+-------------------
+
 3.15.0 (2023-09-11)
 -------------------
 * Update docs for diff drive controller (`#751 <https://github.com/ros-controls/ros2_controllers/issues/751>`_)

diff --git a/diff_drive_controller/package.xml b/diff_drive_controller/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>diff_drive_controller</name>
-  <version>3.15.0</version>
+  <version>3.16.0</version>
   <description>Controller for a differential drive mobile base.</description>
   <maintainer email="[email protected]">Bence Magyar</maintainer>
   <maintainer email="[email protected]">Jordan Palacios</maintainer>

diff --git a/doc/writing_new_controller.rst b/doc/writing_new_controller.rst
@@ -34,10 +34,12 @@ The following is a step-by-step guide to create source files, basic tests, and c
    3. Define a unique namespace for your controller. This is usually a package name written in ``snake_case``.
 
    4. Define the class of the controller, extending ``ControllerInterface``, e.g.,
+
       .. code:: c++
-      class ControllerName : public controller_interface::ControllerInterface
 
-   5. Add a constructor without parameters and the following public methods overriding the ``ControllerInterface`` definition: ``init``, ``command_interface_configuration``, ``state_interface_configuration``, ``on_configure``, ``on_activate``, ``on_deactivate``, ``update``.
+         class ControllerName : public controller_interface::ControllerInterface
+
+   5. Add a constructor without parameters and the following public methods overriding the ``ControllerInterface`` definition: ``on_init``, ``command_interface_configuration``, ``state_interface_configuration``, ``on_configure``, ``on_activate``, ``on_deactivate``, ``update``.
       For exact definitions check the ``controller_interface/controller_interface.hpp`` header or one of the controllers from `ros2_controllers <https://github.com/ros-controls/ros2_controllers>`_.
 
    6. (optional) Often, controllers accept lists of joint names and interface names as parameters.
@@ -48,9 +50,9 @@ The following is a step-by-step guide to create source files, basic tests, and c
    1. Include the header file of your controller and add a namespace definition to simplify further development.
 
    2. (optional) Implement a constructor if needed. There, you could initialize member variables.
-      This could also be done in the ``init`` method.
+      This could also be done in the ``on_init`` method.
 
-   3. Implement the ``init`` method. The first line usually calls the parent ``init`` method.
+   3. Implement the ``on_init`` method. The first line usually calls the parent ``on_init`` method.
       Here is the best place to initialize the variables, reserve memory, and most importantly, declare node parameters used by the controller. If everything works fine return ``controller_interface::return_type::OK`` or ``controller_interface::return_type::ERROR`` otherwise.
 
    4. Write the ``on_configure`` method. Parameters are usually read here, and everything is prepared so that the controller can be started.
@@ -105,6 +107,7 @@ The following is a step-by-step guide to create source files, basic tests, and c
    4. Add ament dependencies needed by the library. You should add at least those listed under 1.
 
    5. Export for pluginlib description file using the following command:
+
       .. code:: cmake
 
          pluginlib_export_plugin_description_file(controller_interface <controller_name>.xml)

diff --git a/effort_controllers/CHANGELOG.rst b/effort_controllers/CHANGELOG.rst
@@ -2,6 +2,11 @@
 Changelog for package effort_controllers
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.16.0 (2023-09-20)
+-------------------
+* [Doc] Add specific documentation on the available fw cmd controllers (`#765 <https://github.com/ros-controls/ros2_controllers/issues/765>`_)
+* Contributors: Christoph Fröhlich
+
 3.15.0 (2023-09-11)
 -------------------
 

diff --git a/effort_controllers/doc/userdoc.rst b/effort_controllers/doc/userdoc.rst
@@ -7,7 +7,41 @@ effort_controllers
 
 This is a collection of controllers that work using the "effort" joint command interface but may accept different joint-level commands at the controller level, e.g. controlling the effort on a certain joint to achieve a set position.
 
-Hardware interface type
------------------------
+The package contains the following controllers:
 
-These controllers work with joints using the "effort" command interface.
+effort_controllers/JointGroupEffortController
+-------------------------------------------------
+
+This is specialization of the :ref:`forward_command_controller <forward_command_controller_userdoc>` that works using the "effort" joint interface.
+
+
+ROS 2 interface of the controller
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+Topics
+,,,,,,,,,,,,,,,,,,
+
+~/commands (input topic) [std_msgs::msg::Float64MultiArray]
+  Joints' effort commands
+
+
+Parameters
+,,,,,,,,,,,,,,,,,,
+This controller overrides the interface parameter from :ref:`forward_command_controller <forward_command_controller_userdoc>`, and the
+``joints`` parameter is the only one that is required.
+
+An example parameter file is given here
+
+.. code-block:: yaml
+
+  controller_manager:
+    ros__parameters:
+      update_rate: 100  # Hz
+
+      effort_controller:
+        type: effort_controllers/JointGroupEffortController
+
+  effort_controller:
+    ros__parameters:
+      joints:
+        - slider_to_cart
diff --git a/effort_controllers/package.xml b/effort_controllers/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>effort_controllers</name>
-  <version>3.15.0</version>
+  <version>3.16.0</version>
   <description>Generic controller for forwarding commands.</description>
   <maintainer email="[email protected]">Bence Magyar</maintainer>
   <maintainer email="[email protected]">Jordan Palacios</maintainer>

diff --git a/force_torque_sensor_broadcaster/CHANGELOG.rst b/force_torque_sensor_broadcaster/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package force_torque_sensor_broadcaster
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.16.0 (2023-09-20)
+-------------------
+
 3.15.0 (2023-09-11)
 -------------------
 * [ForceTorqueSensorBroadcaster] Create ParamListener and get parameters on configure (`#698 <https://github.com/ros-controls/ros2_controllers/issues/698>`_)

diff --git a/force_torque_sensor_broadcaster/package.xml b/force_torque_sensor_broadcaster/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>force_torque_sensor_broadcaster</name>
-  <version>3.15.0</version>
+  <version>3.16.0</version>
   <description>Controller to publish state of force-torque sensors.</description>
   <maintainer email="[email protected]">Bence Magyar</maintainer>
   <maintainer email="[email protected]">Denis Štogl</maintainer>

diff --git a/forward_command_controller/CHANGELOG.rst b/forward_command_controller/CHANGELOG.rst
@@ -2,6 +2,11 @@
 Changelog for package forward_command_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.16.0 (2023-09-20)
+-------------------
+* [Doc] Add specific documentation on the available fw cmd controllers (`#765 <https://github.com/ros-controls/ros2_controllers/issues/765>`_)
+* Contributors: Christoph Fröhlich
+
 3.15.0 (2023-09-11)
 -------------------
 

diff --git a/forward_command_controller/doc/userdoc.rst b/forward_command_controller/doc/userdoc.rst
@@ -16,8 +16,18 @@ Hardware interface type
 
 This controller can be used for every type of command interface.
 
+
+ROS 2 interface of the controller
+---------------------------------
+
+Topics
+^^^^^^^
+
+~/commands (input topic) [std_msgs::msg::Float64MultiArray]
+  Target joint commands
+
 Parameters
-------------
+^^^^^^^^^^^^^^
 
 This controller uses the `generate_parameter_library <https://github.com/PickNikRobotics/generate_parameter_library>`_ to handle its parameters.
 

diff --git a/forward_command_controller/package.xml b/forward_command_controller/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>forward_command_controller</name>
-  <version>3.15.0</version>
+  <version>3.16.0</version>
   <description>Generic controller for forwarding commands.</description>
   <maintainer email="[email protected]">Bence Magyar</maintainer>
   <maintainer email="[email protected]">Jordan Palacios</maintainer>

diff --git a/gripper_controllers/CHANGELOG.rst b/gripper_controllers/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package gripper_controllers
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.16.0 (2023-09-20)
+-------------------
+
 3.15.0 (2023-09-11)
 -------------------
 * Add test for effort gripper controller (`#769 <https://github.com/ros-controls/ros2_controllers/issues/769>`_)

diff --git a/gripper_controllers/package.xml b/gripper_controllers/package.xml
@@ -4,7 +4,7 @@
   schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>gripper_controllers</name>
-  <version>3.15.0</version>
+  <version>3.16.0</version>
   <description>The gripper_controllers package</description>
   <maintainer email="[email protected]">Bence Magyar</maintainer>
 

diff --git a/imu_sensor_broadcaster/CHANGELOG.rst b/imu_sensor_broadcaster/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package imu_sensor_broadcaster
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.16.0 (2023-09-20)
+-------------------
+
 3.15.0 (2023-09-11)
 -------------------
 

diff --git a/imu_sensor_broadcaster/package.xml b/imu_sensor_broadcaster/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>imu_sensor_broadcaster</name>
-  <version>3.15.0</version>
+  <version>3.16.0</version>
   <description>Controller to publish readings of IMU sensors.</description>
   <maintainer email="[email protected]">Bence Magyar</maintainer>
   <maintainer email="[email protected]">Denis Štogl</maintainer>

diff --git a/joint_state_broadcaster/CHANGELOG.rst b/joint_state_broadcaster/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package joint_state_broadcaster
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.16.0 (2023-09-20)
+-------------------
+
 3.15.0 (2023-09-11)
 -------------------
 

diff --git a/joint_state_broadcaster/package.xml b/joint_state_broadcaster/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>joint_state_broadcaster</name>
-  <version>3.15.0</version>
+  <version>3.16.0</version>
   <description>Broadcaster to publish joint state</description>
   <maintainer email="[email protected]">Bence Magyar</maintainer>
   <maintainer email="[email protected]">Denis Stogl</maintainer>

diff --git a/joint_trajectory_controller/CHANGELOG.rst b/joint_trajectory_controller/CHANGELOG.rst
@@ -2,6 +2,15 @@
 Changelog for package joint_trajectory_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.16.0 (2023-09-20)
+-------------------
+* [Docs] Improve interface description of JTC (`#770 <https://github.com/ros-controls/ros2_controllers/issues/770>`_)
+* [JTC] Add time-out for trajectory interfaces (`#609 <https://github.com/ros-controls/ros2_controllers/issues/609>`_)
+* [JTC] Rename parameter: normalize_error to angle_wraparound (`#772 <https://github.com/ros-controls/ros2_controllers/issues/772>`_)
+* [JTC] Fix hold position mode with goal_time>0 (`#758 <https://github.com/ros-controls/ros2_controllers/issues/758>`_)
+* [JTC] Add note on goal_time=0 in docs (`#773 <https://github.com/ros-controls/ros2_controllers/issues/773>`_)
+* Contributors: Christoph Fröhlich
+
 3.15.0 (2023-09-11)
 -------------------
 * [JTC] Make most parameters read-only (`#771 <https://github.com/ros-controls/ros2_controllers/issues/771>`_)
Original file line number	Diff line number	Diff line change
Expand Up		@@ -19,4 +19,6 @@ This controller uses the `generate_parameter_library <https://github.com/PickNik

		For an exemplary parameterization see the ``test`` folder of the controller's package.

		Additionally to the parameters of the :ref:`Steering Controller Library <doc/ros2_controllers/steering_controllers_library/doc/userdoc:parameters>`, this controller adds the following parameters:

		.. generate_parameter_library_details:: ../src/ackermann_steering_controller.yaml
Original file line number	Diff line number	Diff line change
Expand Up		@@ -20,4 +20,6 @@ This controller uses the `generate_parameter_library <https://github.com/PickNik

		For an exemplary parameterization see the ``test`` folder of the controller's package.

		Additionally to the parameters of the :ref:`Steering Controller Library <doc/ros2_controllers/steering_controllers_library/doc/userdoc:parameters>`, this controller adds the following parameters:

		.. generate_parameter_library_details:: ../src/bicycle_steering_controller.yaml