Merge branch 'iron' into mergify/bp/iron/pr-1731

ros-controls · Oct 9, 2024 · 39b1cea · 39b1cea
2 parents 545b5c7 + 19d81e6
commit 39b1cea
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Showing 27 changed files with 75 additions and 20 deletions.
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
@@ -49,20 +49,20 @@ repos:
       args: ["--ignore=D100,D101,D102,D103,D104,D105,D106,D107,D203,D212,D404"]
 
   - repo: https://github.com/psf/black
-    rev: 24.4.2
+    rev: 24.8.0
     hooks:
       - id: black
         args: ["--line-length=99"]
 
   - repo: https://github.com/pycqa/flake8
-    rev: 7.1.0
+    rev: 7.1.1
     hooks:
     - id: flake8
       args: ["--extend-ignore=E501"]
 
   # CPP hooks
   - repo: https://github.com/pre-commit/mirrors-clang-format
-    rev: v18.1.8
+    rev: v19.1.0
     hooks:
       - id: clang-format
         args: ['-fallback-style=none', '-i']
@@ -108,7 +108,7 @@ repos:
 
   # Docs - RestructuredText hooks
   - repo: https://github.com/PyCQA/doc8
-    rev: v1.1.1
+    rev: v1.1.2
     hooks:
       - id: doc8
         args: ['--max-line-length=100', '--ignore=D001']
@@ -132,7 +132,7 @@ repos:
         exclude: CHANGELOG\.rst|\.(svg|pyc|drawio)$
 
   - repo: https://github.com/python-jsonschema/check-jsonschema
-    rev: 0.29.1
+    rev: 0.29.3
     hooks:
       - id: check-github-workflows
         args: ["--verbose"]

diff --git a/controller_interface/CHANGELOG.rst b/controller_interface/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package controller_interface
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.28.1 (2024-09-11)
+-------------------
+
 3.28.0 (2024-08-22)
 -------------------
 

diff --git a/controller_interface/package.xml b/controller_interface/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="2">
   <name>controller_interface</name>
-  <version>3.28.0</version>
+  <version>3.28.1</version>
   <description>Description of controller_interface</description>
   <maintainer email="bence.magyar.robotics@gmail.com">Bence Magyar</maintainer>
   <maintainer email="denis@stoglrobotics.de">Denis Štogl</maintainer>

diff --git a/controller_manager/CHANGELOG.rst b/controller_manager/CHANGELOG.rst
@@ -2,6 +2,11 @@
 Changelog for package controller_manager
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.28.1 (2024-09-11)
+-------------------
+* fix: the print of the information in control node was in wrong order (`#1726 <https://github.com/ros-controls/ros2_control/issues/1726>`_) (`#1727 <https://github.com/ros-controls/ros2_control/issues/1727>`_)
+* Contributors: mergify[bot]
+
 3.28.0 (2024-08-22)
 -------------------
 * Inform user why rt policy could not be set, inform if is set. (backport `#1705 <https://github.com/ros-controls/ros2_control/issues/1705>`_) (`#1709 <https://github.com/ros-controls/ros2_control/issues/1709>`_)

diff --git a/controller_manager/package.xml b/controller_manager/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="2">
   <name>controller_manager</name>
-  <version>3.28.0</version>
+  <version>3.28.1</version>
   <description>Description of controller_manager</description>
   <maintainer email="bence.magyar.robotics@gmail.com">Bence Magyar</maintainer>
   <maintainer email="denis@stoglrobotics.de">Denis Štogl</maintainer>

diff --git a/controller_manager/src/controller_manager.cpp b/controller_manager/src/controller_manager.cpp
@@ -399,7 +399,14 @@ void ControllerManager::init_resource_manager(const std::string & robot_descript
           RCLCPP_INFO(
             get_logger(), "Setting component '%s' to '%s' state.", component.c_str(),
             state.label().c_str());
-          resource_manager_->set_component_state(component, state);
+          if (
+            resource_manager_->set_component_state(component, state) ==
+            hardware_interface::return_type::ERROR)
+          {
+            throw std::runtime_error(
+              "Failed to set the initial state of the component : " + component + " to " +
+              state.label());
+          }
           components_to_activate.erase(component);
         }
       }
@@ -465,7 +472,14 @@ void ControllerManager::init_resource_manager(const std::string & robot_descript
     {
       rclcpp_lifecycle::State active_state(
         State::PRIMARY_STATE_ACTIVE, hardware_interface::lifecycle_state_names::ACTIVE);
-      resource_manager_->set_component_state(component, active_state);
+      if (
+        resource_manager_->set_component_state(component, active_state) ==
+        hardware_interface::return_type::ERROR)
+      {
+        throw std::runtime_error(
+          "Failed to set the initial state of the component : " + component + " to " +
+          active_state.label());
+      }
     }
   }
 }

diff --git a/controller_manager/test/test_spawner_unspawner.cpp b/controller_manager/test/test_spawner_unspawner.cpp
@@ -252,6 +252,7 @@ TEST_F(TestLoadController, multi_ctrls_test_type_in_param)
 
 TEST_F(TestLoadController, spawner_test_type_in_arg)
 {
+  ControllerManagerRunner cm_runner(this);
   // Provide controller type via -t argument
   EXPECT_EQ(
     call_spawner(
@@ -270,6 +271,7 @@ TEST_F(TestLoadController, unload_on_kill)
 {
   // Launch spawner with unload on kill
   // timeout command will kill it after the specified time with signal SIGINT
+  ControllerManagerRunner cm_runner(this);
   std::stringstream ss;
   ss << "timeout --signal=INT 5 "
      << std::string(coveragepy_script) +
@@ -538,6 +540,7 @@ TEST_F(TestLoadControllerWithNamespacedCM, spawner_test_type_in_params_file)
   const std::string test_file_path = ament_index_cpp::get_package_prefix("controller_manager") +
                                      "/test/test_controller_spawner_with_type.yaml";
 
+  ControllerManagerRunner cm_runner(this);
   // Provide controller type via the parsed file
   EXPECT_EQ(
     call_spawner(
@@ -598,6 +601,7 @@ TEST_F(
   const std::string test_file_path = ament_index_cpp::get_package_prefix("controller_manager") +
                                      "/test/test_controller_spawner_with_type.yaml";
 
+  ControllerManagerRunner cm_runner(this);
   // Provide controller type via the parsed file
   EXPECT_EQ(
     call_spawner(

diff --git a/controller_manager_msgs/CHANGELOG.rst b/controller_manager_msgs/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package controller_manager_msgs
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.28.1 (2024-09-11)
+-------------------
+
 3.28.0 (2024-08-22)
 -------------------
 

diff --git a/controller_manager_msgs/package.xml b/controller_manager_msgs/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>controller_manager_msgs</name>
-  <version>3.28.0</version>
+  <version>3.28.1</version>
   <description>Messages and services for the controller manager.</description>
   <maintainer email="bence.magyar.robotics@gmail.com">Bence Magyar</maintainer>
   <maintainer email="denis@stoglrobotics.de">Denis Štogl</maintainer>

diff --git a/hardware_interface/CHANGELOG.rst b/hardware_interface/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package hardware_interface
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.28.1 (2024-09-11)
+-------------------
+
 3.28.0 (2024-08-22)
 -------------------
 

diff --git a/hardware_interface/package.xml b/hardware_interface/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>hardware_interface</name>
-  <version>3.28.0</version>
+  <version>3.28.1</version>
   <description>ros2_control hardware interface</description>
   <maintainer email="bence.magyar.robotics@gmail.com">Bence Magyar</maintainer>
   <maintainer email="denis@stoglrobotics.de">Denis Štogl</maintainer>

diff --git a/hardware_interface_testing/CHANGELOG.rst b/hardware_interface_testing/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package hardware_interface_testing
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.28.1 (2024-09-11)
+-------------------
+
 3.28.0 (2024-08-22)
 -------------------
 

diff --git a/hardware_interface_testing/package.xml b/hardware_interface_testing/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>hardware_interface_testing</name>
-  <version>3.28.0</version>
+  <version>3.28.1</version>
   <description>ros2_control hardware interface testing</description>
   <maintainer email="bence.magyar.robotics@gmail.com">Bence Magyar</maintainer>
   <maintainer email="denis@stoglrobotics.de">Denis Štogl</maintainer>

diff --git a/joint_limits/CHANGELOG.rst b/joint_limits/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package joint_limits
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.28.1 (2024-09-11)
+-------------------
+
 3.28.0 (2024-08-22)
 -------------------
 

diff --git a/joint_limits/package.xml b/joint_limits/package.xml
@@ -1,6 +1,6 @@
 <package format="3">
   <name>joint_limits</name>
-  <version>3.28.0</version>
+  <version>3.28.1</version>
   <description>Interfaces for handling of joint limits for controllers or hardware.</description>
 
   <maintainer email="bence.magyar.robotics@gmail.com">Bence Magyar</maintainer>

diff --git a/ros2_control/CHANGELOG.rst b/ros2_control/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package ros2_control
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.28.1 (2024-09-11)
+-------------------
+
 3.28.0 (2024-08-22)
 -------------------
 

diff --git a/ros2_control/package.xml b/ros2_control/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>ros2_control</name>
-  <version>3.28.0</version>
+  <version>3.28.1</version>
   <description>Metapackage for ROS2 control related packages</description>
   <maintainer email="bence.magyar.robotics@gmail.com">Bence Magyar</maintainer>
   <maintainer email="denis@stoglrobotics.de">Denis Štogl</maintainer>

diff --git a/ros2_control_test_assets/CHANGELOG.rst b/ros2_control_test_assets/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package ros2_control_test_assets
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.28.1 (2024-09-11)
+-------------------
+
 3.28.0 (2024-08-22)
 -------------------
 

diff --git a/ros2_control_test_assets/package.xml b/ros2_control_test_assets/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_control_test_assets</name>
-  <version>3.28.0</version>
+  <version>3.28.1</version>
   <description>The package provides shared test resources for ros2_control stack
   </description>
   <maintainer email="bence.magyar.robotics@gmail.com">Bence Magyar</maintainer>

diff --git a/ros2controlcli/CHANGELOG.rst b/ros2controlcli/CHANGELOG.rst
@@ -2,6 +2,11 @@
 Changelog for package ros2controlcli
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.28.1 (2024-09-11)
+-------------------
+* [ros2controlcli] fix list_controllers when no controllers are loaded (`#1721 <https://github.com/ros-controls/ros2_control/issues/1721>`_) (`#1723 <https://github.com/ros-controls/ros2_control/issues/1723>`_)
+* Contributors: mergify[bot]
+
 3.28.0 (2024-08-22)
 -------------------
 * Make list controller and list hardware components immediately visualize the state. (`#1606 <https://github.com/ros-controls/ros2_control/issues/1606>`_) (`#1691 <https://github.com/ros-controls/ros2_control/issues/1691>`_)

diff --git a/ros2controlcli/package.xml b/ros2controlcli/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="2">
   <name>ros2controlcli</name>
-  <version>3.28.0</version>
+  <version>3.28.1</version>
   <description>
     The ROS 2 command line tools for ROS2 Control.
   </description>

diff --git a/ros2controlcli/setup.py b/ros2controlcli/setup.py
@@ -19,7 +19,7 @@
 
 setup(
     name=package_name,
-    version="3.28.0",
+    version="3.28.1",
     packages=find_packages(exclude=["test"]),
     data_files=[
         ("share/" + package_name, ["package.xml"]),

diff --git a/rqt_controller_manager/CHANGELOG.rst b/rqt_controller_manager/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package rqt_controller_manager
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.28.1 (2024-09-11)
+-------------------
+
 3.28.0 (2024-08-22)
 -------------------
 

diff --git a/rqt_controller_manager/package.xml b/rqt_controller_manager/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>rqt_controller_manager</name>
-  <version>3.28.0</version>
+  <version>3.28.1</version>
   <description>Graphical frontend for interacting with the controller manager.</description>
   <maintainer email="bence.magyar.robotics@gmail.com">Bence Magyar</maintainer>
   <maintainer email="denis@stoglrobotics.de">Denis Štogl</maintainer>

diff --git a/rqt_controller_manager/setup.py b/rqt_controller_manager/setup.py
@@ -20,7 +20,7 @@
 
 setup(
     name=package_name,
-    version="3.28.0",
+    version="3.28.1",
     packages=[package_name],
     data_files=[
         ("share/ament_index/resource_index/packages", ["resource/" + package_name]),

diff --git a/transmission_interface/CHANGELOG.rst b/transmission_interface/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package transmission_interface
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.28.1 (2024-09-11)
+-------------------
+
 3.28.0 (2024-08-22)
 -------------------
 * Fix flaky transmission_interface tests by making them deterministic. (`#1665 <https://github.com/ros-controls/ros2_control/issues/1665>`_) (`#1671 <https://github.com/ros-controls/ros2_control/issues/1671>`_)

diff --git a/transmission_interface/package.xml b/transmission_interface/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>transmission_interface</name>
-  <version>3.28.0</version>
+  <version>3.28.1</version>
   <description>transmission_interface contains data structures for representing mechanical transmissions, methods for propagating values between actuator and joint spaces and tooling to support this.</description>
   <maintainer email="bence.magyar.robotics@gmail.com">Bence Magyar</maintainer>
   <maintainer email="denis@stoglrobotics.de">Denis Štogl</maintainer>