Fix/spawner interrupt (#1666)

* [ResourceManager] Make destructor virtual for use in derived classes (#1607) * Fix typos in test_resource_manager.cpp (#1609) * [CM] Remove support for the description parameter and use only `robot_description` topic (#1358) --------- Co-authored-by: Felix Exner <exner@fzi.de> Co-authored-by: Christoph Froehlich <christoph.froehlich@ait.ac.at> * move critical variables to the private context (#1623) * Fix controller starting with later load of robot description test (#1624) * Fix the duplicated restart of the controller_manager services initialization * Scope the ControllerManagerRunner to avoid malloc and other test issues * reorder the tests for consistent log at the end * Remove noqa (#1626) * Unused header cleanup (#1627) * Create debugging.rst (#1625) --------- Co-authored-by: Sai Kishor Kothakota <saisastra3@gmail.com> Co-authored-by: Christoph Froehlich <christoph.froehlich@ait.ac.at> * Update changelogs * 4.14.0 * add missing rclcpp logging include for Humble compatibility build (#1635) * [CM] Remove deprecated spawner args (#1639) * Add a pytest launch file to test ros2_control_node (#1636) * Fix rst markup (#1642) * Fix rqt_cm paragraph * Fix indent * CM: Add missing includes (#1641) * [RM] Add `get_hardware_info` method to the Hardware Components (#1643) * Fix the namespaced controller_manager spawner + added tests (#1640) * Bump version of pre-commit hooks (#1649) Co-authored-by: christophfroehlich <3367244+christophfroehlich@users.noreply.github.com> * Add missing include for executors (#1653) * Update changelogs * 4.15.0 * refactor SwitchParams to fix the incosistencies in the spawner tests (#1638) * Modify test with missing CM to have a timeout * Catch exception when CM services are not found And print the error and exit in the application * Exit with code 1 on unreached CM --------- Co-authored-by: Sai Kishor Kothakota <sai.kishor@pal-robotics.com> Co-authored-by: Parker Drouillard <parker@pepcorp.ca> Co-authored-by: Dr. Denis <denis@stoglrobotics.de> Co-authored-by: Christoph Froehlich <christoph.froehlich@ait.ac.at> Co-authored-by: Christoph Fröhlich <christophfroehlich@users.noreply.github.com> Co-authored-by: Henry Moore <henry.moore@picknik.ai> Co-authored-by: Lennart Nachtigall <firesurfer127@gmail.com> Co-authored-by: Sai Kishor Kothakota <saisastra3@gmail.com> Co-authored-by: Bence Magyar <bence.magyar.robotics@gmail.com> Co-authored-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com> Co-authored-by: christophfroehlich <3367244+christophfroehlich@users.noreply.github.com>
ros-controls · Aug 12, 2024 · 4044fc2 · 4044fc2
1 parent ea7d4ca
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diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
@@ -37,7 +37,7 @@ repos:
 
   # Python hooks
   - repo: https://github.com/asottile/pyupgrade
-    rev: v3.16.0
+    rev: v3.17.0
     hooks:
     -   id: pyupgrade
         args: [--py36-plus]
@@ -133,7 +133,7 @@ repos:
         exclude: CHANGELOG\.rst|\.(svg|pyc|drawio)$
 
   - repo: https://github.com/python-jsonschema/check-jsonschema
-    rev: 0.28.6
+    rev: 0.29.1
     hooks:
       - id: check-github-workflows
         args: ["--verbose"]

diff --git a/controller_interface/CHANGELOG.rst b/controller_interface/CHANGELOG.rst
@@ -2,6 +2,15 @@
 Changelog for package controller_interface
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.15.0 (2024-08-05)
+-------------------
+
+4.14.0 (2024-07-23)
+-------------------
+* Unused header cleanup (`#1627 <https://github.com/ros-controls/ros2_control/issues/1627>`_)
+* move critical variables to the private context (`#1623 <https://github.com/ros-controls/ros2_control/issues/1623>`_)
+* Contributors: Henry Moore, Sai Kishor Kothakota
+
 4.13.0 (2024-07-08)
 -------------------
 * [ControllerChaining] Export state interfaces from chainable controllers (`#1021 <https://github.com/ros-controls/ros2_control/issues/1021>`_)

diff --git a/controller_interface/include/controller_interface/controller_interface.hpp b/controller_interface/include/controller_interface/controller_interface.hpp
@@ -16,7 +16,6 @@
 #define CONTROLLER_INTERFACE__CONTROLLER_INTERFACE_HPP_
 
 #include <memory>
-#include <string>
 #include <vector>
 
 #include "controller_interface/controller_interface_base.hpp"

diff --git a/controller_interface/include/controller_interface/controller_interface_base.hpp b/controller_interface/include/controller_interface/controller_interface_base.hpp
@@ -25,7 +25,6 @@
 #include "hardware_interface/loaned_command_interface.hpp"
 #include "hardware_interface/loaned_state_interface.hpp"
 
-#include "rclcpp/rclcpp.hpp"
 #include "rclcpp/version.h"
 #include "rclcpp_lifecycle/lifecycle_node.hpp"
 
@@ -258,12 +257,12 @@ class ControllerInterfaceBase : public rclcpp_lifecycle::node_interfaces::Lifecy
 protected:
   std::vector<hardware_interface::LoanedCommandInterface> command_interfaces_;
   std::vector<hardware_interface::LoanedStateInterface> state_interfaces_;
-  unsigned int update_rate_ = 0;
-  bool is_async_ = false;
-  std::string urdf_ = "";
 
 private:
   std::shared_ptr<rclcpp_lifecycle::LifecycleNode> node_;
+  unsigned int update_rate_ = 0;
+  bool is_async_ = false;
+  std::string urdf_ = "";
 };
 
 using ControllerInterfaceBaseSharedPtr = std::shared_ptr<ControllerInterfaceBase>;

diff --git a/controller_interface/include/semantic_components/range_sensor.hpp b/controller_interface/include/semantic_components/range_sensor.hpp
@@ -15,7 +15,6 @@
 #ifndef SEMANTIC_COMPONENTS__RANGE_SENSOR_HPP_
 #define SEMANTIC_COMPONENTS__RANGE_SENSOR_HPP_
 
-#include <limits>
 #include <string>
 #include <vector>
 

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>4.13.0</version>
+  <version>4.15.0</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_interface/src/controller_interface.cpp b/controller_interface/src/controller_interface.cpp
@@ -14,14 +14,8 @@
 
 #include "controller_interface/controller_interface.hpp"
 
-#include <memory>
-#include <string>
-#include <utility>
 #include <vector>
 
-#include "hardware_interface/types/lifecycle_state_names.hpp"
-#include "lifecycle_msgs/msg/state.hpp"
-
 namespace controller_interface
 {
 ControllerInterface::ControllerInterface() : ControllerInterfaceBase() {}

diff --git a/controller_interface/src/controller_interface_base.cpp b/controller_interface/src/controller_interface_base.cpp
@@ -19,7 +19,6 @@
 #include <utility>
 #include <vector>
 
-#include "hardware_interface/types/lifecycle_state_names.hpp"
 #include "lifecycle_msgs/msg/state.hpp"
 
 namespace controller_interface

diff --git a/controller_interface/test/test_chainable_controller_interface.hpp b/controller_interface/test/test_chainable_controller_interface.hpp
@@ -15,14 +15,13 @@
 #ifndef TEST_CHAINABLE_CONTROLLER_INTERFACE_HPP_
 #define TEST_CHAINABLE_CONTROLLER_INTERFACE_HPP_
 
+#include <gmock/gmock.h>
+
 #include <string>
 #include <vector>
 
-#include "gmock/gmock.h"
-
 #include "controller_interface/chainable_controller_interface.hpp"
 #include "hardware_interface/handle.hpp"
-#include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp"
 
 constexpr char TEST_CONTROLLER_NAME[] = "testable_chainable_controller";
 constexpr double INTERFACE_VALUE = 1989.0;

diff --git a/controller_interface/test/test_controller_interface.hpp b/controller_interface/test/test_controller_interface.hpp
@@ -16,7 +16,6 @@
 #define TEST_CONTROLLER_INTERFACE_HPP_
 
 #include "controller_interface/controller_interface.hpp"
-#include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp"
 
 constexpr char TEST_CONTROLLER_NAME[] = "testable_controller_interface";
 

diff --git a/controller_interface/test/test_controller_with_options.cpp b/controller_interface/test/test_controller_with_options.cpp
@@ -17,7 +17,6 @@
 #include <gtest/gtest.h>
 #include <string>
 #include "ament_index_cpp/get_package_prefix.hpp"
-#include "rclcpp/rclcpp.hpp"
 
 class FriendControllerWithOptions : public controller_with_options::ControllerWithOptions
 {

diff --git a/controller_interface/test/test_controller_with_options.hpp b/controller_interface/test/test_controller_with_options.hpp
@@ -16,11 +16,9 @@
 #define TEST_CONTROLLER_WITH_OPTIONS_HPP_
 
 #include <map>
-#include <memory>
 #include <string>
 
 #include "controller_interface/controller_interface.hpp"
-#include "hardware_interface/types/lifecycle_state_names.hpp"
 
 namespace controller_with_options
 {

diff --git a/controller_interface/test/test_force_torque_sensor.hpp b/controller_interface/test/test_force_torque_sensor.hpp
@@ -19,12 +19,12 @@
 #ifndef TEST_FORCE_TORQUE_SENSOR_HPP_
 #define TEST_FORCE_TORQUE_SENSOR_HPP_
 
+#include <gmock/gmock.h>
+
 #include <memory>
 #include <string>
 #include <vector>
 
-#include "gmock/gmock.h"
-
 #include "semantic_components/force_torque_sensor.hpp"
 
 // implementing and friending so we can access member variables

diff --git a/controller_interface/test/test_imu_sensor.hpp b/controller_interface/test/test_imu_sensor.hpp
@@ -19,12 +19,12 @@
 #ifndef TEST_IMU_SENSOR_HPP_
 #define TEST_IMU_SENSOR_HPP_
 
+#include <gmock/gmock.h>
+
 #include <memory>
 #include <string>
 #include <vector>
 
-#include "gmock/gmock.h"
-
 #include "semantic_components/imu_sensor.hpp"
 
 // implementing and friending so we can access member variables

diff --git a/controller_interface/test/test_semantic_component_interface.hpp b/controller_interface/test/test_semantic_component_interface.hpp
@@ -19,11 +19,12 @@
 #ifndef TEST_SEMANTIC_COMPONENT_INTERFACE_HPP_
 #define TEST_SEMANTIC_COMPONENT_INTERFACE_HPP_
 
+#include <gmock/gmock.h>
+
 #include <memory>
 #include <string>
 
 #include "geometry_msgs/msg/wrench.hpp"
-#include "gmock/gmock.h"
 #include "semantic_components/semantic_component_interface.hpp"
 
 // implementing and friending so we can access member variables

diff --git a/controller_manager/CHANGELOG.rst b/controller_manager/CHANGELOG.rst
@@ -2,6 +2,24 @@
 Changelog for package controller_manager
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.15.0 (2024-08-05)
+-------------------
+* Add missing include for executors (`#1653 <https://github.com/ros-controls/ros2_control/issues/1653>`_)
+* Fix the namespaced controller_manager spawner + added tests (`#1640 <https://github.com/ros-controls/ros2_control/issues/1640>`_)
+* CM: Add missing includes (`#1641 <https://github.com/ros-controls/ros2_control/issues/1641>`_)
+* Fix rst markup (`#1642 <https://github.com/ros-controls/ros2_control/issues/1642>`_)
+* Add a pytest launch file to test ros2_control_node (`#1636 <https://github.com/ros-controls/ros2_control/issues/1636>`_)
+* [CM] Remove deprecated spawner args (`#1639 <https://github.com/ros-controls/ros2_control/issues/1639>`_)
+* Contributors: Christoph Fröhlich, Sai Kishor Kothakota
+
+4.14.0 (2024-07-23)
+-------------------
+* Unused header cleanup (`#1627 <https://github.com/ros-controls/ros2_control/issues/1627>`_)
+* Remove noqa (`#1626 <https://github.com/ros-controls/ros2_control/issues/1626>`_)
+* Fix controller starting with later load of robot description test (`#1624 <https://github.com/ros-controls/ros2_control/issues/1624>`_)
+* [CM] Remove support for the description parameter and use only `robot_description` topic (`#1358 <https://github.com/ros-controls/ros2_control/issues/1358>`_)
+* Contributors: Christoph Fröhlich, Dr. Denis, Henry Moore, Sai Kishor Kothakota
+
 4.13.0 (2024-07-08)
 -------------------
 * Change the spamming checking interface ERROR to DEBUG (`#1605 <https://github.com/ros-controls/ros2_control/issues/1605>`_)

diff --git a/controller_manager/CMakeLists.txt b/controller_manager/CMakeLists.txt
@@ -152,6 +152,7 @@ if(BUILD_TESTING)
   )
   target_link_libraries(test_controller_manager_urdf_passing
     controller_manager
+    test_controller
     ros2_control_test_assets::ros2_control_test_assets
   )
   ament_target_dependencies(test_controller_manager_urdf_passing
@@ -184,6 +185,7 @@ if(BUILD_TESTING)
 
   ament_add_gmock(test_spawner_unspawner
     test/test_spawner_unspawner.cpp
+    TIMEOUT 120
   )
   target_link_libraries(test_spawner_unspawner
     controller_manager
@@ -208,6 +210,11 @@ if(BUILD_TESTING)
   ament_target_dependencies(test_hardware_management_srvs
     controller_manager_msgs
   )
+
+  find_package(ament_cmake_pytest REQUIRED)
+  install(FILES test/test_ros2_control_node.yaml
+    DESTINATION test)
+  ament_add_pytest_test(test_ros2_control_node test/test_ros2_control_node_launch.py)
 endif()
 
 install(

diff --git a/controller_manager/controller_manager/controller_manager_services.py b/controller_manager/controller_manager/controller_manager_services.py
@@ -28,15 +28,18 @@
 import rclpy
 
 
+class ServiceNotFoundError(Exception):
+    pass
+
+
 def service_caller(node, service_name, service_type, request, service_timeout=0.0):
     cli = node.create_client(service_type, service_name)
 
     while not cli.service_is_ready():
         node.get_logger().info(f"waiting for service {service_name} to become available...")
         if service_timeout:
             if not cli.wait_for_service(service_timeout):
-                node.get_logger().fatal(f"Could not contact service {service_name}")
-                raise RuntimeError(f"Could not contact service {service_name}")
+                raise ServiceNotFoundError(f"Could not contact service {service_name}")
         elif not cli.wait_for_service(10.0):
             node.get_logger().warn(f"Could not contact service {service_name}")
 

diff --git a/controller_manager/controller_manager/launch_utils.py b/controller_manager/controller_manager/launch_utils.py
@@ -12,7 +12,6 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-import warnings
 from launch import LaunchDescription
 from launch.actions import DeclareLaunchArgument
 from launch.substitutions import LaunchConfiguration, PythonExpression
@@ -21,7 +20,7 @@
 
 
 def generate_load_controller_launch_description(
-    controller_name, controller_type=None, controller_params_file=None, extra_spawner_args=[]
+    controller_name, controller_params_file=None, extra_spawner_args=[]
 ):
     """
     Generate launch description for loading a controller using spawner.
@@ -30,15 +29,14 @@ def generate_load_controller_launch_description(
     'unload_on_kill' LaunchArguments and a Node action that runs the controller_manager
     spawner node to load and activate a controller
 
-    Examples # noqa: D416
+    Examples
     --------
-      # Assuming the controller type and controller parameters are known to the controller_manager
+      # Assuming the controller parameters are known to the controller_manager
       generate_load_controller_launch_description('joint_state_broadcaster')
 
-      # Passing controller type and controller parameter file to load
+      # Passing controller parameter file to load the controller (Controller type is retrieved from config file)
       generate_load_controller_launch_description(
         'joint_state_broadcaster',
-        controller_type='joint_state_broadcaster/JointStateBroadcaster',
         controller_params_file=os.path.join(get_package_share_directory('my_pkg'),
                                             'config', 'controller_params.yaml'),
         extra_spawner_args=[--load-only]
@@ -62,15 +60,6 @@ def generate_load_controller_launch_description(
         LaunchConfiguration("controller_manager_name"),
     ]
 
-    if controller_type:
-        warnings.warn(
-            "The 'controller_type' argument is deprecated and will be removed in future releases."
-            " Declare the controller type parameter in the param file instead.",
-            DeprecationWarning,
-            stacklevel=2,
-        )
-        spawner_arguments += ["--controller-type", controller_type]
-
     if controller_params_file:
         spawner_arguments += ["--param-file", controller_params_file]