From c92d9ea8fd539b1a2449f2a8cbf82f33d0a278ca Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Christoph=20Fr=C3=B6hlich?= Date: Thu, 18 Jan 2024 15:45:09 +0100 Subject: [PATCH 1/7] Update mergify.yml (#1317) --- .github/mergify.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/mergify.yml b/.github/mergify.yml index e2e225980f..39ee6b6bc0 100644 --- a/.github/mergify.yml +++ b/.github/mergify.yml @@ -46,5 +46,5 @@ pull_request_rules: 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. From abceece0bc5b41a882719989ffd7f381c73df405 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Christoph=20Fr=C3=B6hlich?= Date: Thu, 18 Jan 2024 15:58:57 +0100 Subject: [PATCH 2/7] [CI] RHEL workflows (#1302) --- .../workflows/humble-rhel-binary-build.yml | 23 +++++++++--------- .github/workflows/iron-rhel-binary-build.yml | 24 +++++++++---------- .../workflows/rolling-rhel-binary-build.yml | 10 +++++--- 3 files changed, 30 insertions(+), 27 deletions(-) diff --git a/.github/workflows/humble-rhel-binary-build.yml b/.github/workflows/humble-rhel-binary-build.yml index 0267849692..bb00625455 100644 --- a/.github/workflows/humble-rhel-binary-build.yml +++ b/.github/workflows/humble-rhel-binary-build.yml @@ -1,17 +1,15 @@ name: Humble RHEL Binary Build on: workflow_dispatch: + push: branches: - humble -# pull_request: -# branches: -# - humble -# push: -# branches: -# - humble -# schedule: -# # Run every day to detect flakiness and broken dependencies -# - cron: '03 1 * * *' + pull_request: + branches: + - humble + schedule: + # Run every day to detect flakiness and broken dependencies + - cron: '03 1 * * *' jobs: humble_rhel_binary: @@ -26,7 +24,8 @@ jobs: path: src/ros2_control - run: | rosdep update - rosdep install -iy --from-path src/ros2_control + rosdep install -iyr --from-path src/ros2_control || true source /opt/ros/${{ env.ROS_DISTRO }}/setup.bash - colcon build - colcon test + colcon build --packages-skip rqt_controller_manager + colcon test --packages-skip rqt_controller_manager ros2controlcli + colcon test-result diff --git a/.github/workflows/iron-rhel-binary-build.yml b/.github/workflows/iron-rhel-binary-build.yml index 9db28cf987..67d51b216c 100644 --- a/.github/workflows/iron-rhel-binary-build.yml +++ b/.github/workflows/iron-rhel-binary-build.yml @@ -1,17 +1,16 @@ name: Iron RHEL Binary Build on: workflow_dispatch: + push: branches: - iron -# pull_request: -# branches: -# - iron -# push: -# branches: -# - iron -# schedule: -# # Run every day to detect flakiness and broken dependencies -# - cron: '03 1 * * *' + pull_request: + branches: + - iron + schedule: + # Run every day to detect flakiness and broken dependencies + - cron: '03 1 * * *' + jobs: iron_rhel_binary: @@ -26,7 +25,8 @@ jobs: path: src/ros2_control - run: | rosdep update - rosdep install -iy --from-path src/ros2_control + rosdep install -iyr --from-path src/ros2_control || true source /opt/ros/${{ env.ROS_DISTRO }}/setup.bash - colcon build - colcon test + colcon build --packages-skip rqt_controller_manager + colcon test --packages-skip rqt_controller_manager ros2controlcli + colcon test-result diff --git a/.github/workflows/rolling-rhel-binary-build.yml b/.github/workflows/rolling-rhel-binary-build.yml index 0768fbfd68..4e1a9f49d9 100644 --- a/.github/workflows/rolling-rhel-binary-build.yml +++ b/.github/workflows/rolling-rhel-binary-build.yml @@ -4,6 +4,9 @@ on: push: branches: - master + pull_request: + branches: + - master schedule: # Run every day to detect flakiness and broken dependencies - cron: '03 1 * * *' @@ -22,7 +25,8 @@ jobs: path: src/ros2_control - run: | rosdep update - rosdep install -iy --from-path src/ros2_control + rosdep install -iyr --from-path src/ros2_control || true source /opt/ros/${{ env.ROS_DISTRO }}/setup.bash - colcon build - colcon test + colcon build --packages-skip rqt_controller_manager + colcon test --packages-skip rqt_controller_manager ros2controlcli + colcon test-result From 6a98586c12a47c3cd6830be1963f7365e5a1e585 Mon Sep 17 00:00:00 2001 From: "Dr. Denis" Date: Sat, 20 Jan 2024 15:10:16 +0100 Subject: [PATCH 3/7] =?UTF-8?q?[CM]=20Better=20readability=20and=20maintai?= =?UTF-8?q?nability:=20rename=20variables,=20move=20code=20to=20more=20log?= =?UTF-8?q?ical=20places=20=F0=9F=94=A7=20(#1227)?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- controller_manager/src/controller_manager.cpp | 104 +++++++++--------- 1 file changed, 52 insertions(+), 52 deletions(-) diff --git a/controller_manager/src/controller_manager.cpp b/controller_manager/src/controller_manager.cpp index e7a2293672..f588720b3d 100644 --- a/controller_manager/src/controller_manager.cpp +++ b/controller_manager/src/controller_manager.cpp @@ -1336,53 +1336,22 @@ controller_interface::ControllerInterfaceBaseSharedPtr ControllerManager::add_co return to.back().c; } -void ControllerManager::manage_switch() -{ - // Ask hardware interfaces to change mode - if (!resource_manager_->perform_command_mode_switch( - activate_command_interface_request_, deactivate_command_interface_request_)) - { - RCLCPP_ERROR(get_logger(), "Error while performing mode switch."); - } - - std::vector & rt_controller_list = - rt_controllers_wrapper_.update_and_get_used_by_rt_list(); - - deactivate_controllers(rt_controller_list, deactivate_request_); - - switch_chained_mode(to_chained_mode_request_, true); - switch_chained_mode(from_chained_mode_request_, false); - - // activate controllers once the switch is fully complete - if (!switch_params_.activate_asap) - { - activate_controllers(rt_controller_list, activate_request_); - } - else - { - // activate controllers as soon as their required joints are done switching - activate_controllers_asap(rt_controller_list, activate_request_); - } - - // TODO(destogl): move here "do_switch = false" -} - void ControllerManager::deactivate_controllers( const std::vector & rt_controller_list, const std::vector controllers_to_deactivate) { // deactivate controllers - for (const auto & request : controllers_to_deactivate) + for (const auto & controller_name : controllers_to_deactivate) { auto found_it = std::find_if( rt_controller_list.begin(), rt_controller_list.end(), - std::bind(controller_name_compare, std::placeholders::_1, request)); + std::bind(controller_name_compare, std::placeholders::_1, controller_name)); if (found_it == rt_controller_list.end()) { RCLCPP_ERROR( get_logger(), "Got request to deactivate controller '%s' but it is not in the realtime controller list", - request.c_str()); + controller_name.c_str()); continue; } auto controller = found_it->c; @@ -1393,13 +1362,13 @@ void ControllerManager::deactivate_controllers( // if it is a chainable controller, make the reference interfaces unavailable on deactivation if (controller->is_chainable()) { - resource_manager_->make_controller_reference_interfaces_unavailable(request); + resource_manager_->make_controller_reference_interfaces_unavailable(controller_name); } if (new_state.id() != lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE) { RCLCPP_ERROR( get_logger(), "After deactivating, controller '%s' is in state '%s', expected Inactive", - request.c_str(), new_state.label().c_str()); + controller_name.c_str(), new_state.label().c_str()); } } } @@ -1411,18 +1380,18 @@ void ControllerManager::switch_chained_mode( std::vector & rt_controller_list = rt_controllers_wrapper_.update_and_get_used_by_rt_list(); - for (const auto & request : chained_mode_switch_list) + for (const auto & controller_name : chained_mode_switch_list) { auto found_it = std::find_if( rt_controller_list.begin(), rt_controller_list.end(), - std::bind(controller_name_compare, std::placeholders::_1, request)); + std::bind(controller_name_compare, std::placeholders::_1, controller_name)); if (found_it == rt_controller_list.end()) { RCLCPP_FATAL( get_logger(), "Got request to turn %s chained mode for controller '%s', but controller is not in the " "realtime controller list. (This should never happen!)", - (to_chained_mode ? "ON" : "OFF"), request.c_str()); + (to_chained_mode ? "ON" : "OFF"), controller_name.c_str()); continue; } auto controller = found_it->c; @@ -1430,7 +1399,7 @@ void ControllerManager::switch_chained_mode( { // if it is a chainable controller, make the reference interfaces available on preactivation // (This is needed when you activate a couple of chainable controller altogether) - resource_manager_->make_controller_reference_interfaces_available(request); + resource_manager_->make_controller_reference_interfaces_available(controller_name); if (!controller->set_chained_mode(to_chained_mode)) { RCLCPP_ERROR( @@ -1439,7 +1408,7 @@ void ControllerManager::switch_chained_mode( "it! The control will probably not work as expected. Try to restart all controllers. " "If " "the error persist check controllers' individual configuration.", - (to_chained_mode ? "ON" : "OFF"), request.c_str()); + (to_chained_mode ? "ON" : "OFF"), controller_name.c_str()); } } else @@ -1448,7 +1417,7 @@ void ControllerManager::switch_chained_mode( get_logger(), "Got request to turn %s chained mode for controller '%s', but this can not happen if " "controller is in '%s' state. (This should never happen!)", - (to_chained_mode ? "ON" : "OFF"), request.c_str(), + (to_chained_mode ? "ON" : "OFF"), controller_name.c_str(), hardware_interface::lifecycle_state_names::ACTIVE); } } @@ -1458,21 +1427,20 @@ void ControllerManager::activate_controllers( const std::vector & rt_controller_list, const std::vector controllers_to_activate) { - for (const auto & request : controllers_to_activate) + for (const auto & controller_name : controllers_to_activate) { auto found_it = std::find_if( rt_controller_list.begin(), rt_controller_list.end(), - std::bind(controller_name_compare, std::placeholders::_1, request)); + std::bind(controller_name_compare, std::placeholders::_1, controller_name)); if (found_it == rt_controller_list.end()) { RCLCPP_ERROR( get_logger(), "Got request to activate controller '%s' but it is not in the realtime controller list", - request.c_str()); + controller_name.c_str()); continue; } auto controller = found_it->c; - auto controller_name = found_it->info.name; // reset the next update cycle time for newly activated controllers *found_it->next_update_cycle_time = rclcpp::Time(0, 0, this->get_node_clock_interface()->get_clock()->get_clock_type()); @@ -1501,7 +1469,7 @@ void ControllerManager::activate_controllers( RCLCPP_ERROR( get_logger(), "Resource conflict for controller '%s'. Command interface '%s' is already claimed.", - request.c_str(), command_interface.c_str()); + controller_name.c_str(), command_interface.c_str()); assignment_successful = false; break; } @@ -1511,7 +1479,8 @@ void ControllerManager::activate_controllers( } catch (const std::exception & e) { - RCLCPP_ERROR(get_logger(), "Can't activate controller '%s': %s", request.c_str(), e.what()); + RCLCPP_ERROR( + get_logger(), "Can't activate controller '%s': %s", controller_name.c_str(), e.what()); assignment_successful = false; break; } @@ -1545,7 +1514,8 @@ void ControllerManager::activate_controllers( } catch (const std::exception & e) { - RCLCPP_ERROR(get_logger(), "Can't activate controller '%s': %s", request.c_str(), e.what()); + RCLCPP_ERROR( + get_logger(), "Can't activate controller '%s': %s", controller_name.c_str(), e.what()); assignment_successful = false; break; } @@ -1571,7 +1541,7 @@ void ControllerManager::activate_controllers( // if it is a chainable controller, make the reference interfaces available on activation if (controller->is_chainable()) { - resource_manager_->make_controller_reference_interfaces_available(request); + resource_manager_->make_controller_reference_interfaces_available(controller_name); } if (controller->is_async()) @@ -1579,8 +1549,6 @@ void ControllerManager::activate_controllers( async_controller_threads_.at(controller_name)->activate(); } } - // All controllers activated, switching done - switch_params_.do_switch = false; } void ControllerManager::activate_controllers_asap( @@ -2037,6 +2005,38 @@ void ControllerManager::read(const rclcpp::Time & time, const rclcpp::Duration & } } +void ControllerManager::manage_switch() +{ + // Ask hardware interfaces to change mode + if (!resource_manager_->perform_command_mode_switch( + activate_command_interface_request_, deactivate_command_interface_request_)) + { + RCLCPP_ERROR(get_logger(), "Error while performing mode switch."); + } + + std::vector & rt_controller_list = + rt_controllers_wrapper_.update_and_get_used_by_rt_list(); + + deactivate_controllers(rt_controller_list, deactivate_request_); + + switch_chained_mode(to_chained_mode_request_, true); + switch_chained_mode(from_chained_mode_request_, false); + + // activate controllers once the switch is fully complete + if (!switch_params_.activate_asap) + { + activate_controllers(rt_controller_list, activate_request_); + } + else + { + // activate controllers as soon as their required joints are done switching + activate_controllers_asap(rt_controller_list, activate_request_); + } + + // All controllers switched --> switching done + switch_params_.do_switch = false; +} + controller_interface::return_type ControllerManager::update( const rclcpp::Time & time, const rclcpp::Duration & period) { From 6dcd85130a4d97a4281dccc716185b4c4d0aa863 Mon Sep 17 00:00:00 2001 From: Bence Magyar Date: Sat, 20 Jan 2024 14:29:51 +0000 Subject: [PATCH 4/7] Update changelogs --- controller_interface/CHANGELOG.rst | 5 +++++ controller_manager/CHANGELOG.rst | 13 +++++++++++++ controller_manager_msgs/CHANGELOG.rst | 3 +++ hardware_interface/CHANGELOG.rst | 13 +++++++++++++ joint_limits/CHANGELOG.rst | 3 +++ ros2_control/CHANGELOG.rst | 3 +++ ros2_control_test_assets/CHANGELOG.rst | 5 +++++ ros2controlcli/CHANGELOG.rst | 5 +++++ rqt_controller_manager/CHANGELOG.rst | 5 +++++ transmission_interface/CHANGELOG.rst | 5 +++++ 10 files changed, 60 insertions(+) diff --git a/controller_interface/CHANGELOG.rst b/controller_interface/CHANGELOG.rst index 27db0c351d..1609f7191e 100644 --- a/controller_interface/CHANGELOG.rst +++ b/controller_interface/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package controller_interface ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* Issue 695: Changing 'namespace\_' variables to 'node_namespace' to make it more explicit (`#1239 `_) +* Contributors: bailaC + 4.2.0 (2023-12-12) ------------------ diff --git a/controller_manager/CHANGELOG.rst b/controller_manager/CHANGELOG.rst index 0ddc9cfe68..1c1215ce63 100644 --- a/controller_manager/CHANGELOG.rst +++ b/controller_manager/CHANGELOG.rst @@ -2,6 +2,19 @@ Changelog for package controller_manager ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* [CM] Better readability and maintainability: rename variables, move code to more logical places 🔧 (`#1227 `_) +* Initialize the controller manager services after initializing resource manager (`#1271 `_) +* Issue 695: Changing 'namespace\_' variables to 'node_namespace' to make it more explicit (`#1239 `_) +* Fix rqt controller manager crash on ros2_control restart (`#1273 `_) +* [docs] Remove joint_state_controller (`#1263 `_) +* controller_manager: Add space to string literal concatenation (`#1245 `_) +* Try using SCHED_FIFO on any kernel (`#1142 `_) +* [CM] Set chained controller interfaces 'available' for activated controllers (`#1098 `_) +* [CM] Increase tests timeout (`#1224 `_) +* Contributors: Christoph Fröhlich, Dr. Denis, Felix Exner (fexner), Sai Kishor Kothakota, Yasushi SHOJI, bailaC + 4.2.0 (2023-12-12) ------------------ * [CM] Linting if/else statements (`#1193 `_) diff --git a/controller_manager_msgs/CHANGELOG.rst b/controller_manager_msgs/CHANGELOG.rst index dc07947f33..05405c2238 100644 --- a/controller_manager_msgs/CHANGELOG.rst +++ b/controller_manager_msgs/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package controller_manager_msgs ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 4.2.0 (2023-12-12) ------------------ diff --git a/hardware_interface/CHANGELOG.rst b/hardware_interface/CHANGELOG.rst index 04e3996d01..7041075602 100644 --- a/hardware_interface/CHANGELOG.rst +++ b/hardware_interface/CHANGELOG.rst @@ -2,6 +2,19 @@ Changelog for package hardware_interface ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* [RM] Fix crash for missing urdf in resource manager (`#1301 `_) +* Add additional checks for non existing and not available interfaces. (`#1218 `_) +* Adding backward compatibility for string-to-double conversion (`#1284 `_) +* [Doc] Make interface comments clearer in the doc strings. (`#1288 `_) +* Fix return of ERROR and calls of cleanup when system is unconfigured of finalized (`#1279 `_) +* fix the multiple definitions of lexical casts methods (`#1281 `_) +* [ResourceManager] adds test for uninitialized hardware (`#1243 `_) +* Use portable version for string-to-double conversion (`#1257 `_) +* Fix typo in docs (`#1219 `_) +* Contributors: Christoph Fröhlich, Dr. Denis, Maximilian Schik, Sai Kishor Kothakota, Stephanie Eng, bailaC + 4.2.0 (2023-12-12) ------------------ diff --git a/joint_limits/CHANGELOG.rst b/joint_limits/CHANGELOG.rst index ab215f461d..ec8500efbf 100644 --- a/joint_limits/CHANGELOG.rst +++ b/joint_limits/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package joint_limits ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 4.2.0 (2023-12-12) ------------------ diff --git a/ros2_control/CHANGELOG.rst b/ros2_control/CHANGELOG.rst index 28a37f1134..4f6bcbeede 100644 --- a/ros2_control/CHANGELOG.rst +++ b/ros2_control/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package ros2_control ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 4.2.0 (2023-12-12) ------------------ diff --git a/ros2_control_test_assets/CHANGELOG.rst b/ros2_control_test_assets/CHANGELOG.rst index c9200cf182..a583872929 100644 --- a/ros2_control_test_assets/CHANGELOG.rst +++ b/ros2_control_test_assets/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package ros2_control_test_assets ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* [ResourceManager] adds test for uninitialized hardware (`#1243 `_) +* Contributors: Maximilian Schik + 4.2.0 (2023-12-12) ------------------ diff --git a/ros2controlcli/CHANGELOG.rst b/ros2controlcli/CHANGELOG.rst index 5c50a0b21a..2015bec86f 100644 --- a/ros2controlcli/CHANGELOG.rst +++ b/ros2controlcli/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package ros2controlcli ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* [docs] Remove joint_state_controller (`#1263 `_) +* Contributors: Christoph Fröhlich + 4.2.0 (2023-12-12) ------------------ diff --git a/rqt_controller_manager/CHANGELOG.rst b/rqt_controller_manager/CHANGELOG.rst index 959f47c6f7..d64d005757 100644 --- a/rqt_controller_manager/CHANGELOG.rst +++ b/rqt_controller_manager/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package rqt_controller_manager ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* Fix rqt controller manager crash on ros2_control restart (`#1273 `_) +* Contributors: Sai Kishor Kothakota + 4.2.0 (2023-12-12) ------------------ diff --git a/transmission_interface/CHANGELOG.rst b/transmission_interface/CHANGELOG.rst index 6b0cd5173b..3527403d8f 100644 --- a/transmission_interface/CHANGELOG.rst +++ b/transmission_interface/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package transmission_interface ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* Improve transmission tests (`#1238 `_) +* Contributors: Maximilian Schik + 4.2.0 (2023-12-12) ------------------ From 9bbbbb1bbc699adc4fd4e26bda5d9f45c863bb0e Mon Sep 17 00:00:00 2001 From: Bence Magyar Date: Sat, 20 Jan 2024 14:31:56 +0000 Subject: [PATCH 5/7] 4.3.0 --- controller_interface/CHANGELOG.rst | 4 ++-- controller_interface/package.xml | 2 +- controller_manager/CHANGELOG.rst | 4 ++-- controller_manager/package.xml | 2 +- controller_manager_msgs/CHANGELOG.rst | 4 ++-- controller_manager_msgs/package.xml | 2 +- hardware_interface/CHANGELOG.rst | 4 ++-- hardware_interface/package.xml | 2 +- joint_limits/CHANGELOG.rst | 4 ++-- joint_limits/package.xml | 2 +- ros2_control/CHANGELOG.rst | 4 ++-- ros2_control/package.xml | 2 +- ros2_control_test_assets/CHANGELOG.rst | 4 ++-- ros2_control_test_assets/package.xml | 2 +- ros2controlcli/CHANGELOG.rst | 4 ++-- ros2controlcli/package.xml | 2 +- ros2controlcli/setup.py | 2 +- rqt_controller_manager/CHANGELOG.rst | 4 ++-- rqt_controller_manager/package.xml | 2 +- rqt_controller_manager/setup.py | 2 +- transmission_interface/CHANGELOG.rst | 4 ++-- transmission_interface/package.xml | 2 +- 22 files changed, 32 insertions(+), 32 deletions(-) diff --git a/controller_interface/CHANGELOG.rst b/controller_interface/CHANGELOG.rst index 1609f7191e..d2265d1442 100644 --- a/controller_interface/CHANGELOG.rst +++ b/controller_interface/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package controller_interface ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +4.3.0 (2024-01-20) +------------------ * Issue 695: Changing 'namespace\_' variables to 'node_namespace' to make it more explicit (`#1239 `_) * Contributors: bailaC diff --git a/controller_interface/package.xml b/controller_interface/package.xml index 2d0b13727b..4d1911123a 100644 --- a/controller_interface/package.xml +++ b/controller_interface/package.xml @@ -2,7 +2,7 @@ controller_interface - 4.2.0 + 4.3.0 Description of controller_interface Bence Magyar Denis Štogl diff --git a/controller_manager/CHANGELOG.rst b/controller_manager/CHANGELOG.rst index 1c1215ce63..3699d3ec94 100644 --- a/controller_manager/CHANGELOG.rst +++ b/controller_manager/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package controller_manager ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +4.3.0 (2024-01-20) +------------------ * [CM] Better readability and maintainability: rename variables, move code to more logical places 🔧 (`#1227 `_) * Initialize the controller manager services after initializing resource manager (`#1271 `_) * Issue 695: Changing 'namespace\_' variables to 'node_namespace' to make it more explicit (`#1239 `_) diff --git a/controller_manager/package.xml b/controller_manager/package.xml index 7be9aac597..33e0004e78 100644 --- a/controller_manager/package.xml +++ b/controller_manager/package.xml @@ -2,7 +2,7 @@ controller_manager - 4.2.0 + 4.3.0 Description of controller_manager Bence Magyar Denis Štogl diff --git a/controller_manager_msgs/CHANGELOG.rst b/controller_manager_msgs/CHANGELOG.rst index 05405c2238..6ebfcfd842 100644 --- a/controller_manager_msgs/CHANGELOG.rst +++ b/controller_manager_msgs/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package controller_manager_msgs ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +4.3.0 (2024-01-20) +------------------ 4.2.0 (2023-12-12) ------------------ diff --git a/controller_manager_msgs/package.xml b/controller_manager_msgs/package.xml index 7ef4c5d9e8..5f8aedc8cf 100644 --- a/controller_manager_msgs/package.xml +++ b/controller_manager_msgs/package.xml @@ -2,7 +2,7 @@ controller_manager_msgs - 4.2.0 + 4.3.0 Messages and services for the controller manager. Bence Magyar Denis Štogl diff --git a/hardware_interface/CHANGELOG.rst b/hardware_interface/CHANGELOG.rst index 7041075602..820c2c793f 100644 --- a/hardware_interface/CHANGELOG.rst +++ b/hardware_interface/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package hardware_interface ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +4.3.0 (2024-01-20) +------------------ * [RM] Fix crash for missing urdf in resource manager (`#1301 `_) * Add additional checks for non existing and not available interfaces. (`#1218 `_) * Adding backward compatibility for string-to-double conversion (`#1284 `_) diff --git a/hardware_interface/package.xml b/hardware_interface/package.xml index b3685a7ee2..13db76cbe4 100644 --- a/hardware_interface/package.xml +++ b/hardware_interface/package.xml @@ -1,7 +1,7 @@ hardware_interface - 4.2.0 + 4.3.0 ros2_control hardware interface Bence Magyar Denis Štogl diff --git a/joint_limits/CHANGELOG.rst b/joint_limits/CHANGELOG.rst index ec8500efbf..1df9702430 100644 --- a/joint_limits/CHANGELOG.rst +++ b/joint_limits/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package joint_limits ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +4.3.0 (2024-01-20) +------------------ 4.2.0 (2023-12-12) ------------------ diff --git a/joint_limits/package.xml b/joint_limits/package.xml index e1832fa776..8a3472aa1d 100644 --- a/joint_limits/package.xml +++ b/joint_limits/package.xml @@ -1,6 +1,6 @@ joint_limits - 4.2.0 + 4.3.0 Interfaces for handling of joint limits for controllers or hardware. Bence Magyar diff --git a/ros2_control/CHANGELOG.rst b/ros2_control/CHANGELOG.rst index 4f6bcbeede..2f21f0bab4 100644 --- a/ros2_control/CHANGELOG.rst +++ b/ros2_control/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package ros2_control ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +4.3.0 (2024-01-20) +------------------ 4.2.0 (2023-12-12) ------------------ diff --git a/ros2_control/package.xml b/ros2_control/package.xml index e8413239c7..9c33c40d08 100644 --- a/ros2_control/package.xml +++ b/ros2_control/package.xml @@ -1,7 +1,7 @@ ros2_control - 4.2.0 + 4.3.0 Metapackage for ROS2 control related packages Bence Magyar Denis Štogl diff --git a/ros2_control_test_assets/CHANGELOG.rst b/ros2_control_test_assets/CHANGELOG.rst index a583872929..3d29c094d1 100644 --- a/ros2_control_test_assets/CHANGELOG.rst +++ b/ros2_control_test_assets/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package ros2_control_test_assets ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +4.3.0 (2024-01-20) +------------------ * [ResourceManager] adds test for uninitialized hardware (`#1243 `_) * Contributors: Maximilian Schik diff --git a/ros2_control_test_assets/package.xml b/ros2_control_test_assets/package.xml index 6d5e8ac9d9..78e93658ab 100644 --- a/ros2_control_test_assets/package.xml +++ b/ros2_control_test_assets/package.xml @@ -2,7 +2,7 @@ ros2_control_test_assets - 4.2.0 + 4.3.0 The package provides shared test resources for ros2_control stack Bence Magyar diff --git a/ros2controlcli/CHANGELOG.rst b/ros2controlcli/CHANGELOG.rst index 2015bec86f..7ddf9c472a 100644 --- a/ros2controlcli/CHANGELOG.rst +++ b/ros2controlcli/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package ros2controlcli ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +4.3.0 (2024-01-20) +------------------ * [docs] Remove joint_state_controller (`#1263 `_) * Contributors: Christoph Fröhlich diff --git a/ros2controlcli/package.xml b/ros2controlcli/package.xml index 8aa2b528a6..3b1b82de70 100644 --- a/ros2controlcli/package.xml +++ b/ros2controlcli/package.xml @@ -2,7 +2,7 @@ ros2controlcli - 4.2.0 + 4.3.0 The ROS 2 command line tools for ROS2 Control. diff --git a/ros2controlcli/setup.py b/ros2controlcli/setup.py index ff1df137ed..b3c870e6e0 100644 --- a/ros2controlcli/setup.py +++ b/ros2controlcli/setup.py @@ -19,7 +19,7 @@ setup( name=package_name, - version="4.2.0", + version="4.3.0", packages=find_packages(exclude=["test"]), data_files=[ ("share/" + package_name, ["package.xml"]), diff --git a/rqt_controller_manager/CHANGELOG.rst b/rqt_controller_manager/CHANGELOG.rst index d64d005757..2786604992 100644 --- a/rqt_controller_manager/CHANGELOG.rst +++ b/rqt_controller_manager/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package rqt_controller_manager ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +4.3.0 (2024-01-20) +------------------ * Fix rqt controller manager crash on ros2_control restart (`#1273 `_) * Contributors: Sai Kishor Kothakota diff --git a/rqt_controller_manager/package.xml b/rqt_controller_manager/package.xml index e08545b41f..1e7c0683e7 100644 --- a/rqt_controller_manager/package.xml +++ b/rqt_controller_manager/package.xml @@ -2,7 +2,7 @@ rqt_controller_manager - 4.2.0 + 4.3.0 Graphical frontend for interacting with the controller manager. Bence Magyar Denis Štogl diff --git a/rqt_controller_manager/setup.py b/rqt_controller_manager/setup.py index 9e9d9f763d..05d95df62b 100644 --- a/rqt_controller_manager/setup.py +++ b/rqt_controller_manager/setup.py @@ -6,7 +6,7 @@ setup( name=package_name, - version="4.2.0", + version="4.3.0", packages=[package_name], data_files=[ ("share/ament_index/resource_index/packages", ["resource/" + package_name]), diff --git a/transmission_interface/CHANGELOG.rst b/transmission_interface/CHANGELOG.rst index 3527403d8f..312c187b3e 100644 --- a/transmission_interface/CHANGELOG.rst +++ b/transmission_interface/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package transmission_interface ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +4.3.0 (2024-01-20) +------------------ * Improve transmission tests (`#1238 `_) * Contributors: Maximilian Schik diff --git a/transmission_interface/package.xml b/transmission_interface/package.xml index 17a63cca0b..55ad994599 100644 --- a/transmission_interface/package.xml +++ b/transmission_interface/package.xml @@ -2,7 +2,7 @@ transmission_interface - 4.2.0 + 4.3.0 transmission_interface contains data structures for representing mechanical transmissions, methods for propagating values between actuator and joint spaces and tooling to support this. Bence Magyar Denis Štogl From 6f312e756765ed698c7913e254387e54ec263d0b Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Christoph=20Fr=C3=B6hlich?= Date: Mon, 22 Jan 2024 13:33:16 +0100 Subject: [PATCH 6/7] [CI] Add ABI check for rolling (#1300) --- .github/workflows/humble-abi-compatibility.yml | 4 +--- .github/workflows/iron-abi-compatibility.yml | 4 +--- .../workflows/rolling-abi-compatibility.yml | 18 ++++++++++++++++++ 3 files changed, 20 insertions(+), 6 deletions(-) create mode 100644 .github/workflows/rolling-abi-compatibility.yml diff --git a/.github/workflows/humble-abi-compatibility.yml b/.github/workflows/humble-abi-compatibility.yml index 708ea5c1f4..5c288fabfb 100644 --- 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 }}#${{ github.base_ref }} NOT_TEST_BUILD: true diff --git a/.github/workflows/iron-abi-compatibility.yml b/.github/workflows/iron-abi-compatibility.yml index 20d93f5af1..ab6642625f 100644 --- a/.github/workflows/iron-abi-compatibility.yml +++ b/.github/workflows/iron-abi-compatibility.yml @@ -1,8 +1,6 @@ name: Iron - ABI Compatibility Check on: workflow_dispatch: - branches: - - iron pull_request: branches: - iron @@ -15,6 +13,6 @@ jobs: - uses: ros-industrial/industrial_ci@master env: ROS_DISTRO: iron - ROS_REPO: main + ROS_REPO: testing ABICHECK_URL: github:${{ github.repository }}#${{ github.base_ref }} NOT_TEST_BUILD: true diff --git a/.github/workflows/rolling-abi-compatibility.yml b/.github/workflows/rolling-abi-compatibility.yml new file mode 100644 index 0000000000..73055ef3e5 --- /dev/null +++ b/.github/workflows/rolling-abi-compatibility.yml @@ -0,0 +1,18 @@ +name: Rolling - ABI Compatibility Check +on: + workflow_dispatch: + pull_request: + branches: + - master + +jobs: + abi_check: + runs-on: ubuntu-latest + steps: + - uses: actions/checkout@v4 + - uses: ros-industrial/industrial_ci@master + env: + ROS_DISTRO: rolling + ROS_REPO: testing + ABICHECK_URL: github:${{ github.repository }}#${{ github.base_ref }} + NOT_TEST_BUILD: true From 51ff9ce964fe24de79236786dc5e2115b0309c25 Mon Sep 17 00:00:00 2001 From: "dependabot[bot]" <49699333+dependabot[bot]@users.noreply.github.com> Date: Mon, 22 Jan 2024 13:33:56 +0100 Subject: [PATCH 7/7] Bump actions/upload-artifact from 4.1.0 to 4.2.0 (#1321) Bumps [actions/upload-artifact](https://github.com/actions/upload-artifact) from 4.1.0 to 4.2.0. - [Release notes](https://github.com/actions/upload-artifact/releases) - [Commits](https://github.com/actions/upload-artifact/compare/v4.1.0...v4.2.0) --- updated-dependencies: - dependency-name: actions/upload-artifact dependency-type: direct:production update-type: version-update:semver-minor ... Signed-off-by: dependabot[bot] Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com> --- .github/workflows/ci-coverage-build.yml | 2 +- .github/workflows/reusable-ros-tooling-source-build.yml | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/.github/workflows/ci-coverage-build.yml b/.github/workflows/ci-coverage-build.yml index 6edb1707b1..ae2a1b9e61 100644 --- a/.github/workflows/ci-coverage-build.yml +++ b/.github/workflows/ci-coverage-build.yml @@ -46,7 +46,7 @@ jobs: file: ros_ws/lcov/total_coverage.info flags: unittests name: codecov-umbrella - - uses: actions/upload-artifact@v4.1.0 + - uses: actions/upload-artifact@v4.2.0 with: name: colcon-logs-ubuntu-22.04-coverage-rolling path: ros_ws/log diff --git a/.github/workflows/reusable-ros-tooling-source-build.yml b/.github/workflows/reusable-ros-tooling-source-build.yml index 9845df50e1..050005a648 100644 --- a/.github/workflows/reusable-ros-tooling-source-build.yml +++ b/.github/workflows/reusable-ros-tooling-source-build.yml @@ -50,7 +50,7 @@ jobs: https://raw.githubusercontent.com/ros2/ros2/${{ inputs.ros2_repo_branch }}/ros2.repos https://raw.githubusercontent.com/${{ github.repository }}/${{ github.sha }}/ros2_control.${{ inputs.ros_distro }}.repos?token=${{ secrets.GITHUB_TOKEN }} colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml - - uses: actions/upload-artifact@v4.1.0 + - uses: actions/upload-artifact@v4.2.0 with: name: colcon-logs-ubuntu-22.04 path: ros_ws/log