Merge branch 'master' into add-pid-controller

ros-controls · May 4, 2023 · 0850668 · 0850668
2 parents 12cd6b6 + 6793e02
commit 0850668
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diff --git a/...REQUEST_TEMPLATE/pull_request_template.md → .github/pull_request_template.md b/...REQUEST_TEMPLATE/pull_request_template.md → .github/pull_request_template.md
@@ -1,13 +1,3 @@
-
----
-name: Pull request
-about: Create a pull request
-title: ''
-labels: ''
-assignees: ''
-
----
-
 Contributions via pull requests are much appreciated. Before sending us a pull request, please ensure that:
 
 1. Limited scope. Your PR should do one thing or one set of things. Avoid adding “random fixes” to PRs. Put those on separate PRs.

diff --git a/.github/reviewer-lottery.yml b/.github/reviewer-lottery.yml
@@ -16,13 +16,16 @@ groups:
       - rosterloh
       - progtologist
       - arne48
+      - christophfroehlich
       - DasRoteSkelett
-      - Serafadam
+      - sgmurray
       - harderthan
       - jaron-l
       - malapatiravi
-      - homalozoa
       - erickisos
+      - sachinkum0009
+      - qiayuanliao
+      - homalozoa
       - anfemosa
       - jackcenter
       - VX792
@@ -31,6 +34,7 @@ groups:
       - aprotyas
       - peterdavidfagan
       - duringhof
+      - VanshGehlot
       - bijoua29
-      - lm2292
+      - LukasMacha97
       - mcbed
diff --git a/.github/workflows/ci-coverage-build.yml b/.github/workflows/ci-coverage-build.yml
@@ -37,7 +37,7 @@ jobs:
               }
             }
           colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
-      - uses: codecov/[email protected].2
+      - uses: codecov/[email protected].3
         with:
           file: ros_ws/lcov/total_coverage.info
           flags: unittests

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@v3
-    - uses: actions/setup-python@v4.5.0
+    - uses: actions/setup-python@v4.6.0
       with:
         python-version: '3.10'
     - name: Install system hooks

diff --git a/.github/workflows/ci-ros-lint.yml b/.github/workflows/ci-ros-lint.yml
@@ -41,8 +41,8 @@ jobs:
           linter: [cpplint]
     steps:
     - uses: actions/checkout@v3
-    - uses: ros-tooling/setup-ros@0.6.1
-    - uses: ros-tooling/action-ros-lint@v0.1
+    - uses: ros-tooling/setup-ros@master
+    - uses: ros-tooling/action-ros-lint@master
       with:
         distribution: rolling
         linter: cpplint

diff --git a/admittance_controller/CHANGELOG.rst b/admittance_controller/CHANGELOG.rst
@@ -2,6 +2,15 @@
 Changelog for package admittance_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.7.0 (2023-05-02)
+------------------
+
+3.6.0 (2023-04-29)
+------------------
+* Renovate load controller tests (`#569 <https://github.com/ros-controls/ros2_controllers/issues/569>`_)
+* Fix docs format (`#589 <https://github.com/ros-controls/ros2_controllers/issues/589>`_)
+* Contributors: Bence Magyar, Christoph Fröhlich
+
 3.5.0 (2023-04-14)
 ------------------
 * Misplaced param init in admittance_controller (`#547 <https://github.com/ros-controls/ros2_controllers/issues/547>`_)

diff --git a/admittance_controller/doc/userdoc.rst b/admittance_controller/doc/userdoc.rst
@@ -1,4 +1,4 @@
-.. _joint_trajectory_controller_userdoc:
+.. _addmittance_controller_userdoc:
 
 Admittance Controller
 ======================
@@ -8,9 +8,6 @@ The controller implements ``ChainedControllerInterface``, so it is possible to a
 
 The controller requires an external kinematics plugin to function. The `kinematics_interface <https://github.com/ros-controls/kinematics_interface>`_ repository provides an interface and an implementation that the admittance controller can use.
 
-Parameters:
-
-
 
 ROS2 interface of the controller
 ---------------------------------

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>3.5.0</version>
+  <version>3.7.0</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_load_admittance_controller.cpp b/admittance_controller/test/test_load_admittance_controller.cpp
@@ -33,8 +33,9 @@ TEST(TestLoadAdmittanceController, load_controller)
       ros2_control_test_assets::minimal_robot_urdf),
     executor, "test_controller_manager");
 
-  ASSERT_NO_THROW(
-    cm.load_controller("load_admittance_controller", "admittance_controller/AdmittanceController"));
+  ASSERT_EQ(
+    cm.load_controller("load_admittance_controller", "admittance_controller/AdmittanceController"),
+    nullptr);
 }
 
 int main(int argc, char ** argv)

diff --git a/diff_drive_controller/CHANGELOG.rst b/diff_drive_controller/CHANGELOG.rst
@@ -2,6 +2,17 @@
 Changelog for package diff_drive_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.7.0 (2023-05-02)
+------------------
+* Fix wrong publish timestamp initialization (`#585 <https://github.com/ros-controls/ros2_controllers/issues/585>`_)
+* Contributors: Noel Jiménez García
+
+3.6.0 (2023-04-29)
+------------------
+* Renovate load controller tests (`#569 <https://github.com/ros-controls/ros2_controllers/issues/569>`_)
+* adjusted open_loop param description in diff_drive_controller_parameter.yaml (`#570 <https://github.com/ros-controls/ros2_controllers/issues/570>`_)
+* Contributors: Bence Magyar, muritane
+
 3.5.0 (2023-04-14)
 ------------------
 

diff --git a/diff_drive_controller/include/diff_drive_controller/diff_drive_controller.hpp b/diff_drive_controller/include/diff_drive_controller/diff_drive_controller.hpp
@@ -148,7 +148,7 @@ class DiffDriveController : public controller_interface::ControllerInterface
   // publish rate limiter
   double publish_rate_ = 50.0;
   rclcpp::Duration publish_period_ = rclcpp::Duration::from_nanoseconds(0);
-  rclcpp::Time previous_publish_timestamp_{0};
+  rclcpp::Time previous_publish_timestamp_{0, 0, RCL_CLOCK_UNINITIALIZED};
 
   bool is_halted = false;
   bool use_stamped_vel_ = true;

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>3.5.0</version>
+  <version>3.7.0</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/diff_drive_controller/src/diff_drive_controller.cpp b/diff_drive_controller/src/diff_drive_controller.cpp
@@ -185,7 +185,23 @@ controller_interface::return_type DiffDriveController::update(
   tf2::Quaternion orientation;
   orientation.setRPY(0.0, 0.0, odometry_.getHeading());
 
-  if (previous_publish_timestamp_ + publish_period_ < time)
+  bool should_publish = false;
+  try
+  {
+    if (previous_publish_timestamp_ + publish_period_ < time)
+    {
+      previous_publish_timestamp_ += publish_period_;
+      should_publish = true;
+    }
+  }
+  catch (const std::runtime_error)
+  {
+    // Handle exceptions when the time source changes and initialize publish timestamp
+    previous_publish_timestamp_ = time;
+    should_publish = true;
+  }
+
+  if (should_publish)
   {
     previous_publish_timestamp_ += publish_period_;
 
@@ -400,7 +416,6 @@ controller_interface::CallbackReturn DiffDriveController::on_configure(
   // limit the publication on the topics /odom and /tf
   publish_rate_ = get_node()->get_parameter("publish_rate").as_double();
   publish_period_ = rclcpp::Duration::from_seconds(1.0 / publish_rate_);
-  previous_publish_timestamp_ = get_node()->get_clock()->now();
 
   // initialize odom values zeros
   odometry_message.twist =

diff --git a/diff_drive_controller/test/test_load_diff_drive_controller.cpp b/diff_drive_controller/test/test_load_diff_drive_controller.cpp
@@ -30,8 +30,9 @@ TEST(TestLoadDiffDriveController, load_controller)
     std::make_unique<hardware_interface::ResourceManager>(ros2_control_test_assets::diffbot_urdf),
     executor, "test_controller_manager");
 
-  ASSERT_NO_THROW(
-    cm.load_controller("test_diff_drive_controller", "diff_drive_controller/DiffDriveController"));
+  ASSERT_NE(
+    cm.load_controller("test_diff_drive_controller", "diff_drive_controller/DiffDriveController"),
+    nullptr);
 
   rclcpp::shutdown();
 }
diff --git a/doc/controllers_index.rst b/doc/controllers_index.rst
@@ -41,14 +41,14 @@ Available Controllers
    :titlesonly:
 
    Admittance Controller <../admittance_controller/doc/userdoc.rst>
-   Tricycle Controller <../tricycle_controller/doc/userdoc.rst>
    Differential Drive Controller <../diff_drive_controller/doc/userdoc.rst>
+   Effort Controllers <../effort_controllers/doc/userdoc.rst>
    Forward Command Controller <../forward_command_controller/doc/userdoc.rst>
    Joint Trajectory Controller <../joint_trajectory_controller/doc/userdoc.rst>
    PID Controller <../pid_controller/doc/userdoc.rst>
    Position Controllers <../position_controllers/doc/userdoc.rst>
+   Tricycle Controller <../tricycle_controller/doc/userdoc.rst>
    Velocity Controllers <../velocity_controllers/doc/userdoc.rst>
-   Effort Controllers <../effort_controllers/doc/userdoc.rst>
 
 
 Available Broadcasters

diff --git a/effort_controllers/CHANGELOG.rst b/effort_controllers/CHANGELOG.rst
@@ -2,6 +2,14 @@
 Changelog for package effort_controllers
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.7.0 (2023-05-02)
+------------------
+
+3.6.0 (2023-04-29)
+------------------
+* Renovate load controller tests (`#569 <https://github.com/ros-controls/ros2_controllers/issues/569>`_)
+* Contributors: Bence Magyar
+
 3.5.0 (2023-04-14)
 ------------------
 

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>3.5.0</version>
+  <version>3.7.0</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/effort_controllers/test/test_load_joint_group_effort_controller.cpp b/effort_controllers/test/test_load_joint_group_effort_controller.cpp
@@ -32,8 +32,10 @@ TEST(TestLoadJointGroupVelocityController, load_controller)
       ros2_control_test_assets::minimal_robot_urdf),
     executor, "test_controller_manager");
 
-  ASSERT_NO_THROW(cm.load_controller(
-    "test_joint_group_effort_controller", "effort_controllers/JointGroupEffortController"));
+  ASSERT_NE(
+    cm.load_controller(
+      "test_joint_group_effort_controller", "effort_controllers/JointGroupEffortController"),
+    nullptr);
 
   rclcpp::shutdown();
 }
diff --git a/force_torque_sensor_broadcaster/CHANGELOG.rst b/force_torque_sensor_broadcaster/CHANGELOG.rst
@@ -2,6 +2,14 @@
 Changelog for package force_torque_sensor_broadcaster
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.7.0 (2023-05-02)
+------------------
+
+3.6.0 (2023-04-29)
+------------------
+* Renovate load controller tests (`#569 <https://github.com/ros-controls/ros2_controllers/issues/569>`_)
+* Contributors: Bence Magyar
+
 3.5.0 (2023-04-14)
 ------------------
 

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>3.5.0</version>
+  <version>3.7.0</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/force_torque_sensor_broadcaster/test/test_load_force_torque_sensor_broadcaster.cpp b/force_torque_sensor_broadcaster/test/test_load_force_torque_sensor_broadcaster.cpp
@@ -38,9 +38,11 @@ TEST(TestLoadForceTorqueSensorBroadcaster, load_controller)
       ros2_control_test_assets::minimal_robot_urdf),
     executor, "test_controller_manager");
 
-  ASSERT_NO_THROW(cm.load_controller(
-    "test_force_torque_sensor_broadcaster",
-    "force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster"));
+  ASSERT_NE(
+    cm.load_controller(
+      "test_force_torque_sensor_broadcaster",
+      "force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster"),
+    nullptr);
 
   rclcpp::shutdown();
 }
diff --git a/forward_command_controller/CHANGELOG.rst b/forward_command_controller/CHANGELOG.rst
@@ -2,6 +2,15 @@
 Changelog for package forward_command_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.7.0 (2023-05-02)
+------------------
+
+3.6.0 (2023-04-29)
+------------------
+* Renovate load controller tests (`#569 <https://github.com/ros-controls/ros2_controllers/issues/569>`_)
+* Fix docs format (`#589 <https://github.com/ros-controls/ros2_controllers/issues/589>`_)
+* Contributors: Bence Magyar, Christoph Fröhlich
+
 3.5.0 (2023-04-14)
 ------------------
 

diff --git a/forward_command_controller/doc/userdoc.rst b/forward_command_controller/doc/userdoc.rst
@@ -5,9 +5,9 @@ forward_command_controller
 
 This is a base class implementing a feedforward controller. Specific implementations can be found in:
 
-- :ref:`position_controllers_userdoc`
-- :ref:`velocity_controllers_userdoc`
-- :ref:`effort_controllers_userdoc`
+* :ref:`position_controllers_userdoc`
+* :ref:`velocity_controllers_userdoc`
+* :ref:`effort_controllers_userdoc`
 
 Hardware interface type
 -----------------------

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>3.5.0</version>
+  <version>3.7.0</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/forward_command_controller/test/test_load_forward_command_controller.cpp b/forward_command_controller/test/test_load_forward_command_controller.cpp
@@ -34,8 +34,10 @@ TEST(TestLoadForwardCommandController, load_controller)
       ros2_control_test_assets::minimal_robot_urdf),
     executor, "test_controller_manager");
 
-  ASSERT_NO_THROW(cm.load_controller(
-    "test_forward_command_controller", "forward_command_controller/ForwardCommandController"));
+  ASSERT_NE(
+    cm.load_controller(
+      "test_forward_command_controller", "forward_command_controller/ForwardCommandController"),
+    nullptr);
 
   rclcpp::shutdown();
 }
diff --git a/forward_command_controller/test/test_load_multi_interface_forward_command_controller.cpp b/forward_command_controller/test/test_load_multi_interface_forward_command_controller.cpp
@@ -35,7 +35,9 @@ TEST(TestLoadMultiInterfaceForwardController, load_controller)
       ros2_control_test_assets::minimal_robot_urdf),
     executor, "test_controller_manager");
 
-  ASSERT_NO_THROW(cm.load_controller(
-    "test_forward_command_controller",
-    "forward_command_controller/MultiInterfaceForwardCommandController"));
+  ASSERT_NE(
+    cm.load_controller(
+      "test_forward_command_controller",
+      "forward_command_controller/MultiInterfaceForwardCommandController"),
+    nullptr);
 }
diff --git a/gripper_controllers/CHANGELOG.rst b/gripper_controllers/CHANGELOG.rst
@@ -2,6 +2,14 @@
 Changelog for package gripper_controllers
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.7.0 (2023-05-02)
+------------------
+
+3.6.0 (2023-04-29)
+------------------
+* Renovate load controller tests (`#569 <https://github.com/ros-controls/ros2_controllers/issues/569>`_)
+* Contributors: Bence Magyar
+
 3.5.0 (2023-04-14)
 ------------------
 * [Parameters] Use `gt_eq` instead of deprecated `lower_bounds` in validators (`#561 <https://github.com/ros-controls/ros2_controllers/issues/561>`_)

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>3.5.0</version>
+  <version>3.7.0</version>
   <description>The gripper_controllers package</description>
   <maintainer email="[email protected]">Bence Magyar</maintainer>