Merge branch 'master' into add-mecanum-drive-controller

.pre-commit-config.yaml

@@ -37,7 +37,7 @@ repos:
 
   # Python hooks
   - repo: https://github.com/asottile/pyupgrade
-    rev: v3.15.2
+    rev: v3.16.0
     hooks:
     -   id: pyupgrade
         args: [--py36-plus]
@@ -56,14 +56,14 @@ repos:
         args: ["--line-length=99"]
 
   - repo: https://github.com/pycqa/flake8
-    rev: 7.0.0
+    rev: 7.1.0
     hooks:
     - id: flake8
       args: ["--extend-ignore=E501"]
 
   # CPP hooks
   - repo: https://github.com/pre-commit/mirrors-clang-format
-    rev: v18.1.5
+    rev: v18.1.8
     hooks:
       - id: clang-format
         args: ['-fallback-style=none', '-i']
@@ -133,7 +133,7 @@ repos:
         exclude: CHANGELOG\.rst|\.(svg|pyc|drawio)$
 
   - repo: https://github.com/python-jsonschema/check-jsonschema
-    rev: 0.28.4
+    rev: 0.28.6
     hooks:
       - id: check-github-workflows
         args: ["--verbose"]

ackermann_steering_controller/CHANGELOG.rst

@@ -2,6 +2,28 @@
 Changelog for package ackermann_steering_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.12.0 (2024-07-23)
+-------------------
+* Add missing includes (`#1226 <https://github.com/ros-controls/ros2_controllers/issues/1226>`_)
+* Change the subscription timeout in the tests to 5ms (`#1219 <https://github.com/ros-controls/ros2_controllers/issues/1219>`_)
+* Unused header cleanup (`#1199 <https://github.com/ros-controls/ros2_controllers/issues/1199>`_)
+* Fix WaitSet issue in tests  (`#1206 <https://github.com/ros-controls/ros2_controllers/issues/1206>`_)
+* Fix parallel gripper controller CI (`#1202 <https://github.com/ros-controls/ros2_controllers/issues/1202>`_)
+* Contributors: Christoph Fröhlich, Henry Moore, Sai Kishor Kothakota
+
+4.11.0 (2024-07-09)
+-------------------
+* added changes corresponding to the logger and clock propagation in ResourceManager (`#1184 <https://github.com/ros-controls/ros2_controllers/issues/1184>`_)
+* Fix steering controllers library kinematics (`#1150 <https://github.com/ros-controls/ros2_controllers/issues/1150>`_)
+* Contributors: Christoph Fröhlich, Sai Kishor Kothakota
+
+4.10.0 (2024-07-01)
+-------------------
+* [Steering controllers library] Reference interfaces are body twist (`#1168 <https://github.com/ros-controls/ros2_controllers/issues/1168>`_)
+* Fix steering controllers library code documentation and naming (`#1149 <https://github.com/ros-controls/ros2_controllers/issues/1149>`_)
+* Remove unstamped twist subscribers + parameters (`#1151 <https://github.com/ros-controls/ros2_controllers/issues/1151>`_)
+* Contributors: Christoph Fröhlich, Sai Kishor Kothakota, Quique Llorente
+
 4.9.0 (2024-06-05)
 ------------------
 

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>4.9.0</version>
+  <version>4.12.0</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>

ackermann_steering_controller/test/test_ackermann_steering_controller.cpp

@@ -14,10 +14,8 @@
 
 #include "test_ackermann_steering_controller.hpp"
 
-#include <limits>
 #include <memory>
 #include <string>
-#include <utility>
 #include <vector>
 
 class AckermannSteeringControllerTest
@@ -84,7 +82,7 @@ TEST_F(AckermannSteeringControllerTest, check_exported_interfaces)
     controller_->front_wheels_state_names_[1] + "/" + steering_interface_name_);
   EXPECT_EQ(state_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL);
 
-  // check ref itfsTIME
+  // check ref itfs
   auto reference_interfaces = controller_->export_reference_interfaces();
   ASSERT_EQ(reference_interfaces.size(), joint_reference_interfaces_.size());
   for (size_t i = 0; i < joint_reference_interfaces_.size(); ++i)
@@ -173,6 +171,7 @@ TEST_F(AckermannSteeringControllerTest, test_update_logic)
     controller_->update(rclcpp::Time(0, 0, RCL_ROS_TIME), rclcpp::Duration::from_seconds(0.01)),
     controller_interface::return_type::OK);
 
+  // we test with open_loop=false, but steering angle was not updated (is zero) -> same commands
   EXPECT_NEAR(
     controller_->command_interfaces_[CMD_TRACTION_RIGHT_WHEEL].get_value(), 0.22222222222222224,
     COMMON_THRESHOLD);
@@ -211,8 +210,9 @@ TEST_F(AckermannSteeringControllerTest, test_update_logic_chained)
   ASSERT_EQ(
     controller_->update(rclcpp::Time(0, 0, RCL_ROS_TIME), rclcpp::Duration::from_seconds(0.01)),
     controller_interface::return_type::OK);
-  EXPECT_NEAR(
 
+  // we test with open_loop=false, but steering angle was not updated (is zero) -> same commands
+  EXPECT_NEAR(
     controller_->command_interfaces_[STATE_TRACTION_RIGHT_WHEEL].get_value(), 0.22222222222222224,
     COMMON_THRESHOLD);
   EXPECT_NEAR(
@@ -255,12 +255,13 @@ TEST_F(AckermannSteeringControllerTest, receive_message_and_publish_updated_stat
   EXPECT_EQ(msg.steering_angle_command[1], 4.4);
 
   publish_commands();
-  ASSERT_TRUE(controller_->wait_for_commands(executor));
+  controller_->wait_for_commands(executor);
 
   ASSERT_EQ(
     controller_->update(rclcpp::Time(0, 0, RCL_ROS_TIME), rclcpp::Duration::from_seconds(0.01)),
     controller_interface::return_type::OK);
 
+  // we test with open_loop=false, but steering angle was not updated (is zero) -> same commands
   EXPECT_NEAR(
     controller_->command_interfaces_[CMD_TRACTION_RIGHT_WHEEL].get_value(), 0.22222222222222224,
     COMMON_THRESHOLD);
@@ -276,6 +277,7 @@ TEST_F(AckermannSteeringControllerTest, receive_message_and_publish_updated_stat
 
   subscribe_and_get_messages(msg);
 
+  // we test with open_loop=false, but steering angle was not updated (is zero) -> same commands
   EXPECT_NEAR(
     msg.linear_velocity_command[CMD_TRACTION_RIGHT_WHEEL], 0.22222222222222224, COMMON_THRESHOLD);
   EXPECT_NEAR(

ackermann_steering_controller/test/test_ackermann_steering_controller.hpp

@@ -15,22 +15,20 @@
 #ifndef TEST_ACKERMANN_STEERING_CONTROLLER_HPP_
 #define TEST_ACKERMANN_STEERING_CONTROLLER_HPP_
 
+#include <gmock/gmock.h>
+
 #include <chrono>
-#include <limits>
 #include <memory>
 #include <string>
-#include <tuple>
 #include <utility>
 #include <vector>
 
 #include "ackermann_steering_controller/ackermann_steering_controller.hpp"
-#include "gmock/gmock.h"
 #include "hardware_interface/loaned_command_interface.hpp"
 #include "hardware_interface/loaned_state_interface.hpp"
-#include "hardware_interface/types/hardware_interface_return_values.hpp"
-#include "rclcpp/parameter_value.hpp"
+#include "rclcpp/executor.hpp"
+#include "rclcpp/executors.hpp"
 #include "rclcpp/time.hpp"
-#include "rclcpp/utilities.hpp"
 #include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp"
 
 using ControllerStateMsg =
@@ -76,14 +74,7 @@ class TestableAckermannSteeringController
   controller_interface::CallbackReturn on_configure(
     const rclcpp_lifecycle::State & previous_state) override
   {
-    auto ret =
-      ackermann_steering_controller::AckermannSteeringController::on_configure(previous_state);
-    // Only if on_configure is successful create subscription
-    if (ret == CallbackReturn::SUCCESS)
-    {
-      ref_subscriber_wait_set_.add_subscription(ref_subscriber_twist_);
-    }
-    return ret;
+    return ackermann_steering_controller::AckermannSteeringController::on_configure(previous_state);
   }
 
   controller_interface::CallbackReturn on_activate(
@@ -97,30 +88,25 @@ class TestableAckermannSteeringController
    * @brief wait_for_command blocks until a new ControllerReferenceMsg is received.
    * Requires that the executor is not spinned elsewhere between the
    *  message publication and the call to this function.
-   *
-   * @return true if new ControllerReferenceMsg msg was received, false if timeout.
    */
-  bool wait_for_command(
-    rclcpp::Executor & executor, rclcpp::WaitSet & subscriber_wait_set,
+  void wait_for_command(
+    rclcpp::Executor & executor,
     const std::chrono::milliseconds & timeout = std::chrono::milliseconds{500})
   {
-    bool success = subscriber_wait_set.wait(timeout).kind() == rclcpp::WaitResultKind::Ready;
-    if (success)
+    auto until = get_node()->get_clock()->now() + timeout;
+    while (get_node()->get_clock()->now() < until)
     {
       executor.spin_some();
+      std::this_thread::sleep_for(std::chrono::microseconds(10));
     }
-    return success;
   }
 
-  bool wait_for_commands(
+  void wait_for_commands(
     rclcpp::Executor & executor,
     const std::chrono::milliseconds & timeout = std::chrono::milliseconds{500})
   {
-    return wait_for_command(executor, ref_subscriber_wait_set_, timeout);
+    wait_for_command(executor, timeout);
   }
-
-private:
-  rclcpp::WaitSet ref_subscriber_wait_set_;
 };
 
 // We are using template class here for easier reuse of Fixture in specializations of controllers
@@ -214,36 +200,43 @@ class AckermannSteeringControllerFixture : public ::testing::Test
   void subscribe_and_get_messages(ControllerStateMsg & msg)
   {
     // create a new subscriber
+    ControllerStateMsg::SharedPtr received_msg;
     rclcpp::Node test_subscription_node("test_subscription_node");
-    auto subs_callback = [&](const ControllerStateMsg::SharedPtr) {};
+    auto subs_callback = [&](const ControllerStateMsg::SharedPtr cb_msg) { received_msg = cb_msg; };
     auto subscription = test_subscription_node.create_subscription<ControllerStateMsg>(
       "/test_ackermann_steering_controller/controller_state", 10, subs_callback);
+    rclcpp::executors::SingleThreadedExecutor executor;
+    executor.add_node(test_subscription_node.get_node_base_interface());
 
     // call update to publish the test value
     ASSERT_EQ(
       controller_->update(rclcpp::Time(0, 0, RCL_ROS_TIME), rclcpp::Duration::from_seconds(0.01)),
       controller_interface::return_type::OK);
-
     // call update to publish the test value
     // since update doesn't guarantee a published message, republish until received
     int max_sub_check_loop_count = 5;  // max number of tries for pub/sub loop
-    rclcpp::WaitSet wait_set;          // block used to wait on message
-    wait_set.add_subscription(subscription);
     while (max_sub_check_loop_count--)
     {
       controller_->update(rclcpp::Time(0, 0, RCL_ROS_TIME), rclcpp::Duration::from_seconds(0.01));
+      const auto timeout = std::chrono::milliseconds{5};
+      const auto until = test_subscription_node.get_clock()->now() + timeout;
+      while (!received_msg && test_subscription_node.get_clock()->now() < until)
+      {
+        executor.spin_some();
+        std::this_thread::sleep_for(std::chrono::microseconds(10));
+      }
       // check if message has been received
-      if (wait_set.wait(std::chrono::milliseconds(2)).kind() == rclcpp::WaitResultKind::Ready)
+      if (received_msg.get())
       {
         break;
       }
     }
     ASSERT_GE(max_sub_check_loop_count, 0) << "Test was unable to publish a message through "
                                               "controller/broadcaster update loop";
+    ASSERT_TRUE(received_msg);
 
     // take message from subscription
-    rclcpp::MessageInfo msg_info;
-    ASSERT_TRUE(subscription->take(msg, msg_info));
+    msg = *received_msg;
   }
 
   void publish_commands(const double linear = 0.1, const double angular = 0.2)
@@ -302,7 +295,7 @@ class AckermannSteeringControllerFixture : public ::testing::Test
 
   std::array<double, 4> joint_state_values_ = {0.5, 0.5, 0.0, 0.0};
   std::array<double, 4> joint_command_values_ = {1.1, 3.3, 2.2, 4.4};
-  std::array<std::string, 2> joint_reference_interfaces_ = {"linear/velocity", "angular/position"};
+  std::array<std::string, 2> joint_reference_interfaces_ = {"linear/velocity", "angular/velocity"};
   std::string steering_interface_name_ = "position";
   // defined in setup
   std::string traction_interface_name_ = "";

ackermann_steering_controller/test/test_ackermann_steering_controller_preceeding.cpp

@@ -14,10 +14,8 @@
 
 #include "test_ackermann_steering_controller.hpp"
 
-#include <limits>
 #include <memory>
 #include <string>
-#include <utility>
 #include <vector>
 
 class AckermannSteeringControllerTest

ackermann_steering_controller/test/test_load_ackermann_steering_controller.cpp

@@ -28,9 +28,7 @@ TEST(TestLoadAckermannSteeringController, load_controller)
     std::make_shared<rclcpp::executors::SingleThreadedExecutor>();
 
   controller_manager::ControllerManager cm(
-    std::make_unique<hardware_interface::ResourceManager>(
-      ros2_control_test_assets::minimal_robot_urdf),
-    executor, "test_controller_manager");
+    executor, ros2_control_test_assets::minimal_robot_urdf, true, "test_controller_manager");
 
   ASSERT_NE(
     cm.load_controller(

admittance_controller/CHANGELOG.rst

@@ -2,6 +2,22 @@
 Changelog for package admittance_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.12.0 (2024-07-23)
+-------------------
+* Change the subscription timeout in the tests to 5ms (`#1219 <https://github.com/ros-controls/ros2_controllers/issues/1219>`_)
+* Unused header cleanup (`#1199 <https://github.com/ros-controls/ros2_controllers/issues/1199>`_)
+* Fix WaitSet issue in tests  (`#1206 <https://github.com/ros-controls/ros2_controllers/issues/1206>`_)
+* Fix parallel gripper controller CI (`#1202 <https://github.com/ros-controls/ros2_controllers/issues/1202>`_)
+* Contributors: Henry Moore, Sai Kishor Kothakota
+
+4.11.0 (2024-07-09)
+-------------------
+* added changes corresponding to the logger and clock propagation in ResourceManager (`#1184 <https://github.com/ros-controls/ros2_controllers/issues/1184>`_)
+* Contributors: Sai Kishor Kothakota
+
+4.10.0 (2024-07-01)
+-------------------
+
 4.9.0 (2024-06-05)
 ------------------
 

admittance_controller/include/admittance_controller/admittance_controller.hpp

@@ -17,7 +17,6 @@
 #ifndef ADMITTANCE_CONTROLLER__ADMITTANCE_CONTROLLER_HPP_
 #define ADMITTANCE_CONTROLLER__ADMITTANCE_CONTROLLER_HPP_
 
-#include <chrono>
 #include <memory>
 #include <string>
 #include <vector>
@@ -29,21 +28,14 @@
 #include "admittance_controller/visibility_control.h"
 #include "control_msgs/msg/admittance_controller_state.hpp"
 #include "controller_interface/chainable_controller_interface.hpp"
-#include "geometry_msgs/msg/pose_stamped.hpp"
-#include "geometry_msgs/msg/transform_stamped.hpp"
-#include "geometry_msgs/msg/wrench_stamped.hpp"
 #include "hardware_interface/types/hardware_interface_type_values.hpp"
-#include "pluginlib/class_loader.hpp"
 #include "rclcpp/duration.hpp"
 #include "rclcpp/time.hpp"
-#include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp"
 #include "rclcpp_lifecycle/state.hpp"
 #include "realtime_tools/realtime_buffer.h"
 #include "realtime_tools/realtime_publisher.h"
 #include "semantic_components/force_torque_sensor.hpp"
 
-#include "trajectory_msgs/msg/joint_trajectory.hpp"
-
 namespace admittance_controller
 {
 using ControllerStateMsg = control_msgs::msg::AdmittanceControllerState;

admittance_controller/include/admittance_controller/admittance_rule.hpp

@@ -18,23 +18,16 @@
 #define ADMITTANCE_CONTROLLER__ADMITTANCE_RULE_HPP_
 
 #include <Eigen/Core>
-#include <Eigen/Geometry>
-#include <map>
+
 #include <memory>
 #include <string>
 #include <vector>
 
+#include "admittance_controller_parameters.hpp"
 #include "control_msgs/msg/admittance_controller_state.hpp"
-#include "control_toolbox/filters.hpp"
-#include "controller_interface/controller_interface.hpp"
-#include "geometry_msgs/msg/wrench_stamped.hpp"
+#include "controller_interface/controller_interface_base.hpp"
 #include "kinematics_interface/kinematics_interface.hpp"
 #include "pluginlib/class_loader.hpp"
-#include "tf2_eigen/tf2_eigen.hpp"
-#include "tf2_geometry_msgs/tf2_geometry_msgs.hpp"
-#include "tf2_kdl/tf2_kdl.hpp"
-#include "tf2_ros/buffer.h"
-#include "tf2_ros/transform_listener.h"
 #include "trajectory_msgs/msg/joint_trajectory_point.hpp"
 
 namespace admittance_controller

admittance_controller/include/admittance_controller/admittance_rule_impl.hpp

@@ -22,9 +22,10 @@
 #include <memory>
 #include <vector>
 
+#include <control_toolbox/filters.hpp>
+#include <tf2_eigen/tf2_eigen.hpp>
+
 #include "rclcpp/duration.hpp"
-#include "rclcpp/utilities.hpp"
-#include "tf2_ros/transform_listener.h"
 
 namespace admittance_controller
 {

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>4.9.0</version>
+  <version>4.12.0</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>