Merge branch 'master' into jtc/controller_plugin

christophfroehlich · Dec 6, 2023 · 188facc · 188facc
2 parents fdd9878 + 925a690
commit 188facc
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diff --git a/.github/workflows/ci-coverage-build-humble.yml b/.github/workflows/ci-coverage-build-humble.yml
@@ -17,7 +17,7 @@ jobs:
     env:
       ROS_DISTRO: humble
     steps:
-      - uses: ros-tooling/[email protected].0
+      - uses: ros-tooling/[email protected].1
         with:
           required-ros-distributions: ${{ env.ROS_DISTRO }}
       - uses: actions/checkout@v4
@@ -38,6 +38,7 @@ jobs:
             imu_sensor_broadcaster
             joint_state_broadcaster
             joint_trajectory_controller
+            pid_controller
             position_controllers
             range_sensor_broadcaster
             steering_controllers_library

diff --git a/.github/workflows/ci-coverage-build-iron.yml b/.github/workflows/ci-coverage-build-iron.yml
@@ -17,7 +17,7 @@ jobs:
     env:
       ROS_DISTRO: iron
     steps:
-      - uses: ros-tooling/[email protected].0
+      - uses: ros-tooling/[email protected].1
         with:
           required-ros-distributions: ${{ env.ROS_DISTRO }}
       - uses: actions/checkout@v4
@@ -38,6 +38,7 @@ jobs:
             imu_sensor_broadcaster
             joint_state_broadcaster
             joint_trajectory_controller
+            pid_controller
             position_controllers
             range_sensor_broadcaster
             steering_controllers_library

diff --git a/.github/workflows/ci-coverage-build.yml b/.github/workflows/ci-coverage-build.yml
@@ -17,7 +17,7 @@ jobs:
     env:
       ROS_DISTRO: rolling
     steps:
-      - uses: ros-tooling/[email protected].0
+      - uses: ros-tooling/[email protected].1
         with:
           required-ros-distributions: ${{ env.ROS_DISTRO }}
       - uses: actions/checkout@v4
@@ -38,6 +38,7 @@ jobs:
             imu_sensor_broadcaster
             joint_state_broadcaster
             joint_trajectory_controller
+            pid_controller
             position_controllers
             range_sensor_broadcaster
             steering_controllers_library

diff --git a/.github/workflows/ci-ros-lint.yml b/.github/workflows/ci-ros-lint.yml
@@ -14,7 +14,7 @@ jobs:
       AMENT_CPPCHECK_ALLOW_SLOW_VERSIONS: true
     steps:
     - uses: actions/checkout@v4
-    - uses: ros-tooling/[email protected].0
+    - uses: ros-tooling/[email protected].1
     - uses: ros-tooling/[email protected]
       with:
         distribution: rolling
@@ -31,6 +31,7 @@ jobs:
           imu_sensor_broadcaster
           joint_state_broadcaster
           joint_trajectory_controller
+          pid_controller
           position_controllers
           range_sensor_broadcaster
           ros2_controllers
@@ -69,6 +70,7 @@ jobs:
           imu_sensor_broadcaster
           joint_state_broadcaster
           joint_trajectory_controller
+          pid_controller
           position_controllers
           range_sensor_broadcaster
           ros2_controllers

diff --git a/.github/workflows/humble-abi-compatibility.yml b/.github/workflows/humble-abi-compatibility.yml
@@ -1,8 +1,6 @@
 name: Humble - ABI Compatibility Check
 on:
   workflow_dispatch:
-    branches:
-      - humble
   pull_request:
     branches:
       - humble
@@ -15,6 +13,6 @@ jobs:
       - uses: ros-industrial/industrial_ci@master
         env:
           ROS_DISTRO: humble
-          ROS_REPO: main
+          ROS_REPO: testing
           ABICHECK_URL: github:${{ github.repository }}#${{ github.base_ref }}
           NOT_TEST_BUILD: true
diff --git a/.github/workflows/iron-abi-compatibility.yml b/.github/workflows/iron-abi-compatibility.yml
@@ -1,8 +1,6 @@
 name: Iron - ABI Compatibility Check
 on:
   workflow_dispatch:
-    branches:
-      - iron
   pull_request:
     branches:
       - iron
@@ -15,6 +13,6 @@ jobs:
       - uses: ros-industrial/industrial_ci@master
         env:
           ROS_DISTRO: iron
-          ROS_REPO: main
+          ROS_REPO: testing
           ABICHECK_URL: github:${{ github.repository }}#${{ github.base_ref }}
           NOT_TEST_BUILD: true
diff --git a/.github/workflows/reusable-ros-tooling-source-build.yml b/.github/workflows/reusable-ros-tooling-source-build.yml
@@ -26,7 +26,7 @@ jobs:
     strategy:
       fail-fast: false
     steps:
-      - uses: ros-tooling/[email protected].0
+      - uses: ros-tooling/[email protected].1
         with:
           required-ros-distributions: ${{ inputs.ros_distro }}
       - uses: actions/checkout@v4

diff --git a/.github/workflows/rolling-abi-compatibility.yml b/.github/workflows/rolling-abi-compatibility.yml
@@ -1,8 +1,6 @@
 name: Rolling - ABI Compatibility Check
 on:
   workflow_dispatch:
-    branches:
-      - master
   pull_request:
     branches:
       - master
@@ -15,6 +13,6 @@ jobs:
       - uses: ros-industrial/industrial_ci@master
         env:
           ROS_DISTRO: rolling
-          ROS_REPO: main
+          ROS_REPO: testing
           ABICHECK_URL: github:${{ github.repository }}#${{ github.base_ref }}
           NOT_TEST_BUILD: true
diff --git a/README.md b/README.md
@@ -3,7 +3,7 @@
 [![Licence](https://img.shields.io/badge/License-Apache%202.0-blue.svg)](https://opensource.org/licenses/Apache-2.0)
 [![codecov](https://codecov.io/gh/ros-controls/ros2_controllers/graph/badge.svg?token=KSdY0tsHm6)](https://codecov.io/gh/ros-controls/ros2_controllers)
 
-Commonly used and generalized controllers for ros2-control framework that are ready to use with many robots, MoveIt2 and Navigation2.
+Commonly used and generalized controllers for ros2-control framework that are ready to use with many robots, MoveIt2 and Nav2.
 
 ## Build status
 

diff --git a/ackermann_steering_controller/CHANGELOG.rst b/ackermann_steering_controller/CHANGELOG.rst
@@ -2,6 +2,15 @@
 Changelog for package ackermann_steering_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.1.0 (2023-12-01)
+------------------
+
+4.0.0 (2023-11-21)
+------------------
+* fix tests for API break of passing controller manager update rate in init method (`#854 <https://github.com/ros-controls/ros2_controllers/issues/854>`_)
+* Adjust tests after passing URDF to controllers (`#817 <https://github.com/ros-controls/ros2_controllers/issues/817>`_)
+* Contributors: Bence Magyar, Sai Kishor Kothakota
+
 3.17.0 (2023-10-31)
 -------------------
 * Improve docs (`#785 <https://github.com/ros-controls/ros2_controllers/issues/785>`_)

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>3.17.0</version>
+  <version>4.1.0</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.hpp b/ackermann_steering_controller/test/test_ackermann_steering_controller.hpp
@@ -147,7 +147,7 @@ class AckermannSteeringControllerFixture : public ::testing::Test
 protected:
   void SetUpController(const std::string controller_name = "test_ackermann_steering_controller")
   {
-    ASSERT_EQ(controller_->init(controller_name, ""), controller_interface::return_type::OK);
+    ASSERT_EQ(controller_->init(controller_name, "", 0), controller_interface::return_type::OK);
 
     if (position_feedback_ == true)
     {

diff --git a/admittance_controller/CHANGELOG.rst b/admittance_controller/CHANGELOG.rst
@@ -2,6 +2,15 @@
 Changelog for package admittance_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.1.0 (2023-12-01)
+------------------
+
+4.0.0 (2023-11-21)
+------------------
+* fix tests for API break of passing controller manager update rate in init method (`#854 <https://github.com/ros-controls/ros2_controllers/issues/854>`_)
+* Adjust tests after passing URDF to controllers (`#817 <https://github.com/ros-controls/ros2_controllers/issues/817>`_)
+* Contributors: Bence Magyar, Sai Kishor Kothakota
+
 3.17.0 (2023-10-31)
 -------------------
 

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>3.17.0</version>
+  <version>4.1.0</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/admittance_controller/test/test_admittance_controller.hpp b/admittance_controller/test/test_admittance_controller.hpp
@@ -185,7 +185,7 @@ class AdmittanceControllerTest : public ::testing::Test
   controller_interface::return_type SetUpControllerCommon(
     const std::string & controller_name, const rclcpp::NodeOptions & options)
   {
-    auto result = controller_->init(controller_name, "", "", options);
+    auto result = controller_->init(controller_name, "", 0, "", options);
 
     controller_->export_reference_interfaces();
     assign_interfaces();

diff --git a/bicycle_steering_controller/CHANGELOG.rst b/bicycle_steering_controller/CHANGELOG.rst
@@ -2,6 +2,15 @@
 Changelog for package bicycle_steering_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.1.0 (2023-12-01)
+------------------
+
+4.0.0 (2023-11-21)
+------------------
+* fix tests for API break of passing controller manager update rate in init method (`#854 <https://github.com/ros-controls/ros2_controllers/issues/854>`_)
+* Adjust tests after passing URDF to controllers (`#817 <https://github.com/ros-controls/ros2_controllers/issues/817>`_)
+* Contributors: Bence Magyar, Sai Kishor Kothakota
+
 3.17.0 (2023-10-31)
 -------------------
 * Improve docs (`#785 <https://github.com/ros-controls/ros2_controllers/issues/785>`_)

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>3.17.0</version>
+  <version>4.1.0</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/bicycle_steering_controller/test/test_bicycle_steering_controller.hpp b/bicycle_steering_controller/test/test_bicycle_steering_controller.hpp
@@ -144,7 +144,7 @@ class BicycleSteeringControllerFixture : public ::testing::Test
 protected:
   void SetUpController(const std::string controller_name = "test_bicycle_steering_controller")
   {
-    ASSERT_EQ(controller_->init(controller_name, ""), controller_interface::return_type::OK);
+    ASSERT_EQ(controller_->init(controller_name, "", 0), controller_interface::return_type::OK);
 
     if (position_feedback_ == true)
     {

diff --git a/diff_drive_controller/CHANGELOG.rst b/diff_drive_controller/CHANGELOG.rst
@@ -2,6 +2,17 @@
 Changelog for package diff_drive_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.1.0 (2023-12-01)
+------------------
+
+4.0.0 (2023-11-21)
+------------------
+* fix tests for API break of passing controller manager update rate in init method (`#854 <https://github.com/ros-controls/ros2_controllers/issues/854>`_)
+* [diff_drive_controller] Fixed typos in diff_drive_controller_parameter.yaml. (`#822 <https://github.com/ros-controls/ros2_controllers/issues/822>`_)
+* [diff_drive_controller] Remove non-stamped Twist option (`#812 <https://github.com/ros-controls/ros2_controllers/issues/812>`_)
+* Adjust tests after passing URDF to controllers (`#817 <https://github.com/ros-controls/ros2_controllers/issues/817>`_)
+* Contributors: Bence Magyar, Sai Kishor Kothakota, Tony Baltovski
+
 3.17.0 (2023-10-31)
 -------------------
 

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>3.17.0</version>
+  <version>4.1.0</version>
   <description>Controller for a differential drive mobile base.</description>
   <maintainer email="[email protected]">Bence Magyar</maintainer>
   <maintainer email="[email protected]">Jordan Palacios</maintainer>