Merge branch 'master' into ci/downstream

controller_manager/CMakeLists.txt

@@ -222,6 +222,9 @@ if(BUILD_TESTING)
   install(FILES test/test_controller_overriding_parameters.yaml
     DESTINATION test)
 
+  install(FILES test/test_controller_spawner_wildcard_entries.yaml
+    DESTINATION test)
+
   ament_add_gmock(test_hardware_management_srvs
     test/test_hardware_management_srvs.cpp
   )

controller_manager/controller_manager/controller_manager_services.py

@@ -296,6 +296,7 @@ def get_params_files_with_controller_parameters(
                 f"/{controller_name}" if namespace == "/" else f"{namespace}/{controller_name}"
             )
             WILDCARD_KEY = "/**"
+            ROS_PARAMS_KEY = "ros__parameters"
             parameters = yaml.safe_load(f)
             # check for the parameter in 'controller_name' or 'namespaced_controller' or '/**/namespaced_controller' or '/**/controller_name'
             for key in [
@@ -304,6 +305,8 @@ def get_params_files_with_controller_parameters(
                 f"{WILDCARD_KEY}/{controller_name}",
                 f"{WILDCARD_KEY}{namespaced_controller}",
             ]:
+                if parameter_file in controller_parameter_files:
+                    break
                 if key in parameters:
                     if key == controller_name and namespace != "/":
                         node.get_logger().fatal(
@@ -314,6 +317,8 @@ def get_params_files_with_controller_parameters(
 
                 if WILDCARD_KEY in parameters and key in parameters[WILDCARD_KEY]:
                     controller_parameter_files.append(parameter_file)
+                if WILDCARD_KEY in parameters and ROS_PARAMS_KEY in parameters[WILDCARD_KEY]:
+                    controller_parameter_files.append(parameter_file)
     return controller_parameter_files
 
 
@@ -346,6 +351,8 @@ def get_parameter_from_param_files(
 
                 if WILDCARD_KEY in parameters and key in parameters[WILDCARD_KEY]:
                     controller_param_dict = parameters[WILDCARD_KEY][key]
+                if WILDCARD_KEY in parameters and ROS_PARAMS_KEY in parameters[WILDCARD_KEY]:
+                    controller_param_dict = parameters[WILDCARD_KEY]
 
                 if controller_param_dict and (
                     not isinstance(controller_param_dict, dict)

controller_manager/doc/userdoc.rst

@@ -171,57 +171,77 @@ There are two scripts to interact with controller manager from launch files:
 
 The parsed controller config file can follow the same conventions as the typical ROS 2 parameter file format. Now, the spawner can handle config files with wildcard entries and also the controller name in the absolute namespace. See the following examples on the config files:
 
+ .. code-block:: yaml
+
+    /**:
+      ros__parameters:
+        type: joint_trajectory_controller/JointTrajectoryController
+
+        command_interfaces:
+          - position
+          .....
+
+    position_trajectory_controller_joint1:
+      ros__parameters:
+        joints:
+          - joint1
+
+    position_trajectory_controller_joint2:
+      ros__parameters:
+        joints:
+          - joint2
+
  .. code-block:: yaml
 
     /**/position_trajectory_controller:
-    ros__parameters:
-      type: joint_trajectory_controller/JointTrajectoryController
-      joints:
-        - joint1
-        - joint2
+      ros__parameters:
+        type: joint_trajectory_controller/JointTrajectoryController
+        joints:
+          - joint1
+          - joint2
 
-      command_interfaces:
-        - position
-        .....
+        command_interfaces:
+          - position
+          .....
 
  .. code-block:: yaml
 
     /position_trajectory_controller:
-    ros__parameters:
-      type: joint_trajectory_controller/JointTrajectoryController
-      joints:
-        - joint1
-        - joint2
+      ros__parameters:
+        type: joint_trajectory_controller/JointTrajectoryController
+        joints:
+          - joint1
+          - joint2
 
-      command_interfaces:
-        - position
-        .....
+        command_interfaces:
+          - position
+          .....
 
  .. code-block:: yaml
 
     position_trajectory_controller:
-    ros__parameters:
-      type: joint_trajectory_controller/JointTrajectoryController
-      joints:
-        - joint1
-        - joint2
+      ros__parameters:
+        type: joint_trajectory_controller/JointTrajectoryController
+        joints:
+          - joint1
+          - joint2
 
-      command_interfaces:
-        - position
-        .....
+        command_interfaces:
+          - position
+          .....
 
  .. code-block:: yaml
 
     /rrbot_1/position_trajectory_controller:
-    ros__parameters:
-      type: joint_trajectory_controller/JointTrajectoryController
-      joints:
-        - joint1
-        - joint2
-
-      command_interfaces:
-        - position
-        .....
+      ros__parameters:
+        type: joint_trajectory_controller/JointTrajectoryController
+        joints:
+          - joint1
+          - joint2
+
+        command_interfaces:
+          - position
+          .....
 
 ``unspawner``
 ^^^^^^^^^^^^^^^^

controller_manager/src/controller_manager.cpp

@@ -2367,17 +2367,16 @@ controller_interface::return_type ControllerManager::update(
   update_loop_counter_ %= update_rate_;
 
   // Check for valid time
-  if (
-    !get_clock()->started() &&
-    time == rclcpp::Time(0, 0, this->get_node_clock_interface()->get_clock()->get_clock_type()))
-  {
-    throw std::runtime_error(
-      "No clock received, and time argument is zero. Check your controller_manager node's "
-      "clock configuration (use_sim_time parameter) and if a valid clock source is "
-      "available. Also pass a proper time argument to the update method.");
-  }
-  else
+  if (!get_clock()->started())
   {
+    if (time == rclcpp::Time(0, 0, this->get_node_clock_interface()->get_clock()->get_clock_type()))
+    {
+      throw std::runtime_error(
+        "No clock received, and time argument is zero. Check your controller_manager node's "
+        "clock configuration (use_sim_time parameter) and if a valid clock source is "
+        "available. Also pass a proper time argument to the update method.");
+    }
+
     // this can happen with use_sim_time=true until the /clock is received
     rclcpp::Clock clock = rclcpp::Clock();
     RCLCPP_WARN_THROTTLE(

controller_manager/test/test_controller_spawner_wildcard_entries.yaml

@@ -0,0 +1,10 @@
+/**:
+  ros__parameters:
+    type: "controller_manager/test_controller"
+    joint_names: ["joint1"]
+    param1: 1.0
+    param2: 2.0
+
+wildcard_ctrl_3:
+  ros__parameters:
+    param3: 3.0

controller_manager/test/test_spawner_unspawner.cpp

@@ -366,6 +366,77 @@ TEST_F(TestLoadController, spawner_test_type_in_params_file)
     test_file_path);
 }
 
+TEST_F(TestLoadController, spawner_test_with_wildcard_entries_with_no_ctrl_name)
+{
+  const std::string test_file_path = ament_index_cpp::get_package_prefix("controller_manager") +
+                                     "/test/test_controller_spawner_wildcard_entries.yaml";
+
+  ControllerManagerRunner cm_runner(this);
+  // Provide controller type via the parsed file
+  EXPECT_EQ(
+    call_spawner(
+      "wildcard_ctrl_1 wildcard_ctrl_2 wildcard_ctrl_3 -c test_controller_manager "
+      "--controller-manager-timeout 1.0 "
+      "-p " +
+      test_file_path),
+    0);
+
+  auto verify_ctrl_parameter = [](const auto & ctrl_node, bool has_param_3)
+  {
+    if (!ctrl_node->has_parameter("joint_names"))
+    {
+      ctrl_node->declare_parameter("joint_names", std::vector<std::string>({"random_joint"}));
+    }
+    ASSERT_THAT(
+      ctrl_node->get_parameter("joint_names").as_string_array(),
+      std::vector<std::string>({"joint1"}));
+
+    if (!ctrl_node->has_parameter("param1"))
+    {
+      ctrl_node->declare_parameter("param1", -10.0);
+    }
+    ASSERT_THAT(ctrl_node->get_parameter("param1").as_double(), 1.0);
+
+    if (!ctrl_node->has_parameter("param2"))
+    {
+      ctrl_node->declare_parameter("param2", -10.0);
+    }
+    ASSERT_THAT(ctrl_node->get_parameter("param2").as_double(), 2.0);
+
+    if (!ctrl_node->has_parameter("param3"))
+    {
+      ctrl_node->declare_parameter("param3", -10.0);
+    }
+    ASSERT_THAT(ctrl_node->get_parameter("param3").as_double(), has_param_3 ? 3.0 : -10.0);
+  };
+
+  ASSERT_EQ(cm_->get_loaded_controllers().size(), 3ul);
+
+  auto wildcard_ctrl_3 = cm_->get_loaded_controllers()[0];
+  ASSERT_EQ(wildcard_ctrl_3.info.name, "wildcard_ctrl_3");
+  ASSERT_EQ(wildcard_ctrl_3.info.type, test_controller::TEST_CONTROLLER_CLASS_NAME);
+  ASSERT_EQ(
+    wildcard_ctrl_3.c->get_lifecycle_state().id(),
+    lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE);
+  verify_ctrl_parameter(wildcard_ctrl_3.c->get_node(), true);
+
+  auto wildcard_ctrl_2 = cm_->get_loaded_controllers()[1];
+  ASSERT_EQ(wildcard_ctrl_2.info.name, "wildcard_ctrl_2");
+  ASSERT_EQ(wildcard_ctrl_2.info.type, test_controller::TEST_CONTROLLER_CLASS_NAME);
+  ASSERT_EQ(
+    wildcard_ctrl_2.c->get_lifecycle_state().id(),
+    lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE);
+  verify_ctrl_parameter(wildcard_ctrl_2.c->get_node(), false);
+
+  auto wildcard_ctrl_1 = cm_->get_loaded_controllers()[2];
+  ASSERT_EQ(wildcard_ctrl_1.info.name, "wildcard_ctrl_1");
+  ASSERT_EQ(wildcard_ctrl_1.info.type, test_controller::TEST_CONTROLLER_CLASS_NAME);
+  ASSERT_EQ(
+    wildcard_ctrl_1.c->get_lifecycle_state().id(),
+    lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE);
+  verify_ctrl_parameter(wildcard_ctrl_1.c->get_node(), false);
+}
+
 TEST_F(TestLoadController, unload_on_kill)
 {
   // Launch spawner with unload on kill