Merge branch 'master' into async_controllers

controller_interface/CHANGELOG.rst

@@ -2,6 +2,15 @@
 Changelog for package controller_interface
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.16.1 (2024-08-24)
+-------------------
+
+4.16.0 (2024-08-22)
+-------------------
+* Fix params_file typo in spawner and update release notes for use_global_arguments (`#1701 <https://github.com/ros-controls/ros2_control/issues/1701>`_)
+* Avoid using the global arguments for internal controller nodes (`#1694 <https://github.com/ros-controls/ros2_control/issues/1694>`_)
+* Contributors: Sai Kishor Kothakota
+
 4.15.0 (2024-08-05)
 -------------------
 

controller_interface/include/controller_interface/controller_interface_base.hpp

@@ -191,12 +191,11 @@ class ControllerInterfaceBase : public rclcpp_lifecycle::node_interfaces::Lifecy
   {
 // \note The versions conditioning is added here to support the source-compatibility with Humble
 #if RCLCPP_VERSION_MAJOR >= 21
-    return rclcpp::NodeOptions().enable_logger_service(true).use_global_arguments(false);
+    return rclcpp::NodeOptions().enable_logger_service(true);
 #else
     return rclcpp::NodeOptions()
       .allow_undeclared_parameters(true)
-      .automatically_declare_parameters_from_overrides(true)
-      .use_global_arguments(false);
+      .automatically_declare_parameters_from_overrides(true);
 #endif
   }
 

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>4.15.0</version>
+  <version>4.16.1</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>

controller_manager/CHANGELOG.rst

@@ -2,6 +2,26 @@
 Changelog for package controller_manager
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.16.1 (2024-08-24)
+-------------------
+* propage a portion of global args to the controller nodes (`#1712 <https://github.com/ros-controls/ros2_control/issues/1712>`_)
+* Contributors: Sai Kishor Kothakota
+
+4.16.0 (2024-08-22)
+-------------------
+* inform user what reason is for not setting rt policy, inform is policy (`#1705 <https://github.com/ros-controls/ros2_control/issues/1705>`_)
+* Fix params_file typo in spawner and update release notes for use_global_arguments (`#1701 <https://github.com/ros-controls/ros2_control/issues/1701>`_)
+* Fix spawner tests timeout (`#1692 <https://github.com/ros-controls/ros2_control/issues/1692>`_)
+* Refactor spawner to be able to reuse code for ros2controlcli (`#1661 <https://github.com/ros-controls/ros2_control/issues/1661>`_)
+* Robustify controller spawner and add integration test with many controllers (`#1501 <https://github.com/ros-controls/ros2_control/issues/1501>`_)
+* Handle waiting in Spawner and align Hardware Spawner functionality (`#1562 <https://github.com/ros-controls/ros2_control/issues/1562>`_)
+* Make list controller and list hardware components immediately visualize the state. (`#1606 <https://github.com/ros-controls/ros2_control/issues/1606>`_)
+* [CI] Add coveragepy and remove ignore: test (`#1668 <https://github.com/ros-controls/ros2_control/issues/1668>`_)
+* Fix spawner unload on kill test (`#1675 <https://github.com/ros-controls/ros2_control/issues/1675>`_)
+* [CM] Add more logging for easier debugging (`#1645 <https://github.com/ros-controls/ros2_control/issues/1645>`_)
+* refactor SwitchParams to fix the incosistencies in the spawner tests (`#1638 <https://github.com/ros-controls/ros2_control/issues/1638>`_)
+* Contributors: Bence Magyar, Christoph Fröhlich, Dr. Denis, Felix Exner (fexner), Manuel Muth, Sai Kishor Kothakota
+
 4.15.0 (2024-08-05)
 -------------------
 * Add missing include for executors (`#1653 <https://github.com/ros-controls/ros2_control/issues/1653>`_)

controller_manager/controller_manager/controller_manager_services.py

@@ -312,7 +312,7 @@ def set_controller_parameters_from_param_file(
     if parameter_file:
         spawner_namespace = namespace if namespace else node.get_namespace()
         set_controller_parameters(
-            node, controller_manager_name, controller_name, "param_file", parameter_file
+            node, controller_manager_name, controller_name, "params_file", parameter_file
         )
 
         controller_type = get_parameter_from_param_file(

controller_manager/include/controller_manager/controller_manager.hpp

@@ -576,6 +576,7 @@ class ControllerManager : public rclcpp::Node
   std::map<std::string, std::vector<std::string>> controller_chained_reference_interfaces_cache_;
   std::map<std::string, std::vector<std::string>> controller_chained_state_interfaces_cache_;
 
+  rclcpp::NodeOptions cm_node_options_;
   std::string robot_description_;
   rclcpp::Subscription<std_msgs::msg::String>::SharedPtr robot_description_subscription_;
   rclcpp::TimerBase::SharedPtr robot_description_notification_timer_;

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>4.15.0</version>
+  <version>4.16.1</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>

controller_manager/src/controller_manager.cpp

@@ -24,6 +24,7 @@
 #include "controller_manager_msgs/msg/hardware_component_state.hpp"
 #include "hardware_interface/types/lifecycle_state_names.hpp"
 #include "lifecycle_msgs/msg/state.hpp"
+#include "rcl/arguments.h"
 #include "rclcpp/version.h"
 #include "rclcpp_lifecycle/state.hpp"
 
@@ -197,7 +198,8 @@ ControllerManager::ControllerManager(
     kControllerInterfaceNamespace, kControllerInterfaceClassName)),
   chainable_loader_(
     std::make_shared<pluginlib::ClassLoader<controller_interface::ChainableControllerInterface>>(
-      kControllerInterfaceNamespace, kChainableControllerInterfaceClassName))
+      kControllerInterfaceNamespace, kChainableControllerInterfaceClassName)),
+  cm_node_options_(options)
 {
   init_controller_manager();
 }
@@ -217,7 +219,8 @@ ControllerManager::ControllerManager(
     kControllerInterfaceNamespace, kControllerInterfaceClassName)),
   chainable_loader_(
     std::make_shared<pluginlib::ClassLoader<controller_interface::ChainableControllerInterface>>(
-      kControllerInterfaceNamespace, kChainableControllerInterfaceClassName))
+      kControllerInterfaceNamespace, kChainableControllerInterfaceClassName)),
+  cm_node_options_(options)
 {
   init_controller_manager();
 }
@@ -234,7 +237,8 @@ ControllerManager::ControllerManager(
     kControllerInterfaceNamespace, kControllerInterfaceClassName)),
   chainable_loader_(
     std::make_shared<pluginlib::ClassLoader<controller_interface::ChainableControllerInterface>>(
-      kControllerInterfaceNamespace, kChainableControllerInterfaceClassName))
+      kControllerInterfaceNamespace, kChainableControllerInterfaceClassName)),
+  cm_node_options_(options)
 {
   init_controller_manager();
 }
@@ -2810,30 +2814,58 @@ rclcpp::NodeOptions ControllerManager::determine_controller_node_options(
 
   rclcpp::NodeOptions controller_node_options = controller.c->define_custom_node_options();
   std::vector<std::string> node_options_arguments = controller_node_options.arguments();
-  const std::string ros_args_arg = "--ros-args";
+
+  for (const std::string & arg : cm_node_options_.arguments())
+  {
+    if (arg.find("__ns") != std::string::npos || arg.find("__node") != std::string::npos)
+    {
+      if (
+        node_options_arguments.back() == RCL_REMAP_FLAG ||
+        node_options_arguments.back() == RCL_SHORT_REMAP_FLAG)
+      {
+        node_options_arguments.pop_back();
+      }
+      continue;
+    }
+
+    node_options_arguments.push_back(arg);
+  }
+
   if (controller.info.parameters_file.has_value())
   {
-    if (!check_for_element(node_options_arguments, ros_args_arg))
+    if (!check_for_element(node_options_arguments, RCL_ROS_ARGS_FLAG))
     {
-      node_options_arguments.push_back(ros_args_arg);
+      node_options_arguments.push_back(RCL_ROS_ARGS_FLAG);
     }
-    node_options_arguments.push_back("--params-file");
+    node_options_arguments.push_back(RCL_PARAM_FILE_FLAG);
     node_options_arguments.push_back(controller.info.parameters_file.value());
   }
 
   // ensure controller's `use_sim_time` parameter matches controller_manager's
   const rclcpp::Parameter use_sim_time = this->get_parameter("use_sim_time");
   if (use_sim_time.as_bool())
   {
-    if (!check_for_element(node_options_arguments, ros_args_arg))
+    if (!check_for_element(node_options_arguments, RCL_ROS_ARGS_FLAG))
     {
-      node_options_arguments.push_back(ros_args_arg);
+      node_options_arguments.push_back(RCL_ROS_ARGS_FLAG);
     }
-    node_options_arguments.push_back("-p");
+    node_options_arguments.push_back(RCL_PARAM_FLAG);
     node_options_arguments.push_back("use_sim_time:=true");
   }
 
+  std::string arguments;
+  arguments.reserve(1000);
+  for (const auto & arg : node_options_arguments)
+  {
+    arguments.append(arg);
+    arguments.append(" ");
+  }
+  RCLCPP_INFO(
+    get_logger(), "Controller '%s' node arguments: %s", controller.info.name.c_str(),
+    arguments.c_str());
+
   controller_node_options = controller_node_options.arguments(node_options_arguments);
+  controller_node_options.use_global_arguments(false);
   return controller_node_options;
 }
 

controller_manager/src/ros2_control_node.cpp

@@ -12,6 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+#include <errno.h>
 #include <chrono>
 #include <memory>
 #include <string>
@@ -40,7 +41,22 @@ int main(int argc, char ** argv)
     std::make_shared<rclcpp::executors::MultiThreadedExecutor>();
   std::string manager_node_name = "controller_manager";
 
-  auto cm = std::make_shared<controller_manager::ControllerManager>(executor, manager_node_name);
+  rclcpp::NodeOptions cm_node_options = controller_manager::get_cm_node_options();
+  std::vector<std::string> node_arguments = cm_node_options.arguments();
+  for (int i = 1; i < argc; ++i)
+  {
+    if (node_arguments.empty() && std::string(argv[i]) != "--ros-args")
+    {
+      // A simple way to reject non ros args
+      continue;
+    }
+    RCLCPP_INFO(rclcpp::get_logger("CM args"), "Adding argument: %s", argv[i]);
+    node_arguments.push_back(argv[i]);
+  }
+  cm_node_options.arguments(node_arguments);
+
+  auto cm = std::make_shared<controller_manager::ControllerManager>(
+    executor, manager_node_name, "", cm_node_options);
 
   RCLCPP_INFO(cm->get_logger(), "update rate is %d Hz", cm->get_update_rate());
 
@@ -51,10 +67,16 @@ int main(int argc, char ** argv)
       {
         RCLCPP_WARN(
           cm->get_logger(),
-          "Could not enable FIFO RT scheduling policy. Consider setting up your user to do FIFO RT "
-          "scheduling. See "
+          "Could not enable FIFO RT scheduling policy: with error number <%i>(%s). See "
           "[https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] "
-          "for details.");
+          "for details on how to enable realtime scheduling.",
+          errno, strerror(errno));
+      }
+      else
+      {
+        RCLCPP_INFO(
+          cm->get_logger(), "Successful set up FIFO RT scheduling policy with priority %i.",
+          kSchedPriority);
       }
 
       // for calculating sleep time

controller_manager_msgs/CHANGELOG.rst

@@ -2,6 +2,12 @@
 Changelog for package controller_manager_msgs
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.16.1 (2024-08-24)
+-------------------
+
+4.16.0 (2024-08-22)
+-------------------
+
 4.15.0 (2024-08-05)
 -------------------
 

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>4.15.0</version>
+  <version>4.16.1</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>

doc/migration.rst

@@ -2,6 +2,10 @@
 
 Iron to Jazzy
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+controller_interface
+********************
+* The changes from `(PR #1694) <https://github.com/ros-controls/ros2_control/pull/1694>`__ will affect how the controllers will be loading the parameters. Defining parameters in a single yaml file and loading it to the controller_manager node alone will no longer work.
+  In order to load the parameters to the controllers properly, it is needed to use ``--param-file`` option from the spawner. This is because the controllers will now set ``use_global_arguments`` from `NodeOptions <https://docs.ros.org/en/rolling/p/rclcpp/generated/classrclcpp_1_1NodeOptions.html#_CPPv4N6rclcpp11NodeOptions20use_global_argumentsEb>`__ to false, to avoid getting influenced by global arguments.
 
 controller_manager
 ******************

doc/release_notes.rst

@@ -22,6 +22,8 @@ For details see the controller_manager section.
 * A method to get node options to setup the controller node #api-breaking (`#1169 <https://github.com/ros-controls/ros2_control/pull/1169>`_)
 * Export state interfaces from the chainable controller #api-breaking (`#1021 <https://github.com/ros-controls/ros2_control/pull/1021>`_)
 * All chainable controllers must implement the method ``export_state_interfaces`` to export the state interfaces, similar to ``export_reference_interfaces`` method that is exporting the reference interfaces.
+* The controllers will now set ``use_global_arguments`` from `NodeOptions <https://docs.ros.org/en/rolling/p/rclcpp/generated/classrclcpp_1_1NodeOptions.html#_CPPv4N6rclcpp11NodeOptions20use_global_argumentsEb>`__ to false, to avoid getting influenced by global arguments (Issue : `#1684 <https://github.com/ros-controls/ros2_control/issues/1684>`_) (`#1694 <https://github.com/ros-controls/ros2_control/pull/1694>`_).
+  From now on, in order to set the parameters to the controller, the ``--param-file`` option from spawner should be used.
 
 controller_manager
 ******************

hardware_interface/CHANGELOG.rst

@@ -2,6 +2,17 @@
 Changelog for package hardware_interface
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.16.1 (2024-08-24)
+-------------------
+
+4.16.0 (2024-08-22)
+-------------------
+* Use handle_name\_ variable instead of allocating for every `get_name` call (`#1706 <https://github.com/ros-controls/ros2_control/issues/1706>`_)
+* Introduce Creation of Handles with InterfaceDescription (variant support) (`#1679 <https://github.com/ros-controls/ros2_control/issues/1679>`_)
+* Preparation of Handles for Variant Support (`#1678 <https://github.com/ros-controls/ros2_control/issues/1678>`_)
+* [RM] Decouple read/write cycles of each component with mutex to not block other components (`#1646 <https://github.com/ros-controls/ros2_control/issues/1646>`_)
+* Contributors: Manuel Muth, Sai Kishor Kothakota
+
 4.15.0 (2024-08-05)
 -------------------
 * [RM] Add `get_hardware_info` method to the Hardware Components (`#1643 <https://github.com/ros-controls/ros2_control/issues/1643>`_)

hardware_interface/include/hardware_interface/component_parser.hpp

@@ -32,5 +32,23 @@ namespace hardware_interface
 HARDWARE_INTERFACE_PUBLIC
 std::vector<HardwareInfo> parse_control_resources_from_urdf(const std::string & urdf);
 
+/**
+ * \param[in] component_info information about a component (gpio, joint, sensor)
+ * \return vector filled with information about hardware's StateInterfaces for the component
+ * which are exported
+ */
+HARDWARE_INTERFACE_PUBLIC
+std::vector<InterfaceDescription> parse_state_interface_descriptions(
+  const std::vector<ComponentInfo> & component_info);
+
+/**
+ * \param[in] component_info information about a component (gpio, joint, sensor)
+ * \return vector filled with information about hardware's CommandInterfaces for the component
+ * which are exported
+ */
+HARDWARE_INTERFACE_PUBLIC
+std::vector<InterfaceDescription> parse_command_interface_descriptions(
+  const std::vector<ComponentInfo> & component_info);
+
 }  // namespace hardware_interface
 #endif  // HARDWARE_INTERFACE__COMPONENT_PARSER_HPP_