Merge branch 'master' into feat/hardware_grouping

ros-controls · Mar 26, 2024 · cdbef5a · cdbef5a
2 parents 22bcdd3 + 99d7128
commit cdbef5a
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Showing 16 changed files with 22 additions and 8 deletions.
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
@@ -62,7 +62,7 @@ repos:
 
   # CPP hooks
   - repo: https://github.com/pre-commit/mirrors-clang-format
-    rev: v18.1.1
+    rev: v18.1.2
     hooks:
       - id: clang-format
         args: ['-fallback-style=none', '-i']

diff --git a/controller_interface/CMakeLists.txt b/controller_interface/CMakeLists.txt
@@ -15,7 +15,6 @@ find_package(ament_cmake REQUIRED)
 foreach(Dependency IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS})
   find_package(${Dependency} REQUIRED)
 endforeach()
-add_compile_definitions(RCLCPP_VERSION_MAJOR=${rclcpp_lifecycle_VERSION_MAJOR})
 
 add_library(controller_interface SHARED
   src/controller_interface_base.cpp
@@ -90,3 +89,4 @@ install(TARGETS controller_interface
 ament_export_targets(export_controller_interface HAS_LIBRARY_TARGET)
 ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS})
 ament_package()
+ament_generate_version_header(${PROJECT_NAME})
diff --git a/controller_interface/include/controller_interface/controller_interface_base.hpp b/controller_interface/include/controller_interface/controller_interface_base.hpp
@@ -26,6 +26,7 @@
 #include "hardware_interface/loaned_state_interface.hpp"
 
 #include "rclcpp/rclcpp.hpp"
+#include "rclcpp/version.h"
 #include "rclcpp_lifecycle/lifecycle_node.hpp"
 
 namespace controller_interface

diff --git a/controller_interface/package.xml b/controller_interface/package.xml
@@ -9,6 +9,7 @@
   <license>Apache License 2.0</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>ament_cmake_gen_version_h</buildtool_depend>
 
   <build_depend>hardware_interface</build_depend>
   <build_depend>rclcpp_lifecycle</build_depend>

diff --git a/controller_manager/CMakeLists.txt b/controller_manager/CMakeLists.txt
@@ -25,7 +25,6 @@ find_package(backward_ros REQUIRED)
 foreach(Dependency IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS})
   find_package(${Dependency} REQUIRED)
 endforeach()
-add_compile_definitions(RCLCPP_VERSION_MAJOR=${rclcpp_VERSION_MAJOR})
 
 add_library(controller_manager SHARED
   src/controller_manager.cpp
@@ -226,3 +225,4 @@ ament_python_install_package(controller_manager
 ament_export_targets(export_controller_manager HAS_LIBRARY_TARGET)
 ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS})
 ament_package()
+ament_generate_version_header(${PROJECT_NAME})
diff --git a/controller_manager/package.xml b/controller_manager/package.xml
@@ -9,6 +9,7 @@
   <license>Apache License 2.0</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>ament_cmake_gen_version_h</buildtool_depend>
   <buildtool_depend>ament_cmake_python</buildtool_depend>
 
   <depend>ament_index_cpp</depend>

diff --git a/controller_manager/src/controller_manager.cpp b/controller_manager/src/controller_manager.cpp
@@ -25,6 +25,7 @@
 #include "hardware_interface/types/lifecycle_state_names.hpp"
 #include "lifecycle_msgs/msg/state.hpp"
 #include "rclcpp/rclcpp.hpp"
+#include "rclcpp/version.h"
 #include "rclcpp_lifecycle/state.hpp"
 
 namespace  // utility

diff --git a/controller_manager/test/test_controller_manager_srvs.cpp b/controller_manager/test/test_controller_manager_srvs.cpp
@@ -15,6 +15,7 @@
 #include <gmock/gmock.h>
 #include <gtest/gtest.h>
 #include <memory>
+#include <random>
 #include <string>
 #include <vector>
 
@@ -1503,7 +1504,9 @@ TEST_F(TestControllerManagerSrvs, list_sorted_large_chained_controller_tree)
   }
 
   // Now shuffle the list to be able to configure controller later randomly
-  std::random_shuffle(controllers_list.begin(), controllers_list.end());
+  std::random_device rnd;
+  std::mt19937 mers(rnd());
+  std::shuffle(controllers_list.begin(), controllers_list.end(), mers);
 
   {
     ControllerManagerRunner cm_runner(this);

diff --git a/hardware_interface/CMakeLists.txt b/hardware_interface/CMakeLists.txt
@@ -122,3 +122,4 @@ install(
 ament_export_targets(export_hardware_interface HAS_LIBRARY_TARGET)
 ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS})
 ament_package()
+ament_generate_version_header(${PROJECT_NAME})
diff --git a/hardware_interface/package.xml b/hardware_interface/package.xml
@@ -8,6 +8,7 @@
   <license>Apache License 2.0</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>ament_cmake_gen_version_h</buildtool_depend>
 
   <depend>control_msgs</depend>
   <depend>lifecycle_msgs</depend>

diff --git a/joint_limits/CMakeLists.txt b/joint_limits/CMakeLists.txt
@@ -61,3 +61,4 @@ install(TARGETS joint_limits
 ament_export_targets(export_joint_limits HAS_LIBRARY_TARGET)
 ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS})
 ament_package()
+ament_generate_version_header(${PROJECT_NAME})
diff --git a/joint_limits/package.xml b/joint_limits/package.xml
@@ -13,6 +13,7 @@
   <url type="repository">https://github.com/ros-controls/ros2_control</url>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>ament_cmake_gen_version_h</buildtool_depend>
 
   <depend>rclcpp</depend>
   <depend>rclcpp_lifecycle</depend>

diff --git a/rqt_controller_manager/package.xml b/rqt_controller_manager/package.xml
@@ -18,6 +18,7 @@
   <author email="kphawkins@gatech.edu">Kelsey Hawkins</author>
   <author email="adolfo.rodriguez@pal-robotics.com">Adolfo Rodríguez Tsouroukdissian</author>
 
+  <exec_depend>controller_manager</exec_depend>
   <exec_depend>controller_manager_msgs</exec_depend>
   <exec_depend>rclpy</exec_depend>
   <exec_depend>rqt_gui</exec_depend>

diff --git a/rqt_controller_manager/rqt_controller_manager/controller_manager.py b/rqt_controller_manager/rqt_controller_manager/controller_manager.py
@@ -415,10 +415,10 @@ def _get_parameter_controller_names(node, node_name):
     parameter_names = call_list_parameters(node=node, node_name=node_name)
     suffix = ".type"
     # @note: The versions conditioning is added here to support the source-compatibility with Humble
-    try:
+    if os.environ.get("ROS_DISTRO") == "humble":
+        # for humble, ros2param < 0.20.0
+        return [n[: -len(suffix)] for n in parameter_names if n.endswith(suffix)]
+    else:
         return [
             n[: -len(suffix)] for n in parameter_names.result().result.names if n.endswith(suffix)
         ]
-    finally:
-        # for humble, ros2param < 0.20.0
-        return [n[: -len(suffix)] for n in parameter_names if n.endswith(suffix)]
diff --git a/transmission_interface/CMakeLists.txt b/transmission_interface/CMakeLists.txt
@@ -84,3 +84,4 @@ install(TARGETS transmission_interface
 ament_export_targets(export_transmission_interface HAS_LIBRARY_TARGET)
 ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS})
 ament_package()
+ament_generate_version_header(${PROJECT_NAME})
diff --git a/transmission_interface/package.xml b/transmission_interface/package.xml
@@ -9,6 +9,7 @@
   <license>Apache License 2.0</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>ament_cmake_gen_version_h</buildtool_depend>
 
   <depend>hardware_interface</depend>
   <depend>pluginlib</depend>