Merge branch 'master' into autodocs_parameters_nested

ros-controls · Jan 11, 2024 · ea36012 · ea36012
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diff --git a/ackermann_steering_controller/CHANGELOG.rst b/ackermann_steering_controller/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package ackermann_steering_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.4.0 (2024-01-11)
+------------------
+
 4.3.0 (2024-01-08)
 ------------------
 * Add few warning flags to error (`#961 <https://github.com/ros-controls/ros2_controllers/issues/961>`_)

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>4.3.0</version>
+  <version>4.4.0</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/admittance_controller/CHANGELOG.rst b/admittance_controller/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package admittance_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.4.0 (2024-01-11)
+------------------
+
 4.3.0 (2024-01-08)
 ------------------
 * Remove robot description param from admittance YAML (`#963 <https://github.com/ros-controls/ros2_controllers/issues/963>`_)

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>4.3.0</version>
+  <version>4.4.0</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/bicycle_steering_controller/CHANGELOG.rst b/bicycle_steering_controller/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package bicycle_steering_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.4.0 (2024-01-11)
+------------------
+
 4.3.0 (2024-01-08)
 ------------------
 * Add few warning flags to error (`#961 <https://github.com/ros-controls/ros2_controllers/issues/961>`_)

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>4.3.0</version>
+  <version>4.4.0</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/diff_drive_controller/CHANGELOG.rst b/diff_drive_controller/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package diff_drive_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.4.0 (2024-01-11)
+------------------
+
 4.3.0 (2024-01-08)
 ------------------
 * Add few warning flags to error (`#961 <https://github.com/ros-controls/ros2_controllers/issues/961>`_)

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>4.3.0</version>
+  <version>4.4.0</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/effort_controllers/CHANGELOG.rst b/effort_controllers/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package effort_controllers
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.4.0 (2024-01-11)
+------------------
+
 4.3.0 (2024-01-08)
 ------------------
 * Add few warning flags to error (`#961 <https://github.com/ros-controls/ros2_controllers/issues/961>`_)

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>4.3.0</version>
+  <version>4.4.0</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/force_torque_sensor_broadcaster/CHANGELOG.rst b/force_torque_sensor_broadcaster/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package force_torque_sensor_broadcaster
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.4.0 (2024-01-11)
+------------------
+
 4.3.0 (2024-01-08)
 ------------------
 * Add few warning flags to error (`#961 <https://github.com/ros-controls/ros2_controllers/issues/961>`_)

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>4.3.0</version>
+  <version>4.4.0</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/forward_command_controller/CHANGELOG.rst b/forward_command_controller/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package forward_command_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.4.0 (2024-01-11)
+------------------
+
 4.3.0 (2024-01-08)
 ------------------
 * Add few warning flags to error (`#961 <https://github.com/ros-controls/ros2_controllers/issues/961>`_)

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>4.3.0</version>
+  <version>4.4.0</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/gripper_controllers/CHANGELOG.rst b/gripper_controllers/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package gripper_controllers
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.4.0 (2024-01-11)
+------------------
+
 4.3.0 (2024-01-08)
 ------------------
 * Add few warning flags to error (`#961 <https://github.com/ros-controls/ros2_controllers/issues/961>`_)

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>4.3.0</version>
+  <version>4.4.0</version>
   <description>The gripper_controllers package</description>
   <maintainer email="[email protected]">Bence Magyar</maintainer>
 

diff --git a/imu_sensor_broadcaster/CHANGELOG.rst b/imu_sensor_broadcaster/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package imu_sensor_broadcaster
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.4.0 (2024-01-11)
+------------------
+
 4.3.0 (2024-01-08)
 ------------------
 * Add few warning flags to error (`#961 <https://github.com/ros-controls/ros2_controllers/issues/961>`_)

diff --git a/imu_sensor_broadcaster/package.xml b/imu_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>imu_sensor_broadcaster</name>
-  <version>4.3.0</version>
+  <version>4.4.0</version>
   <description>Controller to publish readings of IMU sensors.</description>
   <maintainer email="[email protected]">Bence Magyar</maintainer>
   <maintainer email="[email protected]">Denis Štogl</maintainer>

diff --git a/joint_state_broadcaster/CHANGELOG.rst b/joint_state_broadcaster/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package joint_state_broadcaster
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.4.0 (2024-01-11)
+------------------
+
 4.3.0 (2024-01-08)
 ------------------
 * Add few warning flags to error (`#961 <https://github.com/ros-controls/ros2_controllers/issues/961>`_)

diff --git a/joint_state_broadcaster/package.xml b/joint_state_broadcaster/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>joint_state_broadcaster</name>
-  <version>4.3.0</version>
+  <version>4.4.0</version>
   <description>Broadcaster to publish joint state</description>
   <maintainer email="[email protected]">Bence Magyar</maintainer>
   <maintainer email="[email protected]">Denis Stogl</maintainer>

diff --git a/joint_trajectory_controller/CHANGELOG.rst b/joint_trajectory_controller/CHANGELOG.rst
@@ -2,6 +2,12 @@
 Changelog for package joint_trajectory_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.4.0 (2024-01-11)
+------------------
+* Cancel goal in on_deactivate (`#962 <https://github.com/ros-controls/ros2_controllers/issues/962>`_)
+* Remove read_only from 'joints', 'state_interfaces' and 'command_interfaces' parameters (`#967 <https://github.com/ros-controls/ros2_controllers/issues/967>`_)
+* Contributors: Christoph Fröhlich, Noel Jiménez García
+
 4.3.0 (2024-01-08)
 ------------------
 * Update deprecated topic name (`#964 <https://github.com/ros-controls/ros2_controllers/issues/964>`_)

diff --git a/joint_trajectory_controller/package.xml b/joint_trajectory_controller/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>joint_trajectory_controller</name>
-  <version>4.3.0</version>
+  <version>4.4.0</version>
   <description>Controller for executing joint-space trajectories on a group of joints</description>
   <maintainer email="[email protected]">Bence Magyar</maintainer>
   <maintainer email="[email protected]">Dr. Denis Štogl</maintainer>

diff --git a/joint_trajectory_controller/src/joint_trajectory_controller.cpp b/joint_trajectory_controller/src/joint_trajectory_controller.cpp
@@ -975,6 +975,17 @@ controller_interface::CallbackReturn JointTrajectoryController::on_activate(
 controller_interface::CallbackReturn JointTrajectoryController::on_deactivate(
   const rclcpp_lifecycle::State &)
 {
+  const auto active_goal = *rt_active_goal_.readFromNonRT();
+  if (active_goal)
+  {
+    rt_has_pending_goal_.writeFromNonRT(false);
+    auto action_res = std::make_shared<FollowJTrajAction::Result>();
+    action_res->set__error_code(FollowJTrajAction::Result::INVALID_GOAL);
+    action_res->set__error_string("Current goal cancelled during deactivate transition.");
+    active_goal->setCanceled(action_res);
+    rt_active_goal_.writeFromNonRT(RealtimeGoalHandlePtr());
+  }
+
   for (size_t index = 0; index < dof_; ++index)
   {
     if (has_position_command_interface_)
@@ -1445,7 +1456,6 @@ void JointTrajectoryController::preempt_active_goal()
   const auto active_goal = *rt_active_goal_.readFromNonRT();
   if (active_goal)
   {
-    add_new_trajectory_msg(set_hold_position());
     auto action_res = std::make_shared<FollowJTrajAction::Result>();
     action_res->set__error_code(FollowJTrajAction::Result::INVALID_GOAL);
     action_res->set__error_string("Current goal cancelled due to new incoming action.");

diff --git a/joint_trajectory_controller/src/joint_trajectory_controller_parameters.yaml b/joint_trajectory_controller/src/joint_trajectory_controller_parameters.yaml
@@ -3,7 +3,6 @@ joint_trajectory_controller:
     type: string_array,
     default_value: [],
     description: "Joint names to control and listen to",
-    read_only: true,
     validation: {
       unique<>: null,
     }
@@ -21,7 +20,6 @@ joint_trajectory_controller:
     type: string_array,
     default_value: [],
     description: "Command interfaces provided by the hardware interface for all joints",
-    read_only: true,
     validation: {
       unique<>: null,
       subset_of<>: [["position", "velocity", "acceleration", "effort",]],
@@ -32,7 +30,6 @@ joint_trajectory_controller:
     type: string_array,
     default_value: [],
     description: "State interfaces provided by the hardware for all joints.",
-    read_only: true,
     validation: {
       unique<>: null,
       subset_of<>: [["position", "velocity", "acceleration",]],

diff --git a/pid_controller/CHANGELOG.rst b/pid_controller/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package pid_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.4.0 (2024-01-11)
+------------------
+
 4.3.0 (2024-01-08)
 ------------------
 * Add few warning flags to error (`#961 <https://github.com/ros-controls/ros2_controllers/issues/961>`_)

diff --git a/pid_controller/package.xml b/pid_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>pid_controller</name>
-  <version>4.3.0</version>
+  <version>4.4.0</version>
   <description>Controller based on PID implememenation from control_toolbox package.</description>
   <maintainer email="[email protected]">Bence Magyar</maintainer>
   <maintainer email="[email protected]">Denis Štogl</maintainer>

diff --git a/position_controllers/CHANGELOG.rst b/position_controllers/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package position_controllers
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.4.0 (2024-01-11)
+------------------
+
 4.3.0 (2024-01-08)
 ------------------
 * Add few warning flags to error (`#961 <https://github.com/ros-controls/ros2_controllers/issues/961>`_)

diff --git a/position_controllers/package.xml b/position_controllers/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>position_controllers</name>
-  <version>4.3.0</version>
+  <version>4.4.0</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/range_sensor_broadcaster/CHANGELOG.rst b/range_sensor_broadcaster/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package range_sensor_broadcaster
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.4.0 (2024-01-11)
+------------------
+
 4.3.0 (2024-01-08)
 ------------------
 * Add few warning flags to error (`#961 <https://github.com/ros-controls/ros2_controllers/issues/961>`_)

diff --git a/range_sensor_broadcaster/package.xml b/range_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>range_sensor_broadcaster</name>
-  <version>4.3.0</version>
+  <version>4.4.0</version>
   <description>Controller to publish readings of Range sensors.</description>
   <maintainer email="[email protected]">Bence Magyar</maintainer>
   <author email="[email protected]">Florent Chretien</author>

diff --git a/ros2_controllers/CHANGELOG.rst b/ros2_controllers/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package ros2_controllers
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.4.0 (2024-01-11)
+------------------
+
 4.3.0 (2024-01-08)
 ------------------
 

diff --git a/ros2_controllers/package.xml b/ros2_controllers/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>ros2_controllers</name>
-  <version>4.3.0</version>
+  <version>4.4.0</version>
   <description>Metapackage for ROS2 controllers related packages</description>
   <maintainer email="[email protected]">Bence Magyar</maintainer>
   <maintainer email="[email protected]">Jordan Palacios</maintainer>

diff --git a/ros2_controllers_test_nodes/CHANGELOG.rst b/ros2_controllers_test_nodes/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package ros2_controllers_test_nodes
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.4.0 (2024-01-11)
+------------------
+
 4.3.0 (2024-01-08)
 ------------------
 

diff --git a/ros2_controllers_test_nodes/package.xml b/ros2_controllers_test_nodes/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>ros2_controllers_test_nodes</name>
-  <version>4.3.0</version>
+  <version>4.4.0</version>
   <description>Demo nodes for showing and testing functionalities of the ros2_control framework.</description>
 
   <maintainer email="[email protected]">Denis Štogl</maintainer>

diff --git a/ros2_controllers_test_nodes/setup.py b/ros2_controllers_test_nodes/setup.py
@@ -20,7 +20,7 @@
 
 setup(
     name=package_name,
-    version="4.3.0",
+    version="4.4.0",
     packages=[package_name],
     data_files=[
         ("share/ament_index/resource_index/packages", ["resource/" + package_name]),

diff --git a/rqt_joint_trajectory_controller/CHANGELOG.rst b/rqt_joint_trajectory_controller/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package rqt_joint_trajectory_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.4.0 (2024-01-11)
+------------------
+
 4.3.0 (2024-01-08)
 ------------------
 * Add rqt_JTC to docs (`#950 <https://github.com/ros-controls/ros2_controllers/issues/950>`_)

diff --git a/rqt_joint_trajectory_controller/package.xml b/rqt_joint_trajectory_controller/package.xml
@@ -4,7 +4,7 @@
   schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>rqt_joint_trajectory_controller</name>
-  <version>4.3.0</version>
+  <version>4.4.0</version>
   <description>Graphical frontend for interacting with joint_trajectory_controller instances.</description>
 
   <maintainer email="[email protected]">Bence Magyar</maintainer>

diff --git a/rqt_joint_trajectory_controller/setup.py b/rqt_joint_trajectory_controller/setup.py
@@ -7,7 +7,7 @@
 
 setup(
     name=package_name,
-    version="4.3.0",
+    version="4.4.0",
     packages=[package_name],
     data_files=[
         ("share/ament_index/resource_index/packages", ["resource/" + package_name]),