From 4ab22a51456abee127aeffbbd8ef0c54ac70c92a Mon Sep 17 00:00:00 2001 From: Sai Kishor Kothakota Date: Thu, 22 Aug 2024 13:03:47 +0200 Subject: [PATCH 1/8] Fixes tests to work with use_global_arguments NodeOptions parameter (#1256) --- ackermann_steering_controller/CMakeLists.txt | 6 ++---- .../test_load_ackermann_steering_controller.cpp | 13 ++++++++----- admittance_controller/CMakeLists.txt | 6 ++---- .../test/test_load_admittance_controller.cpp | 9 ++++++--- bicycle_steering_controller/CMakeLists.txt | 6 ++---- .../test/test_load_bicycle_steering_controller.cpp | 12 ++++++++---- diff_drive_controller/CMakeLists.txt | 6 ++---- .../test/test_load_diff_drive_controller.cpp | 10 +++++++--- force_torque_sensor_broadcaster/CMakeLists.txt | 5 ++--- .../test_load_force_torque_sensor_broadcaster.cpp | 14 +++++++++----- imu_sensor_broadcaster/CMakeLists.txt | 5 ++--- .../test/test_load_imu_sensor_broadcaster.cpp | 11 +++++++---- parallel_gripper_controller/CMakeLists.txt | 5 ++--- ...est_load_parallel_gripper_action_controller.cpp | 13 ++++++++----- range_sensor_broadcaster/CMakeLists.txt | 5 ++--- .../test/test_load_range_sensor_broadcaster.cpp | 11 +++++++---- tricycle_controller/CMakeLists.txt | 6 ++---- .../test/test_load_tricycle_controller.cpp | 9 ++++++--- tricycle_steering_controller/CMakeLists.txt | 6 ++---- .../test_load_tricycle_steering_controller.cpp | 13 ++++++++----- 20 files changed, 94 insertions(+), 77 deletions(-) diff --git a/ackermann_steering_controller/CMakeLists.txt b/ackermann_steering_controller/CMakeLists.txt index a34be3c672..83edf7c157 100644 --- a/ackermann_steering_controller/CMakeLists.txt +++ b/ackermann_steering_controller/CMakeLists.txt @@ -58,10 +58,8 @@ if(BUILD_TESTING) find_package(ros2_control_test_assets REQUIRED) - add_rostest_with_parameters_gmock(test_load_ackermann_steering_controller - test/test_load_ackermann_steering_controller.cpp - ${CMAKE_CURRENT_SOURCE_DIR}/test/ackermann_steering_controller_params.yaml - ) + add_definitions(-DTEST_FILES_DIRECTORY="${CMAKE_CURRENT_SOURCE_DIR}/test") + ament_add_gmock(test_load_ackermann_steering_controller test/test_load_ackermann_steering_controller.cpp) ament_target_dependencies(test_load_ackermann_steering_controller controller_manager hardware_interface diff --git a/ackermann_steering_controller/test/test_load_ackermann_steering_controller.cpp b/ackermann_steering_controller/test/test_load_ackermann_steering_controller.cpp index 8e81643835..e7b56e2788 100644 --- a/ackermann_steering_controller/test/test_load_ackermann_steering_controller.cpp +++ b/ackermann_steering_controller/test/test_load_ackermann_steering_controller.cpp @@ -29,12 +29,15 @@ TEST(TestLoadAckermannSteeringController, load_controller) controller_manager::ControllerManager cm( executor, ros2_control_test_assets::minimal_robot_urdf, true, "test_controller_manager"); + const std::string test_file_path = + std::string(TEST_FILES_DIRECTORY) + "/ackermann_steering_controller_params.yaml"; - ASSERT_NE( - cm.load_controller( - "test_ackermann_steering_controller", - "ackermann_steering_controller/AckermannSteeringController"), - nullptr); + cm.set_parameter({"test_ackermann_steering_controller.params_file", test_file_path}); + cm.set_parameter( + {"test_ackermann_steering_controller.type", + "ackermann_steering_controller/AckermannSteeringController"}); + + ASSERT_NE(cm.load_controller("test_ackermann_steering_controller"), nullptr); } int main(int argc, char ** argv) diff --git a/admittance_controller/CMakeLists.txt b/admittance_controller/CMakeLists.txt index 10ca5caa40..cd16714a31 100644 --- a/admittance_controller/CMakeLists.txt +++ b/admittance_controller/CMakeLists.txt @@ -68,10 +68,8 @@ if(BUILD_TESTING) find_package(kinematics_interface_kdl REQUIRED) # test loading admittance controller - add_rostest_with_parameters_gmock(test_load_admittance_controller - test/test_load_admittance_controller.cpp - ${CMAKE_CURRENT_SOURCE_DIR}/test/test_params.yaml - ) + add_definitions(-DTEST_FILES_DIRECTORY="${CMAKE_CURRENT_SOURCE_DIR}/test") + ament_add_gmock(test_load_admittance_controller test/test_load_admittance_controller.cpp) ament_target_dependencies(test_load_admittance_controller controller_manager hardware_interface diff --git a/admittance_controller/test/test_load_admittance_controller.cpp b/admittance_controller/test/test_load_admittance_controller.cpp index ea4c14caac..5006920858 100644 --- a/admittance_controller/test/test_load_admittance_controller.cpp +++ b/admittance_controller/test/test_load_admittance_controller.cpp @@ -30,10 +30,13 @@ TEST(TestLoadAdmittanceController, load_controller) controller_manager::ControllerManager cm( executor, ros2_control_test_assets::minimal_robot_urdf, true, "test_controller_manager"); + const std::string test_file_path = std::string(TEST_FILES_DIRECTORY) + "/test_params.yaml"; - ASSERT_EQ( - cm.load_controller("load_admittance_controller", "admittance_controller/AdmittanceController"), - nullptr); + cm.set_parameter({"load_admittance_controller.params_file", test_file_path}); + cm.set_parameter( + {"load_admittance_controller.type", "admittance_controller/AdmittanceController"}); + + ASSERT_EQ(cm.load_controller("load_admittance_controller"), nullptr); } int main(int argc, char ** argv) diff --git a/bicycle_steering_controller/CMakeLists.txt b/bicycle_steering_controller/CMakeLists.txt index 6535a73260..db1f5cf4ba 100644 --- a/bicycle_steering_controller/CMakeLists.txt +++ b/bicycle_steering_controller/CMakeLists.txt @@ -57,10 +57,8 @@ if(BUILD_TESTING) find_package(hardware_interface REQUIRED) find_package(ros2_control_test_assets REQUIRED) - add_rostest_with_parameters_gmock(test_load_bicycle_steering_controller - test/test_load_bicycle_steering_controller.cpp - ${CMAKE_CURRENT_SOURCE_DIR}/test/bicycle_steering_controller_params.yaml - ) + add_definitions(-DTEST_FILES_DIRECTORY="${CMAKE_CURRENT_SOURCE_DIR}/test") + ament_add_gmock(test_load_bicycle_steering_controller test/test_load_bicycle_steering_controller.cpp) ament_target_dependencies(test_load_bicycle_steering_controller controller_manager hardware_interface diff --git a/bicycle_steering_controller/test/test_load_bicycle_steering_controller.cpp b/bicycle_steering_controller/test/test_load_bicycle_steering_controller.cpp index 7be5e2dd1d..4d17a4bdd7 100644 --- a/bicycle_steering_controller/test/test_load_bicycle_steering_controller.cpp +++ b/bicycle_steering_controller/test/test_load_bicycle_steering_controller.cpp @@ -29,11 +29,15 @@ TEST(TestLoadBicycleSteeringController, load_controller) controller_manager::ControllerManager cm( executor, ros2_control_test_assets::minimal_robot_urdf, true, "test_controller_manager"); + const std::string test_file_path = + std::string(TEST_FILES_DIRECTORY) + "/bicycle_steering_controller_params.yaml"; - ASSERT_NE( - cm.load_controller( - "test_bicycle_steering_controller", "bicycle_steering_controller/BicycleSteeringController"), - nullptr); + cm.set_parameter({"test_bicycle_steering_controller.params_file", test_file_path}); + cm.set_parameter( + {"test_bicycle_steering_controller.type", + "bicycle_steering_controller/BicycleSteeringController"}); + + ASSERT_NE(cm.load_controller("test_bicycle_steering_controller"), nullptr); } int main(int argc, char ** argv) diff --git a/diff_drive_controller/CMakeLists.txt b/diff_drive_controller/CMakeLists.txt index 70a54e302c..4eeb98b9d2 100644 --- a/diff_drive_controller/CMakeLists.txt +++ b/diff_drive_controller/CMakeLists.txt @@ -70,10 +70,8 @@ if(BUILD_TESTING) tf2_msgs ) - add_rostest_with_parameters_gmock(test_load_diff_drive_controller - test/test_load_diff_drive_controller.cpp - ${CMAKE_CURRENT_SOURCE_DIR}/test/config/test_diff_drive_controller.yaml - ) + add_definitions(-DTEST_FILES_DIRECTORY="${CMAKE_CURRENT_SOURCE_DIR}/test") + ament_add_gmock(test_load_diff_drive_controller test/test_load_diff_drive_controller.cpp) ament_target_dependencies(test_load_diff_drive_controller controller_manager ros2_control_test_assets diff --git a/diff_drive_controller/test/test_load_diff_drive_controller.cpp b/diff_drive_controller/test/test_load_diff_drive_controller.cpp index aa23f83ec9..302bdf6924 100644 --- a/diff_drive_controller/test/test_load_diff_drive_controller.cpp +++ b/diff_drive_controller/test/test_load_diff_drive_controller.cpp @@ -29,10 +29,14 @@ TEST(TestLoadDiffDriveController, load_controller) controller_manager::ControllerManager cm( executor, ros2_control_test_assets::diffbot_urdf, true, "test_controller_manager"); + const std::string test_file_path = + std::string(TEST_FILES_DIRECTORY) + "/config/test_diff_drive_controller.yaml"; - ASSERT_NE( - cm.load_controller("test_diff_drive_controller", "diff_drive_controller/DiffDriveController"), - nullptr); + cm.set_parameter({"test_diff_drive_controller.params_file", test_file_path}); + cm.set_parameter( + {"test_diff_drive_controller.type", "diff_drive_controller/DiffDriveController"}); + + ASSERT_NE(cm.load_controller("test_diff_drive_controller"), nullptr); } int main(int argc, char ** argv) diff --git a/force_torque_sensor_broadcaster/CMakeLists.txt b/force_torque_sensor_broadcaster/CMakeLists.txt index 38c984192e..02c343f050 100644 --- a/force_torque_sensor_broadcaster/CMakeLists.txt +++ b/force_torque_sensor_broadcaster/CMakeLists.txt @@ -53,9 +53,8 @@ if(BUILD_TESTING) find_package(hardware_interface REQUIRED) find_package(ros2_control_test_assets REQUIRED) - add_rostest_with_parameters_gmock(test_load_force_torque_sensor_broadcaster - test/test_load_force_torque_sensor_broadcaster.cpp - ${CMAKE_CURRENT_SOURCE_DIR}/test/force_torque_sensor_broadcaster_params.yaml) + add_definitions(-DTEST_FILES_DIRECTORY="${CMAKE_CURRENT_SOURCE_DIR}/test") + ament_add_gmock(test_load_force_torque_sensor_broadcaster test/test_load_force_torque_sensor_broadcaster.cpp) target_include_directories(test_load_force_torque_sensor_broadcaster PRIVATE include) target_link_libraries(test_load_force_torque_sensor_broadcaster force_torque_sensor_broadcaster 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 index f8b367d341..b5887f09e1 100644 --- 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 @@ -34,11 +34,15 @@ TEST(TestLoadForceTorqueSensorBroadcaster, load_controller) controller_manager::ControllerManager cm( executor, ros2_control_test_assets::minimal_robot_urdf, true, "test_controller_manager"); - ASSERT_NE( - cm.load_controller( - "test_force_torque_sensor_broadcaster", - "force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster"), - nullptr); + const std::string test_file_path = + std::string(TEST_FILES_DIRECTORY) + "/force_torque_sensor_broadcaster_params.yaml"; + + cm.set_parameter({"test_force_torque_sensor_broadcaster.params_file", test_file_path}); + cm.set_parameter( + {"test_force_torque_sensor_broadcaster.type", + "force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster"}); + + ASSERT_NE(cm.load_controller("test_force_torque_sensor_broadcaster"), nullptr); } int main(int argc, char ** argv) diff --git a/imu_sensor_broadcaster/CMakeLists.txt b/imu_sensor_broadcaster/CMakeLists.txt index 6782012c65..5539dea9ff 100644 --- a/imu_sensor_broadcaster/CMakeLists.txt +++ b/imu_sensor_broadcaster/CMakeLists.txt @@ -53,9 +53,8 @@ if(BUILD_TESTING) find_package(hardware_interface REQUIRED) find_package(ros2_control_test_assets REQUIRED) - add_rostest_with_parameters_gmock(test_load_imu_sensor_broadcaster - test/test_load_imu_sensor_broadcaster.cpp - ${CMAKE_CURRENT_SOURCE_DIR}/test/imu_sensor_broadcaster_params.yaml) + add_definitions(-DTEST_FILES_DIRECTORY="${CMAKE_CURRENT_SOURCE_DIR}/test") + ament_add_gmock(test_load_imu_sensor_broadcaster test/test_load_imu_sensor_broadcaster.cpp) target_include_directories(test_load_imu_sensor_broadcaster PRIVATE include) target_link_libraries(test_load_imu_sensor_broadcaster imu_sensor_broadcaster diff --git a/imu_sensor_broadcaster/test/test_load_imu_sensor_broadcaster.cpp b/imu_sensor_broadcaster/test/test_load_imu_sensor_broadcaster.cpp index fa2afab200..eca29082c1 100644 --- a/imu_sensor_broadcaster/test/test_load_imu_sensor_broadcaster.cpp +++ b/imu_sensor_broadcaster/test/test_load_imu_sensor_broadcaster.cpp @@ -33,11 +33,14 @@ TEST(TestLoadIMUSensorBroadcaster, load_controller) controller_manager::ControllerManager cm( executor, ros2_control_test_assets::minimal_robot_urdf, true, "test_controller_manager"); + const std::string test_file_path = + std::string(TEST_FILES_DIRECTORY) + "/imu_sensor_broadcaster_params.yaml"; - ASSERT_NE( - cm.load_controller( - "test_imu_sensor_broadcaster", "imu_sensor_broadcaster/IMUSensorBroadcaster"), - nullptr); + cm.set_parameter({"test_imu_sensor_broadcaster.params_file", test_file_path}); + cm.set_parameter( + {"test_imu_sensor_broadcaster.type", "imu_sensor_broadcaster/IMUSensorBroadcaster"}); + + ASSERT_NE(cm.load_controller("test_imu_sensor_broadcaster"), nullptr); } int main(int argc, char ** argv) diff --git a/parallel_gripper_controller/CMakeLists.txt b/parallel_gripper_controller/CMakeLists.txt index 75380a953f..cb0f4fafc9 100644 --- a/parallel_gripper_controller/CMakeLists.txt +++ b/parallel_gripper_controller/CMakeLists.txt @@ -48,9 +48,8 @@ if(BUILD_TESTING) find_package(controller_manager REQUIRED) find_package(ros2_control_test_assets REQUIRED) - add_rostest_with_parameters_gmock(test_load_parallel_gripper_action_controllers - test/test_load_parallel_gripper_action_controller.cpp - ${CMAKE_CURRENT_SOURCE_DIR}/test/gripper_action_controller_params.yaml) + add_definitions(-DTEST_FILES_DIRECTORY="${CMAKE_CURRENT_SOURCE_DIR}/test") + ament_add_gmock(test_load_parallel_gripper_action_controllers test/test_load_parallel_gripper_action_controller.cpp) target_include_directories(test_load_parallel_gripper_action_controllers PRIVATE include) ament_target_dependencies(test_load_parallel_gripper_action_controllers controller_manager diff --git a/parallel_gripper_controller/test/test_load_parallel_gripper_action_controller.cpp b/parallel_gripper_controller/test/test_load_parallel_gripper_action_controller.cpp index 35a10a8c31..6453539fa0 100644 --- a/parallel_gripper_controller/test/test_load_parallel_gripper_action_controller.cpp +++ b/parallel_gripper_controller/test/test_load_parallel_gripper_action_controller.cpp @@ -27,12 +27,15 @@ TEST(TestLoadGripperActionControllers, load_controller) controller_manager::ControllerManager cm( executor, ros2_control_test_assets::minimal_robot_urdf, true, "test_controller_manager"); + const std::string test_file_path = + std::string(TEST_FILES_DIRECTORY) + "/gripper_action_controller_params.yaml"; - ASSERT_NE( - cm.load_controller( - "test_gripper_action_position_controller", - "parallel_gripper_action_controller/GripperActionController"), - nullptr); + cm.set_parameter({"test_gripper_action_position_controller.params_file", test_file_path}); + cm.set_parameter( + {"test_gripper_action_position_controller.type", + "parallel_gripper_action_controller/GripperActionController"}); + + ASSERT_NE(cm.load_controller("test_gripper_action_position_controller"), nullptr); } int main(int argc, char ** argv) diff --git a/range_sensor_broadcaster/CMakeLists.txt b/range_sensor_broadcaster/CMakeLists.txt index d7002d1b17..6f21607c9c 100644 --- a/range_sensor_broadcaster/CMakeLists.txt +++ b/range_sensor_broadcaster/CMakeLists.txt @@ -59,9 +59,8 @@ if(BUILD_TESTING) find_package(hardware_interface REQUIRED) find_package(ros2_control_test_assets REQUIRED) - add_rostest_with_parameters_gmock(test_load_range_sensor_broadcaster - test/test_load_range_sensor_broadcaster.cpp - ${CMAKE_CURRENT_SOURCE_DIR}/test/range_sensor_broadcaster_params.yaml) + add_definitions(-DTEST_FILES_DIRECTORY="${CMAKE_CURRENT_SOURCE_DIR}/test") + ament_add_gmock(test_load_range_sensor_broadcaster test/test_load_range_sensor_broadcaster.cpp) target_include_directories(test_load_range_sensor_broadcaster PRIVATE include) target_link_libraries(test_load_range_sensor_broadcaster range_sensor_broadcaster diff --git a/range_sensor_broadcaster/test/test_load_range_sensor_broadcaster.cpp b/range_sensor_broadcaster/test/test_load_range_sensor_broadcaster.cpp index b416ac4ef9..11aae67f5d 100644 --- a/range_sensor_broadcaster/test/test_load_range_sensor_broadcaster.cpp +++ b/range_sensor_broadcaster/test/test_load_range_sensor_broadcaster.cpp @@ -33,11 +33,14 @@ TEST(TestLoadRangeSensorBroadcaster, load_controller) controller_manager::ControllerManager cm( executor, ros2_control_test_assets::minimal_robot_urdf, true, "test_controller_manager"); + const std::string test_file_path = + std::string(TEST_FILES_DIRECTORY) + "/range_sensor_broadcaster_params.yaml"; - ASSERT_NE( - cm.load_controller( - "test_range_sensor_broadcaster", "range_sensor_broadcaster/RangeSensorBroadcaster"), - nullptr); + cm.set_parameter({"test_range_sensor_broadcaster.params_file", test_file_path}); + cm.set_parameter( + {"test_range_sensor_broadcaster.type", "range_sensor_broadcaster/RangeSensorBroadcaster"}); + + ASSERT_NE(cm.load_controller("test_range_sensor_broadcaster"), nullptr); } int main(int argc, char ** argv) diff --git a/tricycle_controller/CMakeLists.txt b/tricycle_controller/CMakeLists.txt index e264c1f258..6834b753a0 100644 --- a/tricycle_controller/CMakeLists.txt +++ b/tricycle_controller/CMakeLists.txt @@ -76,10 +76,8 @@ if(BUILD_TESTING) tf2_msgs ) - add_rostest_with_parameters_gmock(test_load_tricycle_controller - test/test_load_tricycle_controller.cpp - ${CMAKE_CURRENT_SOURCE_DIR}/test/config/test_tricycle_controller.yaml - ) + add_definitions(-DTEST_FILES_DIRECTORY="${CMAKE_CURRENT_SOURCE_DIR}/test") + ament_add_gmock(test_load_tricycle_controller test/test_load_tricycle_controller.cpp) target_link_libraries(test_load_tricycle_controller tricycle_controller ) diff --git a/tricycle_controller/test/test_load_tricycle_controller.cpp b/tricycle_controller/test/test_load_tricycle_controller.cpp index 486c04515b..7f7f0e6fed 100644 --- a/tricycle_controller/test/test_load_tricycle_controller.cpp +++ b/tricycle_controller/test/test_load_tricycle_controller.cpp @@ -33,10 +33,13 @@ TEST(TestLoadTricycleController, load_controller) controller_manager::ControllerManager cm( executor, ros2_control_test_assets::minimal_robot_urdf, true, "test_controller_manager"); + const std::string test_file_path = + std::string(TEST_FILES_DIRECTORY) + "/config/test_tricycle_controller.yaml"; - ASSERT_NE( - cm.load_controller("test_tricycle_controller", "tricycle_controller/TricycleController"), - nullptr); + cm.set_parameter({"test_tricycle_controller.params_file", test_file_path}); + cm.set_parameter({"test_tricycle_controller.type", "tricycle_controller/TricycleController"}); + + ASSERT_NE(cm.load_controller("test_tricycle_controller"), nullptr); } int main(int argc, char ** argv) diff --git a/tricycle_steering_controller/CMakeLists.txt b/tricycle_steering_controller/CMakeLists.txt index 92c2782092..24b4cd1a22 100644 --- a/tricycle_steering_controller/CMakeLists.txt +++ b/tricycle_steering_controller/CMakeLists.txt @@ -57,10 +57,8 @@ if(BUILD_TESTING) find_package(hardware_interface REQUIRED) find_package(ros2_control_test_assets REQUIRED) - add_rostest_with_parameters_gmock(test_load_tricycle_steering_controller - test/test_load_tricycle_steering_controller.cpp - ${CMAKE_CURRENT_SOURCE_DIR}/test/tricycle_steering_controller_params.yaml - ) + add_definitions(-DTEST_FILES_DIRECTORY="${CMAKE_CURRENT_SOURCE_DIR}/test") + ament_add_gmock(test_load_tricycle_steering_controller test/test_load_tricycle_steering_controller.cpp) ament_target_dependencies(test_load_tricycle_steering_controller controller_manager hardware_interface diff --git a/tricycle_steering_controller/test/test_load_tricycle_steering_controller.cpp b/tricycle_steering_controller/test/test_load_tricycle_steering_controller.cpp index 210153eef8..d3579c902f 100644 --- a/tricycle_steering_controller/test/test_load_tricycle_steering_controller.cpp +++ b/tricycle_steering_controller/test/test_load_tricycle_steering_controller.cpp @@ -29,12 +29,15 @@ TEST(TestLoadTricycleSteeringController, load_controller) controller_manager::ControllerManager cm( executor, ros2_control_test_assets::minimal_robot_urdf, true, "test_controller_manager"); + const std::string test_file_path = + std::string(TEST_FILES_DIRECTORY) + "/tricycle_steering_controller_params.yaml"; - ASSERT_NE( - cm.load_controller( - "test_tricycle_steering_controller", - "tricycle_steering_controller/TricycleSteeringController"), - nullptr); + cm.set_parameter({"test_tricycle_steering_controller.params_file", test_file_path}); + cm.set_parameter( + {"test_tricycle_steering_controller.type", + "tricycle_steering_controller/TricycleSteeringController"}); + + ASSERT_NE(cm.load_controller("test_tricycle_steering_controller"), nullptr); } int main(int argc, char ** argv) From 31f7fbebf023de7cd8bfc2be5117f39bfa77af42 Mon Sep 17 00:00:00 2001 From: Lennart Nachtigall Date: Thu, 22 Aug 2024 16:02:58 +0200 Subject: [PATCH 2/8] Fix segfault at reconfigure of AdmittanceController (#1248) --- .../include/admittance_controller/admittance_rule_impl.hpp | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/admittance_controller/include/admittance_controller/admittance_rule_impl.hpp b/admittance_controller/include/admittance_controller/admittance_rule_impl.hpp index 77f1277b35..cab8b4cf45 100644 --- a/admittance_controller/include/admittance_controller/admittance_rule_impl.hpp +++ b/admittance_controller/include/admittance_controller/admittance_rule_impl.hpp @@ -46,11 +46,17 @@ controller_interface::return_type AdmittanceRule::configure( { try { + // Make sure we destroy the interface first. Otherwise we might run into a segfault + if (kinematics_loader_) + { + kinematics_.reset(); + } kinematics_loader_ = std::make_shared>( parameters_.kinematics.plugin_package, "kinematics_interface::KinematicsInterface"); kinematics_ = std::unique_ptr( kinematics_loader_->createUnmanagedInstance(parameters_.kinematics.plugin_name)); + if (!kinematics_->initialize( node->get_node_parameters_interface(), parameters_.kinematics.tip)) { From cdfc0af5a4ee09c17c2fffa2c732dc79dd9c669f Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Christoph=20Fr=C3=B6hlich?= Date: Thu, 22 Aug 2024 16:07:09 +0200 Subject: [PATCH 3/8] Also test if python files were changed (#1264) --- .github/workflows/humble-abi-compatibility.yml | 3 ++- .github/workflows/humble-binary-build.yml | 6 ++++-- .github/workflows/humble-coverage-build.yml | 6 ++++-- .github/workflows/humble-debian-build.yml | 3 ++- .github/workflows/humble-rhel-semi-binary-build.yml | 3 ++- .github/workflows/humble-semi-binary-build.yml | 6 ++++-- .github/workflows/humble-source-build.yml | 2 ++ .github/workflows/iron-binary-build.yml | 6 ++++-- .github/workflows/iron-coverage-build.yml | 2 ++ .github/workflows/iron-debian-build.yml | 1 + .github/workflows/iron-semi-binary-build.yml | 1 + .github/workflows/iron-source-build.yml | 1 + .github/workflows/jazzy-binary-build.yml | 1 + .github/workflows/jazzy-debian-build.yml | 1 + .github/workflows/jazzy-rhel-semi-binary-build.yml | 1 + .github/workflows/jazzy-semi-binary-build.yml | 2 ++ .github/workflows/jazzy-source-build.yml | 1 + .github/workflows/rolling-binary-build.yml | 3 +++ .github/workflows/rolling-coverage-build.yml | 2 ++ .github/workflows/rolling-debian-build.yml | 1 + .github/workflows/rolling-rhel-semi-binary-build.yml | 1 + .github/workflows/rolling-semi-binary-build.yml | 2 ++ .github/workflows/rolling-source-build.yml | 1 + 23 files changed, 45 insertions(+), 11 deletions(-) diff --git a/.github/workflows/humble-abi-compatibility.yml b/.github/workflows/humble-abi-compatibility.yml index d72d3725b3..247371ba7d 100644 --- a/.github/workflows/humble-abi-compatibility.yml +++ b/.github/workflows/humble-abi-compatibility.yml @@ -8,8 +8,9 @@ on: - '**.hpp' - '**.h' - '**.cpp' - - '.github/workflows/humble-abi-compatibility.yml' + - '**.py' - '**.yaml' + - '.github/workflows/humble-abi-compatibility.yml' - '**/package.xml' - '**/CMakeLists.txt' - 'ros2_controllers-not-released.humble.repos' diff --git a/.github/workflows/humble-binary-build.yml b/.github/workflows/humble-binary-build.yml index a78f6135b6..a031d823cf 100644 --- a/.github/workflows/humble-binary-build.yml +++ b/.github/workflows/humble-binary-build.yml @@ -11,8 +11,9 @@ on: - '**.hpp' - '**.h' - '**.cpp' - - '.github/workflows/humble-binary-build.yml' + - '**.py' - '**.yaml' + - '.github/workflows/humble-binary-build.yml' - '**/package.xml' - '**/CMakeLists.txt' - 'ros2_controllers-not-released.humble.repos' @@ -23,8 +24,9 @@ on: - '**.hpp' - '**.h' - '**.cpp' - - '.github/workflows/humble-binary-build.yml' + - '**.py' - '**.yaml' + - '.github/workflows/humble-binary-build.yml' - '**/package.xml' - '**/CMakeLists.txt' - 'ros2_controllers-not-released.humble.repos' diff --git a/.github/workflows/humble-coverage-build.yml b/.github/workflows/humble-coverage-build.yml index f39758a512..d0dcb9c350 100644 --- a/.github/workflows/humble-coverage-build.yml +++ b/.github/workflows/humble-coverage-build.yml @@ -8,9 +8,10 @@ on: - '**.hpp' - '**.h' - '**.cpp' + - '**.py' + - '**.yaml' - '.github/workflows/humble-coverage-build.yml' - 'codecov.yml' - - '**.yaml' - '**/package.xml' - '**/CMakeLists.txt' - 'ros2_controllers.humble.repos' @@ -21,9 +22,10 @@ on: - '**.hpp' - '**.h' - '**.cpp' + - '**.py' + - '**.yaml' - '.github/workflows/humble-coverage-build.yml' - 'codecov.yml' - - '**.yaml' - '**/package.xml' - '**/CMakeLists.txt' - 'ros2_controllers.humble.repos' diff --git a/.github/workflows/humble-debian-build.yml b/.github/workflows/humble-debian-build.yml index b018fcea84..cd25248caf 100644 --- a/.github/workflows/humble-debian-build.yml +++ b/.github/workflows/humble-debian-build.yml @@ -8,8 +8,9 @@ on: - '**.hpp' - '**.h' - '**.cpp' - - '.github/workflows/humble-debian-build.yml' + - '**.py' - '**.yaml' + - '.github/workflows/humble-debian-build.yml' - '**/package.xml' - '**/CMakeLists.txt' - 'ros2_controllers.humble.repos' diff --git a/.github/workflows/humble-rhel-semi-binary-build.yml b/.github/workflows/humble-rhel-semi-binary-build.yml index 2a7814f8b3..25c755ada5 100644 --- a/.github/workflows/humble-rhel-semi-binary-build.yml +++ b/.github/workflows/humble-rhel-semi-binary-build.yml @@ -8,8 +8,9 @@ on: - '**.hpp' - '**.h' - '**.cpp' - - '.github/workflows/humble-rhel-semi-binary-build.yml' + - '**.py' - '**.yaml' + - '.github/workflows/humble-rhel-semi-binary-build.yml' - '**/package.xml' - '**/CMakeLists.txt' - 'ros2_controllers.humble.repos' diff --git a/.github/workflows/humble-semi-binary-build.yml b/.github/workflows/humble-semi-binary-build.yml index 72287fa115..4246d18160 100644 --- a/.github/workflows/humble-semi-binary-build.yml +++ b/.github/workflows/humble-semi-binary-build.yml @@ -10,8 +10,9 @@ on: - '**.hpp' - '**.h' - '**.cpp' - - '.github/workflows/humble-semi-binary-build.yml' + - '**.py' - '**.yaml' + - '.github/workflows/humble-semi-binary-build.yml' - '**/package.xml' - '**/CMakeLists.txt' - 'ros2_controllers.humble.repos' @@ -22,8 +23,9 @@ on: - '**.hpp' - '**.h' - '**.cpp' - - '.github/workflows/humble-semi-binary-build.yml' + - '**.py' - '**.yaml' + - '.github/workflows/humble-semi-binary-build.yml' - '**/package.xml' - '**/CMakeLists.txt' - 'ros2_controllers.humble.repos' diff --git a/.github/workflows/humble-source-build.yml b/.github/workflows/humble-source-build.yml index 44d474ded4..94af6edd8c 100644 --- a/.github/workflows/humble-source-build.yml +++ b/.github/workflows/humble-source-build.yml @@ -8,6 +8,8 @@ on: - '**.hpp' - '**.h' - '**.cpp' + - '**.py' + - '**.yaml' - '.github/workflows/humble-source-build.yml' - '**/package.xml' - '**/CMakeLists.txt' diff --git a/.github/workflows/iron-binary-build.yml b/.github/workflows/iron-binary-build.yml index 802ca97bb8..0d2f0ff7f3 100644 --- a/.github/workflows/iron-binary-build.yml +++ b/.github/workflows/iron-binary-build.yml @@ -13,8 +13,9 @@ on: - '**.hpp' - '**.h' - '**.cpp' - - '.github/workflows/iron-binary-build.yml' + - '**.py' - '**.yaml' + - '.github/workflows/iron-binary-build.yml' - '**/package.xml' - '**/CMakeLists.txt' - 'ros2_controllers-not-released.iron.repos' @@ -25,8 +26,9 @@ on: - '**.hpp' - '**.h' - '**.cpp' - - '.github/workflows/iron-binary-build.yml' + - '**.py' - '**.yaml' + - '.github/workflows/iron-binary-build.yml' - '**/package.xml' - '**/CMakeLists.txt' - 'ros2_controllers-not-released.iron.repos' diff --git a/.github/workflows/iron-coverage-build.yml b/.github/workflows/iron-coverage-build.yml index bbc9c4e975..e1d2e84bc8 100644 --- a/.github/workflows/iron-coverage-build.yml +++ b/.github/workflows/iron-coverage-build.yml @@ -8,6 +8,7 @@ on: - '**.hpp' - '**.h' - '**.cpp' + - '**.py' - '**.yaml' - '.github/workflows/iron-coverage-build.yml' - 'codecov.yml' @@ -21,6 +22,7 @@ on: - '**.hpp' - '**.h' - '**.cpp' + - '**.py' - '**.yaml' - '.github/workflows/iron-coverage-build.yml' - 'codecov.yml' diff --git a/.github/workflows/iron-debian-build.yml b/.github/workflows/iron-debian-build.yml index 105eb29aba..ebd2f46c18 100644 --- a/.github/workflows/iron-debian-build.yml +++ b/.github/workflows/iron-debian-build.yml @@ -8,6 +8,7 @@ on: - '**.hpp' - '**.h' - '**.cpp' + - '**.py' - '**.yaml' - '.github/workflows/iron-debian-build.yml' - '**/package.xml' diff --git a/.github/workflows/iron-semi-binary-build.yml b/.github/workflows/iron-semi-binary-build.yml index bf5edcaa56..3aca5e5b70 100644 --- a/.github/workflows/iron-semi-binary-build.yml +++ b/.github/workflows/iron-semi-binary-build.yml @@ -12,6 +12,7 @@ on: - '**.hpp' - '**.h' - '**.cpp' + - '**.py' - '**.yaml' - '.github/workflows/iron-semi-binary-build.yml' - '**/package.xml' diff --git a/.github/workflows/iron-source-build.yml b/.github/workflows/iron-source-build.yml index c460762259..c54ead7877 100644 --- a/.github/workflows/iron-source-build.yml +++ b/.github/workflows/iron-source-build.yml @@ -8,6 +8,7 @@ on: - '**.hpp' - '**.h' - '**.cpp' + - '**.py' - '**.yaml' - '.github/workflows/iron-source-build.yml' - '**/package.xml' diff --git a/.github/workflows/jazzy-binary-build.yml b/.github/workflows/jazzy-binary-build.yml index 6ec46eb6c1..cda4969abf 100644 --- a/.github/workflows/jazzy-binary-build.yml +++ b/.github/workflows/jazzy-binary-build.yml @@ -13,6 +13,7 @@ on: - '**.hpp' - '**.h' - '**.cpp' + - '**.py' - '**.yaml' - '.github/workflows/jazzy-binary-build.yml' - '**/package.xml' diff --git a/.github/workflows/jazzy-debian-build.yml b/.github/workflows/jazzy-debian-build.yml index 61a47d0f2e..e3e3b8a353 100644 --- a/.github/workflows/jazzy-debian-build.yml +++ b/.github/workflows/jazzy-debian-build.yml @@ -8,6 +8,7 @@ on: - '**.hpp' - '**.h' - '**.cpp' + - '**.py' - '**.yaml' - '.github/workflows/jazzy-debian-build.yml' - '**/package.xml' diff --git a/.github/workflows/jazzy-rhel-semi-binary-build.yml b/.github/workflows/jazzy-rhel-semi-binary-build.yml index 94ddfeb54f..1c62fcf2ac 100644 --- a/.github/workflows/jazzy-rhel-semi-binary-build.yml +++ b/.github/workflows/jazzy-rhel-semi-binary-build.yml @@ -8,6 +8,7 @@ on: - '**.hpp' - '**.h' - '**.cpp' + - '**.py' - '**.yaml' - '.github/workflows/jazzy-rhel-semi-binary-build.yml' - '**/package.xml' diff --git a/.github/workflows/jazzy-semi-binary-build.yml b/.github/workflows/jazzy-semi-binary-build.yml index 7c5bdfc4dc..ffa4f914b9 100644 --- a/.github/workflows/jazzy-semi-binary-build.yml +++ b/.github/workflows/jazzy-semi-binary-build.yml @@ -12,6 +12,7 @@ on: - '**.hpp' - '**.h' - '**.cpp' + - '**.py' - '**.yaml' - '.github/workflows/jazzy-semi-binary-build.yml' - '**/package.xml' @@ -24,6 +25,7 @@ on: - '**.hpp' - '**.h' - '**.cpp' + - '**.py' - '**.yaml' - '.github/workflows/jazzy-semi-binary-build.yml' - '**/package.xml' diff --git a/.github/workflows/jazzy-source-build.yml b/.github/workflows/jazzy-source-build.yml index f77e9a5060..45f6d1d25e 100644 --- a/.github/workflows/jazzy-source-build.yml +++ b/.github/workflows/jazzy-source-build.yml @@ -8,6 +8,7 @@ on: - '**.hpp' - '**.h' - '**.cpp' + - '**.py' - '**.yaml' - '.github/workflows/jazzy-source-build.yml' - '**/package.xml' diff --git a/.github/workflows/rolling-binary-build.yml b/.github/workflows/rolling-binary-build.yml index 529c13ac64..b512eb9db7 100644 --- a/.github/workflows/rolling-binary-build.yml +++ b/.github/workflows/rolling-binary-build.yml @@ -13,6 +13,8 @@ on: - '**.hpp' - '**.h' - '**.cpp' + - '**.py' + - '**.yaml' - '.github/workflows/rolling-binary-build.yml' - '**/package.xml' - '**/CMakeLists.txt' @@ -24,6 +26,7 @@ on: - '**.hpp' - '**.h' - '**.cpp' + - '**.py' - '**.yaml' - '.github/workflows/rolling-binary-build.yml' - '**/package.xml' diff --git a/.github/workflows/rolling-coverage-build.yml b/.github/workflows/rolling-coverage-build.yml index 3b4b195ff7..058ff9bb33 100644 --- a/.github/workflows/rolling-coverage-build.yml +++ b/.github/workflows/rolling-coverage-build.yml @@ -8,6 +8,7 @@ on: - '**.hpp' - '**.h' - '**.cpp' + - '**.py' - '**.yaml' - '.github/workflows/rolling-coverage-build.yml' - 'codecov.yml' @@ -21,6 +22,7 @@ on: - '**.hpp' - '**.h' - '**.cpp' + - '**.py' - '**.yaml' - '.github/workflows/rolling-coverage-build.yml' - 'codecov.yml' diff --git a/.github/workflows/rolling-debian-build.yml b/.github/workflows/rolling-debian-build.yml index c1313d7d5d..d7efd3ea0a 100644 --- a/.github/workflows/rolling-debian-build.yml +++ b/.github/workflows/rolling-debian-build.yml @@ -8,6 +8,7 @@ on: - '**.hpp' - '**.h' - '**.cpp' + - '**.py' - '**.yaml' - '.github/workflows/rolling-debian-build.yml' - '**/package.xml' diff --git a/.github/workflows/rolling-rhel-semi-binary-build.yml b/.github/workflows/rolling-rhel-semi-binary-build.yml index 6b7fb6b8c4..29a53b810a 100644 --- a/.github/workflows/rolling-rhel-semi-binary-build.yml +++ b/.github/workflows/rolling-rhel-semi-binary-build.yml @@ -8,6 +8,7 @@ on: - '**.hpp' - '**.h' - '**.cpp' + - '**.py' - '**.yaml' - '.github/workflows/rolling-rhel-semi-binary-build.yml' - '**/package.xml' diff --git a/.github/workflows/rolling-semi-binary-build.yml b/.github/workflows/rolling-semi-binary-build.yml index db0cd33de5..872c509931 100644 --- a/.github/workflows/rolling-semi-binary-build.yml +++ b/.github/workflows/rolling-semi-binary-build.yml @@ -12,6 +12,7 @@ on: - '**.hpp' - '**.h' - '**.cpp' + - '**.py' - '**.yaml' - '.github/workflows/rolling-semi-binary-build.yml' - '**/package.xml' @@ -24,6 +25,7 @@ on: - '**.hpp' - '**.h' - '**.cpp' + - '**.py' - '**.yaml' - '.github/workflows/rolling-semi-binary-build.yml' - '**/package.xml' diff --git a/.github/workflows/rolling-source-build.yml b/.github/workflows/rolling-source-build.yml index 66e53d1da1..e19a1e8cf7 100644 --- a/.github/workflows/rolling-source-build.yml +++ b/.github/workflows/rolling-source-build.yml @@ -8,6 +8,7 @@ on: - '**.hpp' - '**.h' - '**.cpp' + - '**.py' - '**.yaml' - '.github/workflows/rolling-source-build.yml' - '**/package.xml' From f57eedd825874391ac076355a341a90e26e9a8ed Mon Sep 17 00:00:00 2001 From: Bence Magyar Date: Thu, 22 Aug 2024 19:50:49 +0100 Subject: [PATCH 4/8] Update changelogs --- ackermann_steering_controller/CHANGELOG.rst | 5 +++++ admittance_controller/CHANGELOG.rst | 6 ++++++ bicycle_steering_controller/CHANGELOG.rst | 5 +++++ diff_drive_controller/CHANGELOG.rst | 5 +++++ effort_controllers/CHANGELOG.rst | 3 +++ force_torque_sensor_broadcaster/CHANGELOG.rst | 5 +++++ forward_command_controller/CHANGELOG.rst | 3 +++ gripper_controllers/CHANGELOG.rst | 3 +++ imu_sensor_broadcaster/CHANGELOG.rst | 5 +++++ joint_state_broadcaster/CHANGELOG.rst | 5 +++++ joint_trajectory_controller/CHANGELOG.rst | 3 +++ parallel_gripper_controller/CHANGELOG.rst | 5 +++++ pid_controller/CHANGELOG.rst | 3 +++ position_controllers/CHANGELOG.rst | 3 +++ range_sensor_broadcaster/CHANGELOG.rst | 5 +++++ ros2_controllers/CHANGELOG.rst | 3 +++ ros2_controllers_test_nodes/CHANGELOG.rst | 3 +++ rqt_joint_trajectory_controller/CHANGELOG.rst | 3 +++ steering_controllers_library/CHANGELOG.rst | 3 +++ tricycle_controller/CHANGELOG.rst | 5 +++++ tricycle_steering_controller/CHANGELOG.rst | 5 +++++ velocity_controllers/CHANGELOG.rst | 3 +++ 22 files changed, 89 insertions(+) diff --git a/ackermann_steering_controller/CHANGELOG.rst b/ackermann_steering_controller/CHANGELOG.rst index d156aac14a..895bba5487 100644 --- a/ackermann_steering_controller/CHANGELOG.rst +++ b/ackermann_steering_controller/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package ackermann_steering_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* Fixes tests to work with use_global_arguments NodeOptions parameter (`#1256 `_) +* Contributors: Sai Kishor Kothakota + 4.12.1 (2024-08-14) ------------------- diff --git a/admittance_controller/CHANGELOG.rst b/admittance_controller/CHANGELOG.rst index 27944504fa..0c7259307e 100644 --- a/admittance_controller/CHANGELOG.rst +++ b/admittance_controller/CHANGELOG.rst @@ -2,6 +2,12 @@ Changelog for package admittance_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* Fix segfault at reconfigure of AdmittanceController (`#1248 `_) +* Fixes tests to work with use_global_arguments NodeOptions parameter (`#1256 `_) +* Contributors: Lennart Nachtigall, Sai Kishor Kothakota + 4.12.1 (2024-08-14) ------------------- * Fix admittance controller interface read/write logic (`#1232 `_) diff --git a/bicycle_steering_controller/CHANGELOG.rst b/bicycle_steering_controller/CHANGELOG.rst index ff5a8c13c7..abbdc8b28e 100644 --- a/bicycle_steering_controller/CHANGELOG.rst +++ b/bicycle_steering_controller/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package bicycle_steering_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* Fixes tests to work with use_global_arguments NodeOptions parameter (`#1256 `_) +* Contributors: Sai Kishor Kothakota + 4.12.1 (2024-08-14) ------------------- diff --git a/diff_drive_controller/CHANGELOG.rst b/diff_drive_controller/CHANGELOG.rst index a2a3a23ee2..18d6956fd5 100644 --- a/diff_drive_controller/CHANGELOG.rst +++ b/diff_drive_controller/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package diff_drive_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* Fixes tests to work with use_global_arguments NodeOptions parameter (`#1256 `_) +* Contributors: Sai Kishor Kothakota + 4.12.1 (2024-08-14) ------------------- diff --git a/effort_controllers/CHANGELOG.rst b/effort_controllers/CHANGELOG.rst index 23b1c687d8..9ed00feb8b 100644 --- a/effort_controllers/CHANGELOG.rst +++ b/effort_controllers/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package effort_controllers ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 4.12.1 (2024-08-14) ------------------- diff --git a/force_torque_sensor_broadcaster/CHANGELOG.rst b/force_torque_sensor_broadcaster/CHANGELOG.rst index 5c8f0da1bc..6dc273b420 100644 --- a/force_torque_sensor_broadcaster/CHANGELOG.rst +++ b/force_torque_sensor_broadcaster/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package force_torque_sensor_broadcaster ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* Fixes tests to work with use_global_arguments NodeOptions parameter (`#1256 `_) +* Contributors: Sai Kishor Kothakota + 4.12.1 (2024-08-14) ------------------- diff --git a/forward_command_controller/CHANGELOG.rst b/forward_command_controller/CHANGELOG.rst index 24232cac8a..55b779c876 100644 --- a/forward_command_controller/CHANGELOG.rst +++ b/forward_command_controller/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package forward_command_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 4.12.1 (2024-08-14) ------------------- diff --git a/gripper_controllers/CHANGELOG.rst b/gripper_controllers/CHANGELOG.rst index add7f90438..8887be16c2 100644 --- a/gripper_controllers/CHANGELOG.rst +++ b/gripper_controllers/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package gripper_controllers ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 4.12.1 (2024-08-14) ------------------- diff --git a/imu_sensor_broadcaster/CHANGELOG.rst b/imu_sensor_broadcaster/CHANGELOG.rst index a8d07e2caf..9251f6ca43 100644 --- a/imu_sensor_broadcaster/CHANGELOG.rst +++ b/imu_sensor_broadcaster/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package imu_sensor_broadcaster ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* Fixes tests to work with use_global_arguments NodeOptions parameter (`#1256 `_) +* Contributors: Sai Kishor Kothakota + 4.12.1 (2024-08-14) ------------------- diff --git a/joint_state_broadcaster/CHANGELOG.rst b/joint_state_broadcaster/CHANGELOG.rst index 802f2f8b90..519943aeee 100644 --- a/joint_state_broadcaster/CHANGELOG.rst +++ b/joint_state_broadcaster/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package joint_state_broadcaster ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* [Joint State Broadcaster] Publish the joint_states of joints present in the URDF (`#1233 `_) +* Contributors: Sai Kishor Kothakota + 4.12.1 (2024-08-14) ------------------- diff --git a/joint_trajectory_controller/CHANGELOG.rst b/joint_trajectory_controller/CHANGELOG.rst index aefe4f1a68..a254b043ef 100644 --- a/joint_trajectory_controller/CHANGELOG.rst +++ b/joint_trajectory_controller/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package joint_trajectory_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 4.12.1 (2024-08-14) ------------------- diff --git a/parallel_gripper_controller/CHANGELOG.rst b/parallel_gripper_controller/CHANGELOG.rst index 96b3d90756..b619740475 100644 --- a/parallel_gripper_controller/CHANGELOG.rst +++ b/parallel_gripper_controller/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package parallel_gripper_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* Fixes tests to work with use_global_arguments NodeOptions parameter (`#1256 `_) +* Contributors: Sai Kishor Kothakota + 4.12.1 (2024-08-14) ------------------- diff --git a/pid_controller/CHANGELOG.rst b/pid_controller/CHANGELOG.rst index 05cfd65c65..0740cac45b 100644 --- a/pid_controller/CHANGELOG.rst +++ b/pid_controller/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package pid_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 4.12.1 (2024-08-14) ------------------- diff --git a/position_controllers/CHANGELOG.rst b/position_controllers/CHANGELOG.rst index caa2319219..04bf8e50d6 100644 --- a/position_controllers/CHANGELOG.rst +++ b/position_controllers/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package position_controllers ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 4.12.1 (2024-08-14) ------------------- diff --git a/range_sensor_broadcaster/CHANGELOG.rst b/range_sensor_broadcaster/CHANGELOG.rst index 13b29cbd8f..ad33ffdd91 100644 --- a/range_sensor_broadcaster/CHANGELOG.rst +++ b/range_sensor_broadcaster/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package range_sensor_broadcaster ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* Fixes tests to work with use_global_arguments NodeOptions parameter (`#1256 `_) +* Contributors: Sai Kishor Kothakota + 4.12.1 (2024-08-14) ------------------- diff --git a/ros2_controllers/CHANGELOG.rst b/ros2_controllers/CHANGELOG.rst index 5122cc1d98..36fec11996 100644 --- a/ros2_controllers/CHANGELOG.rst +++ b/ros2_controllers/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package ros2_controllers ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 4.12.1 (2024-08-14) ------------------- diff --git a/ros2_controllers_test_nodes/CHANGELOG.rst b/ros2_controllers_test_nodes/CHANGELOG.rst index bbd2aaf3d0..f66f6a86fb 100644 --- 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 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 4.12.1 (2024-08-14) ------------------- diff --git a/rqt_joint_trajectory_controller/CHANGELOG.rst b/rqt_joint_trajectory_controller/CHANGELOG.rst index c167335f3d..6dfd067460 100644 --- 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 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 4.12.1 (2024-08-14) ------------------- diff --git a/steering_controllers_library/CHANGELOG.rst b/steering_controllers_library/CHANGELOG.rst index 47cbebc6ce..b391f2fbb4 100644 --- a/steering_controllers_library/CHANGELOG.rst +++ b/steering_controllers_library/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package steering_controllers_library ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 4.12.1 (2024-08-14) ------------------- diff --git a/tricycle_controller/CHANGELOG.rst b/tricycle_controller/CHANGELOG.rst index 0424e7f4f5..76e23e1184 100644 --- a/tricycle_controller/CHANGELOG.rst +++ b/tricycle_controller/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package tricycle_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* Fixes tests to work with use_global_arguments NodeOptions parameter (`#1256 `_) +* Contributors: Sai Kishor Kothakota + 4.12.1 (2024-08-14) ------------------- diff --git a/tricycle_steering_controller/CHANGELOG.rst b/tricycle_steering_controller/CHANGELOG.rst index ae42dff585..ca8795f8b5 100644 --- a/tricycle_steering_controller/CHANGELOG.rst +++ b/tricycle_steering_controller/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package tricycle_steering_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* Fixes tests to work with use_global_arguments NodeOptions parameter (`#1256 `_) +* Contributors: Sai Kishor Kothakota + 4.12.1 (2024-08-14) ------------------- diff --git a/velocity_controllers/CHANGELOG.rst b/velocity_controllers/CHANGELOG.rst index be0f90301e..ad7015f903 100644 --- a/velocity_controllers/CHANGELOG.rst +++ b/velocity_controllers/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package velocity_controllers ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 4.12.1 (2024-08-14) ------------------- From 20f6f0bba9a73cb49b4547cc5316ee058a2298aa Mon Sep 17 00:00:00 2001 From: Bence Magyar Date: Thu, 22 Aug 2024 19:51:10 +0100 Subject: [PATCH 5/8] 4.13.0 --- ackermann_steering_controller/CHANGELOG.rst | 4 ++-- ackermann_steering_controller/package.xml | 2 +- admittance_controller/CHANGELOG.rst | 4 ++-- admittance_controller/package.xml | 2 +- bicycle_steering_controller/CHANGELOG.rst | 4 ++-- bicycle_steering_controller/package.xml | 2 +- diff_drive_controller/CHANGELOG.rst | 4 ++-- diff_drive_controller/package.xml | 2 +- effort_controllers/CHANGELOG.rst | 4 ++-- effort_controllers/package.xml | 2 +- force_torque_sensor_broadcaster/CHANGELOG.rst | 4 ++-- force_torque_sensor_broadcaster/package.xml | 2 +- forward_command_controller/CHANGELOG.rst | 4 ++-- forward_command_controller/package.xml | 2 +- gripper_controllers/CHANGELOG.rst | 4 ++-- gripper_controllers/package.xml | 2 +- imu_sensor_broadcaster/CHANGELOG.rst | 4 ++-- imu_sensor_broadcaster/package.xml | 2 +- joint_state_broadcaster/CHANGELOG.rst | 4 ++-- joint_state_broadcaster/package.xml | 2 +- joint_trajectory_controller/CHANGELOG.rst | 4 ++-- joint_trajectory_controller/package.xml | 2 +- parallel_gripper_controller/CHANGELOG.rst | 4 ++-- parallel_gripper_controller/package.xml | 2 +- pid_controller/CHANGELOG.rst | 4 ++-- pid_controller/package.xml | 2 +- position_controllers/CHANGELOG.rst | 4 ++-- position_controllers/package.xml | 2 +- range_sensor_broadcaster/CHANGELOG.rst | 4 ++-- range_sensor_broadcaster/package.xml | 2 +- ros2_controllers/CHANGELOG.rst | 4 ++-- ros2_controllers/package.xml | 2 +- ros2_controllers_test_nodes/CHANGELOG.rst | 4 ++-- ros2_controllers_test_nodes/package.xml | 2 +- ros2_controllers_test_nodes/setup.py | 2 +- rqt_joint_trajectory_controller/CHANGELOG.rst | 4 ++-- rqt_joint_trajectory_controller/package.xml | 2 +- rqt_joint_trajectory_controller/setup.py | 2 +- steering_controllers_library/CHANGELOG.rst | 4 ++-- steering_controllers_library/package.xml | 2 +- tricycle_controller/CHANGELOG.rst | 4 ++-- tricycle_controller/package.xml | 2 +- tricycle_steering_controller/CHANGELOG.rst | 4 ++-- tricycle_steering_controller/package.xml | 2 +- velocity_controllers/CHANGELOG.rst | 4 ++-- velocity_controllers/package.xml | 2 +- 46 files changed, 68 insertions(+), 68 deletions(-) diff --git a/ackermann_steering_controller/CHANGELOG.rst b/ackermann_steering_controller/CHANGELOG.rst index 895bba5487..e4ea6ceba8 100644 --- a/ackermann_steering_controller/CHANGELOG.rst +++ b/ackermann_steering_controller/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package ackermann_steering_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +4.13.0 (2024-08-22) +------------------- * Fixes tests to work with use_global_arguments NodeOptions parameter (`#1256 `_) * Contributors: Sai Kishor Kothakota diff --git a/ackermann_steering_controller/package.xml b/ackermann_steering_controller/package.xml index 1ab37fa944..a191cede5d 100644 --- a/ackermann_steering_controller/package.xml +++ b/ackermann_steering_controller/package.xml @@ -2,7 +2,7 @@ ackermann_steering_controller - 4.12.1 + 4.13.0 Steering controller for Ackermann kinematics. Rear fixed wheels are powering the vehicle and front wheels are steering it. Apache License 2.0 Bence Magyar diff --git a/admittance_controller/CHANGELOG.rst b/admittance_controller/CHANGELOG.rst index 0c7259307e..3f0f44ebde 100644 --- a/admittance_controller/CHANGELOG.rst +++ b/admittance_controller/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package admittance_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +4.13.0 (2024-08-22) +------------------- * Fix segfault at reconfigure of AdmittanceController (`#1248 `_) * Fixes tests to work with use_global_arguments NodeOptions parameter (`#1256 `_) * Contributors: Lennart Nachtigall, Sai Kishor Kothakota diff --git a/admittance_controller/package.xml b/admittance_controller/package.xml index 75a2827417..bd37557b06 100644 --- a/admittance_controller/package.xml +++ b/admittance_controller/package.xml @@ -2,7 +2,7 @@ admittance_controller - 4.12.1 + 4.13.0 Implementation of admittance controllers for different input and output interface. Denis Štogl Bence Magyar diff --git a/bicycle_steering_controller/CHANGELOG.rst b/bicycle_steering_controller/CHANGELOG.rst index abbdc8b28e..9de6109a7e 100644 --- a/bicycle_steering_controller/CHANGELOG.rst +++ b/bicycle_steering_controller/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package bicycle_steering_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +4.13.0 (2024-08-22) +------------------- * Fixes tests to work with use_global_arguments NodeOptions parameter (`#1256 `_) * Contributors: Sai Kishor Kothakota diff --git a/bicycle_steering_controller/package.xml b/bicycle_steering_controller/package.xml index 819280a96b..73b658220a 100644 --- a/bicycle_steering_controller/package.xml +++ b/bicycle_steering_controller/package.xml @@ -2,7 +2,7 @@ bicycle_steering_controller - 4.12.1 + 4.13.0 Steering controller with bicycle kinematics. Rear fixed wheel is powering the vehicle and front wheel is steering. Apache License 2.0 Bence Magyar diff --git a/diff_drive_controller/CHANGELOG.rst b/diff_drive_controller/CHANGELOG.rst index 18d6956fd5..e82c7ee4f4 100644 --- a/diff_drive_controller/CHANGELOG.rst +++ b/diff_drive_controller/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package diff_drive_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +4.13.0 (2024-08-22) +------------------- * Fixes tests to work with use_global_arguments NodeOptions parameter (`#1256 `_) * Contributors: Sai Kishor Kothakota diff --git a/diff_drive_controller/package.xml b/diff_drive_controller/package.xml index 4f77e3a919..d352de7ed4 100644 --- a/diff_drive_controller/package.xml +++ b/diff_drive_controller/package.xml @@ -1,7 +1,7 @@ diff_drive_controller - 4.12.1 + 4.13.0 Controller for a differential drive mobile base. Bence Magyar Jordan Palacios diff --git a/effort_controllers/CHANGELOG.rst b/effort_controllers/CHANGELOG.rst index 9ed00feb8b..573f951c1b 100644 --- a/effort_controllers/CHANGELOG.rst +++ b/effort_controllers/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package effort_controllers ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +4.13.0 (2024-08-22) +------------------- 4.12.1 (2024-08-14) ------------------- diff --git a/effort_controllers/package.xml b/effort_controllers/package.xml index 0cea01d743..3ec600b0fa 100644 --- a/effort_controllers/package.xml +++ b/effort_controllers/package.xml @@ -1,7 +1,7 @@ effort_controllers - 4.12.1 + 4.13.0 Generic controller for forwarding commands. Bence Magyar Jordan Palacios diff --git a/force_torque_sensor_broadcaster/CHANGELOG.rst b/force_torque_sensor_broadcaster/CHANGELOG.rst index 6dc273b420..d8ee1d38d1 100644 --- a/force_torque_sensor_broadcaster/CHANGELOG.rst +++ b/force_torque_sensor_broadcaster/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package force_torque_sensor_broadcaster ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +4.13.0 (2024-08-22) +------------------- * Fixes tests to work with use_global_arguments NodeOptions parameter (`#1256 `_) * Contributors: Sai Kishor Kothakota diff --git a/force_torque_sensor_broadcaster/package.xml b/force_torque_sensor_broadcaster/package.xml index 3973cd91cd..a41568d2d5 100644 --- a/force_torque_sensor_broadcaster/package.xml +++ b/force_torque_sensor_broadcaster/package.xml @@ -2,7 +2,7 @@ force_torque_sensor_broadcaster - 4.12.1 + 4.13.0 Controller to publish state of force-torque sensors. Bence Magyar Denis Štogl diff --git a/forward_command_controller/CHANGELOG.rst b/forward_command_controller/CHANGELOG.rst index 55b779c876..04ce12659e 100644 --- a/forward_command_controller/CHANGELOG.rst +++ b/forward_command_controller/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package forward_command_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +4.13.0 (2024-08-22) +------------------- 4.12.1 (2024-08-14) ------------------- diff --git a/forward_command_controller/package.xml b/forward_command_controller/package.xml index 1b996a1b5e..7bef16d4fd 100644 --- a/forward_command_controller/package.xml +++ b/forward_command_controller/package.xml @@ -1,7 +1,7 @@ forward_command_controller - 4.12.1 + 4.13.0 Generic controller for forwarding commands. Bence Magyar Jordan Palacios diff --git a/gripper_controllers/CHANGELOG.rst b/gripper_controllers/CHANGELOG.rst index 8887be16c2..8a22013b50 100644 --- a/gripper_controllers/CHANGELOG.rst +++ b/gripper_controllers/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package gripper_controllers ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +4.13.0 (2024-08-22) +------------------- 4.12.1 (2024-08-14) ------------------- diff --git a/gripper_controllers/package.xml b/gripper_controllers/package.xml index 47e809afae..65d8c58e0f 100644 --- a/gripper_controllers/package.xml +++ b/gripper_controllers/package.xml @@ -4,7 +4,7 @@ schematypens="http://www.w3.org/2001/XMLSchema"?> gripper_controllers - 4.12.1 + 4.13.0 The gripper_controllers package Bence Magyar diff --git a/imu_sensor_broadcaster/CHANGELOG.rst b/imu_sensor_broadcaster/CHANGELOG.rst index 9251f6ca43..1d357eb88f 100644 --- a/imu_sensor_broadcaster/CHANGELOG.rst +++ b/imu_sensor_broadcaster/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package imu_sensor_broadcaster ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +4.13.0 (2024-08-22) +------------------- * Fixes tests to work with use_global_arguments NodeOptions parameter (`#1256 `_) * Contributors: Sai Kishor Kothakota diff --git a/imu_sensor_broadcaster/package.xml b/imu_sensor_broadcaster/package.xml index 6efaea8076..c4e31db09f 100644 --- a/imu_sensor_broadcaster/package.xml +++ b/imu_sensor_broadcaster/package.xml @@ -2,7 +2,7 @@ imu_sensor_broadcaster - 4.12.1 + 4.13.0 Controller to publish readings of IMU sensors. Bence Magyar Denis Štogl diff --git a/joint_state_broadcaster/CHANGELOG.rst b/joint_state_broadcaster/CHANGELOG.rst index 519943aeee..3b61fbec71 100644 --- a/joint_state_broadcaster/CHANGELOG.rst +++ b/joint_state_broadcaster/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package joint_state_broadcaster ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +4.13.0 (2024-08-22) +------------------- * [Joint State Broadcaster] Publish the joint_states of joints present in the URDF (`#1233 `_) * Contributors: Sai Kishor Kothakota diff --git a/joint_state_broadcaster/package.xml b/joint_state_broadcaster/package.xml index aa66a9641e..121ca68f6a 100644 --- a/joint_state_broadcaster/package.xml +++ b/joint_state_broadcaster/package.xml @@ -1,7 +1,7 @@ joint_state_broadcaster - 4.12.1 + 4.13.0 Broadcaster to publish joint state Bence Magyar Denis Stogl diff --git a/joint_trajectory_controller/CHANGELOG.rst b/joint_trajectory_controller/CHANGELOG.rst index a254b043ef..9ba9778c37 100644 --- a/joint_trajectory_controller/CHANGELOG.rst +++ b/joint_trajectory_controller/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package joint_trajectory_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +4.13.0 (2024-08-22) +------------------- 4.12.1 (2024-08-14) ------------------- diff --git a/joint_trajectory_controller/package.xml b/joint_trajectory_controller/package.xml index edfef38b39..9ff1dd03c9 100644 --- a/joint_trajectory_controller/package.xml +++ b/joint_trajectory_controller/package.xml @@ -1,7 +1,7 @@ joint_trajectory_controller - 4.12.1 + 4.13.0 Controller for executing joint-space trajectories on a group of joints Bence Magyar Dr. Denis Štogl diff --git a/parallel_gripper_controller/CHANGELOG.rst b/parallel_gripper_controller/CHANGELOG.rst index b619740475..5a5a872dff 100644 --- a/parallel_gripper_controller/CHANGELOG.rst +++ b/parallel_gripper_controller/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package parallel_gripper_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +4.13.0 (2024-08-22) +------------------- * Fixes tests to work with use_global_arguments NodeOptions parameter (`#1256 `_) * Contributors: Sai Kishor Kothakota diff --git a/parallel_gripper_controller/package.xml b/parallel_gripper_controller/package.xml index 98b9cd1b14..82d38cc417 100644 --- a/parallel_gripper_controller/package.xml +++ b/parallel_gripper_controller/package.xml @@ -4,7 +4,7 @@ schematypens="http://www.w3.org/2001/XMLSchema"?> parallel_gripper_controller - 4.12.1 + 4.13.0 The parallel_gripper_controller package Bence Magyar diff --git a/pid_controller/CHANGELOG.rst b/pid_controller/CHANGELOG.rst index 0740cac45b..02a10e05db 100644 --- a/pid_controller/CHANGELOG.rst +++ b/pid_controller/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package pid_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +4.13.0 (2024-08-22) +------------------- 4.12.1 (2024-08-14) ------------------- diff --git a/pid_controller/package.xml b/pid_controller/package.xml index 6148c43b94..767e5eecbc 100644 --- a/pid_controller/package.xml +++ b/pid_controller/package.xml @@ -2,7 +2,7 @@ pid_controller - 4.12.1 + 4.13.0 Controller based on PID implememenation from control_toolbox package. Bence Magyar Denis Štogl diff --git a/position_controllers/CHANGELOG.rst b/position_controllers/CHANGELOG.rst index 04bf8e50d6..1aa9b26515 100644 --- a/position_controllers/CHANGELOG.rst +++ b/position_controllers/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package position_controllers ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +4.13.0 (2024-08-22) +------------------- 4.12.1 (2024-08-14) ------------------- diff --git a/position_controllers/package.xml b/position_controllers/package.xml index 5b05352a21..9545700d07 100644 --- a/position_controllers/package.xml +++ b/position_controllers/package.xml @@ -1,7 +1,7 @@ position_controllers - 4.12.1 + 4.13.0 Generic controller for forwarding commands. Bence Magyar Jordan Palacios diff --git a/range_sensor_broadcaster/CHANGELOG.rst b/range_sensor_broadcaster/CHANGELOG.rst index ad33ffdd91..5a60a36dcd 100644 --- a/range_sensor_broadcaster/CHANGELOG.rst +++ b/range_sensor_broadcaster/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package range_sensor_broadcaster ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +4.13.0 (2024-08-22) +------------------- * Fixes tests to work with use_global_arguments NodeOptions parameter (`#1256 `_) * Contributors: Sai Kishor Kothakota diff --git a/range_sensor_broadcaster/package.xml b/range_sensor_broadcaster/package.xml index 1271dd9db1..cb814b1b8f 100644 --- a/range_sensor_broadcaster/package.xml +++ b/range_sensor_broadcaster/package.xml @@ -2,7 +2,7 @@ range_sensor_broadcaster - 4.12.1 + 4.13.0 Controller to publish readings of Range sensors. Bence Magyar Florent Chretien diff --git a/ros2_controllers/CHANGELOG.rst b/ros2_controllers/CHANGELOG.rst index 36fec11996..cb8ac7281f 100644 --- a/ros2_controllers/CHANGELOG.rst +++ b/ros2_controllers/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package ros2_controllers ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +4.13.0 (2024-08-22) +------------------- 4.12.1 (2024-08-14) ------------------- diff --git a/ros2_controllers/package.xml b/ros2_controllers/package.xml index c6791dd0a5..5a5ad3f632 100644 --- a/ros2_controllers/package.xml +++ b/ros2_controllers/package.xml @@ -1,7 +1,7 @@ ros2_controllers - 4.12.1 + 4.13.0 Metapackage for ROS2 controllers related packages Bence Magyar Jordan Palacios diff --git a/ros2_controllers_test_nodes/CHANGELOG.rst b/ros2_controllers_test_nodes/CHANGELOG.rst index f66f6a86fb..c4e08ae2c1 100644 --- a/ros2_controllers_test_nodes/CHANGELOG.rst +++ b/ros2_controllers_test_nodes/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package ros2_controllers_test_nodes ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +4.13.0 (2024-08-22) +------------------- 4.12.1 (2024-08-14) ------------------- diff --git a/ros2_controllers_test_nodes/package.xml b/ros2_controllers_test_nodes/package.xml index 6d7d362847..d1fd4d3844 100644 --- a/ros2_controllers_test_nodes/package.xml +++ b/ros2_controllers_test_nodes/package.xml @@ -2,7 +2,7 @@ ros2_controllers_test_nodes - 4.12.1 + 4.13.0 Demo nodes for showing and testing functionalities of the ros2_control framework. Denis Štogl diff --git a/ros2_controllers_test_nodes/setup.py b/ros2_controllers_test_nodes/setup.py index 9b2a14c367..a9c8fb6b60 100644 --- a/ros2_controllers_test_nodes/setup.py +++ b/ros2_controllers_test_nodes/setup.py @@ -20,7 +20,7 @@ setup( name=package_name, - version="4.12.1", + version="4.13.0", 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 index 6dfd067460..f3371a8320 100644 --- a/rqt_joint_trajectory_controller/CHANGELOG.rst +++ b/rqt_joint_trajectory_controller/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package rqt_joint_trajectory_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +4.13.0 (2024-08-22) +------------------- 4.12.1 (2024-08-14) ------------------- diff --git a/rqt_joint_trajectory_controller/package.xml b/rqt_joint_trajectory_controller/package.xml index 13f6136350..c9b086e587 100644 --- 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"?> rqt_joint_trajectory_controller - 4.12.1 + 4.13.0 Graphical frontend for interacting with joint_trajectory_controller instances. Bence Magyar diff --git a/rqt_joint_trajectory_controller/setup.py b/rqt_joint_trajectory_controller/setup.py index 3d10574eec..cc2fc8b00b 100644 --- a/rqt_joint_trajectory_controller/setup.py +++ b/rqt_joint_trajectory_controller/setup.py @@ -21,7 +21,7 @@ setup( name=package_name, - version="4.12.1", + version="4.13.0", packages=[package_name], data_files=[ ("share/ament_index/resource_index/packages", ["resource/" + package_name]), diff --git a/steering_controllers_library/CHANGELOG.rst b/steering_controllers_library/CHANGELOG.rst index b391f2fbb4..8b2791a8e7 100644 --- a/steering_controllers_library/CHANGELOG.rst +++ b/steering_controllers_library/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package steering_controllers_library ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +4.13.0 (2024-08-22) +------------------- 4.12.1 (2024-08-14) ------------------- diff --git a/steering_controllers_library/package.xml b/steering_controllers_library/package.xml index 73c2bf8198..bff5ccc8e5 100644 --- a/steering_controllers_library/package.xml +++ b/steering_controllers_library/package.xml @@ -2,7 +2,7 @@ steering_controllers_library - 4.12.1 + 4.13.0 Package for steering robot configurations including odometry and interfaces. Apache License 2.0 Bence Magyar diff --git a/tricycle_controller/CHANGELOG.rst b/tricycle_controller/CHANGELOG.rst index 76e23e1184..a4c6912ce0 100644 --- a/tricycle_controller/CHANGELOG.rst +++ b/tricycle_controller/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package tricycle_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +4.13.0 (2024-08-22) +------------------- * Fixes tests to work with use_global_arguments NodeOptions parameter (`#1256 `_) * Contributors: Sai Kishor Kothakota diff --git a/tricycle_controller/package.xml b/tricycle_controller/package.xml index 0e87370142..aa37106fac 100644 --- a/tricycle_controller/package.xml +++ b/tricycle_controller/package.xml @@ -2,7 +2,7 @@ tricycle_controller - 4.12.1 + 4.13.0 Controller for a tricycle drive mobile base Bence Magyar Tony Najjar diff --git a/tricycle_steering_controller/CHANGELOG.rst b/tricycle_steering_controller/CHANGELOG.rst index ca8795f8b5..f535a1309e 100644 --- a/tricycle_steering_controller/CHANGELOG.rst +++ b/tricycle_steering_controller/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package tricycle_steering_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +4.13.0 (2024-08-22) +------------------- * Fixes tests to work with use_global_arguments NodeOptions parameter (`#1256 `_) * Contributors: Sai Kishor Kothakota diff --git a/tricycle_steering_controller/package.xml b/tricycle_steering_controller/package.xml index 249d2041e7..041f4425e8 100644 --- a/tricycle_steering_controller/package.xml +++ b/tricycle_steering_controller/package.xml @@ -2,7 +2,7 @@ tricycle_steering_controller - 4.12.1 + 4.13.0 Steering controller with tricycle kinematics. Rear fixed wheels are powering the vehicle and front wheel is steering. Apache License 2.0 Bence Magyar diff --git a/velocity_controllers/CHANGELOG.rst b/velocity_controllers/CHANGELOG.rst index ad7015f903..7b0e141de7 100644 --- a/velocity_controllers/CHANGELOG.rst +++ b/velocity_controllers/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package velocity_controllers ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +4.13.0 (2024-08-22) +------------------- 4.12.1 (2024-08-14) ------------------- diff --git a/velocity_controllers/package.xml b/velocity_controllers/package.xml index 03283cbc14..f7a6fcac72 100644 --- a/velocity_controllers/package.xml +++ b/velocity_controllers/package.xml @@ -1,7 +1,7 @@ velocity_controllers - 4.12.1 + 4.13.0 Generic controller for forwarding commands. Bence Magyar Jordan Palacios From 1c4d58e55efd86630451eb615ade5d1f7da7e952 Mon Sep 17 00:00:00 2001 From: Takashi Sato Date: Sun, 25 Aug 2024 01:55:15 +0900 Subject: [PATCH 6/8] [JSB] Move the initialize of urdf::Model from on_activate to on_configure to improve real-time performance (#1269) --- .../joint_state_broadcaster.hpp | 4 +++ .../src/joint_state_broadcaster.cpp | 27 ++++++++++--------- 2 files changed, 18 insertions(+), 13 deletions(-) diff --git a/joint_state_broadcaster/include/joint_state_broadcaster/joint_state_broadcaster.hpp b/joint_state_broadcaster/include/joint_state_broadcaster/joint_state_broadcaster.hpp index b3fa69f94c..ecc3c767f6 100644 --- a/joint_state_broadcaster/include/joint_state_broadcaster/joint_state_broadcaster.hpp +++ b/joint_state_broadcaster/include/joint_state_broadcaster/joint_state_broadcaster.hpp @@ -27,6 +27,7 @@ #include "joint_state_broadcaster_parameters.hpp" #include "realtime_tools/realtime_publisher.h" #include "sensor_msgs/msg/joint_state.hpp" +#include "urdf/model.h" namespace joint_state_broadcaster { @@ -111,6 +112,9 @@ class JointStateBroadcaster : public controller_interface::ControllerInterface dynamic_joint_state_publisher_; std::shared_ptr> realtime_dynamic_joint_state_publisher_; + + urdf::Model model_; + bool is_model_loaded_ = false; }; } // namespace joint_state_broadcaster diff --git a/joint_state_broadcaster/src/joint_state_broadcaster.cpp b/joint_state_broadcaster/src/joint_state_broadcaster.cpp index 209b44e557..fe0b32213a 100644 --- a/joint_state_broadcaster/src/joint_state_broadcaster.cpp +++ b/joint_state_broadcaster/src/joint_state_broadcaster.cpp @@ -164,6 +164,18 @@ controller_interface::CallbackReturn JointStateBroadcaster::on_configure( fprintf(stderr, "Exception thrown during init stage with message: %s \n", e.what()); return CallbackReturn::ERROR; } + + const std::string & urdf = get_robot_description(); + + is_model_loaded_ = !urdf.empty() && model_.initString(urdf); + if (!is_model_loaded_) + { + RCLCPP_ERROR( + get_node()->get_logger(), + "Failed to parse robot description. Will publish all the interfaces with '%s', '%s' and '%s'", + HW_IF_POSITION, HW_IF_VELOCITY, HW_IF_EFFORT); + } + return CallbackReturn::SUCCESS; } @@ -243,17 +255,6 @@ bool JointStateBroadcaster::init_joint_data() name_if_value_mapping_[si->get_prefix_name()][interface_name] = kUninitializedValue; } - const std::string & urdf = get_robot_description(); - - urdf::Model model; - const bool is_model_loaded = !urdf.empty() && model.initString(urdf); - if (!is_model_loaded) - { - RCLCPP_ERROR( - get_node()->get_logger(), - "Failed to parse robot description. Will publish all the interfaces with '%s', '%s' and '%s'", - HW_IF_POSITION, HW_IF_VELOCITY, HW_IF_EFFORT); - } // filter state interfaces that have at least one of the joint_states fields, // the rest will be ignored for this message for (const auto & name_ifv : name_if_value_mapping_) @@ -262,8 +263,8 @@ bool JointStateBroadcaster::init_joint_data() if (has_any_key(interfaces_and_values, {HW_IF_POSITION, HW_IF_VELOCITY, HW_IF_EFFORT})) { if ( - !params_.use_urdf_to_filter || !params_.joints.empty() || !is_model_loaded || - model.getJoint(name_ifv.first)) + !params_.use_urdf_to_filter || !params_.joints.empty() || !is_model_loaded_ || + model_.getJoint(name_ifv.first)) { joint_names_.push_back(name_ifv.first); } From ce12694c6c948509a470783fd3b770cfab60a26e Mon Sep 17 00:00:00 2001 From: Manuel Muth Date: Mon, 26 Aug 2024 14:51:49 +0200 Subject: [PATCH 7/8] rename get/set_state to get/set_lifecylce_state (#1250) --- diff_drive_controller/src/diff_drive_controller.cpp | 2 +- .../src/joint_trajectory_controller.cpp | 6 +++--- tricycle_controller/src/tricycle_controller.cpp | 2 +- 3 files changed, 5 insertions(+), 5 deletions(-) diff --git a/diff_drive_controller/src/diff_drive_controller.cpp b/diff_drive_controller/src/diff_drive_controller.cpp index a64f210503..66da6d6738 100644 --- a/diff_drive_controller/src/diff_drive_controller.cpp +++ b/diff_drive_controller/src/diff_drive_controller.cpp @@ -101,7 +101,7 @@ controller_interface::return_type DiffDriveController::update( const rclcpp::Time & time, const rclcpp::Duration & period) { auto logger = get_node()->get_logger(); - if (get_state().id() == State::PRIMARY_STATE_INACTIVE) + if (get_lifecycle_state().id() == State::PRIMARY_STATE_INACTIVE) { if (!is_halted) { diff --git a/joint_trajectory_controller/src/joint_trajectory_controller.cpp b/joint_trajectory_controller/src/joint_trajectory_controller.cpp index 9563568ad5..e4923604fd 100644 --- a/joint_trajectory_controller/src/joint_trajectory_controller.cpp +++ b/joint_trajectory_controller/src/joint_trajectory_controller.cpp @@ -137,7 +137,7 @@ JointTrajectoryController::state_interface_configuration() const controller_interface::return_type JointTrajectoryController::update( const rclcpp::Time & time, const rclcpp::Duration & period) { - if (get_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE) + if (get_lifecycle_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE) { return controller_interface::return_type::OK; } @@ -593,7 +593,7 @@ void JointTrajectoryController::query_state_service( { const auto logger = get_node()->get_logger(); // Preconditions - if (get_state().id() != lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE) + if (get_lifecycle_state().id() != lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE) { RCLCPP_ERROR(logger, "Can't sample trajectory. Controller is not active."); response->success = false; @@ -1112,7 +1112,7 @@ rclcpp_action::GoalResponse JointTrajectoryController::goal_received_callback( RCLCPP_INFO(get_node()->get_logger(), "Received new action goal"); // Precondition: Running controller - if (get_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE) + if (get_lifecycle_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE) { RCLCPP_ERROR( get_node()->get_logger(), "Can't accept new action goals. Controller is not running."); diff --git a/tricycle_controller/src/tricycle_controller.cpp b/tricycle_controller/src/tricycle_controller.cpp index 94ff63e659..ec7ca7bd5e 100644 --- a/tricycle_controller/src/tricycle_controller.cpp +++ b/tricycle_controller/src/tricycle_controller.cpp @@ -86,7 +86,7 @@ InterfaceConfiguration TricycleController::state_interface_configuration() const controller_interface::return_type TricycleController::update( const rclcpp::Time & time, const rclcpp::Duration & period) { - if (get_state().id() == State::PRIMARY_STATE_INACTIVE) + if (get_lifecycle_state().id() == State::PRIMARY_STATE_INACTIVE) { if (!is_halted) { From 3be3fe95c3eb2a6a7e07bde2b96a9b8acc558d9a Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Francisco=20Mart=C3=ADn=20Rico?= Date: Mon, 26 Aug 2024 14:52:27 +0200 Subject: [PATCH 8/8] Fix bug for displaying all controllers (#1259) --- .../joint_trajectory_controller.py | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/rqt_joint_trajectory_controller/rqt_joint_trajectory_controller/joint_trajectory_controller.py b/rqt_joint_trajectory_controller/rqt_joint_trajectory_controller/joint_trajectory_controller.py index 4cc6c901af..5b27c2c832 100644 --- a/rqt_joint_trajectory_controller/rqt_joint_trajectory_controller/joint_trajectory_controller.py +++ b/rqt_joint_trajectory_controller/rqt_joint_trajectory_controller/joint_trajectory_controller.py @@ -238,8 +238,11 @@ def _update_jtc_list(self): # for _all_ their joints running_jtc = self._running_jtc_info() if running_jtc and not self._robot_joint_limits: + self._robot_joint_limits = {} for jtc_info in running_jtc: - self._robot_joint_limits = get_joint_limits(self._node, _jtc_joint_names(jtc_info)) + self._robot_joint_limits.update( + get_joint_limits(self._node, _jtc_joint_names(jtc_info)) + ) valid_jtc = [] if self._robot_joint_limits: for jtc_info in running_jtc: