Merge branch 'iron' into mergify/bp/iron/pr-1484

.github/workflows/humble-abi-compatibility.yml

@@ -1,8 +1,6 @@
 name: Humble - ABI Compatibility Check
 on:
   workflow_dispatch:
-    branches:
-      - humble
   pull_request:
     branches:
       - humble

.github/workflows/iron-abi-compatibility.yml

@@ -1,8 +1,6 @@
 name: Iron - ABI Compatibility Check
 on:
   workflow_dispatch:
-    branches:
-      - iron
   pull_request:
     branches:
       - iron

.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"]

controller_interface/CHANGELOG.rst

@@ -2,6 +2,16 @@
 Changelog for package controller_interface
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.27.0 (2024-07-23)
+-------------------
+* [ControllerInterface] Avoid warning about conversion from `int64_t` to `unsigned int` (`#1173 <https://github.com/ros-controls/ros2_control/issues/1173>`_) (`#1630 <https://github.com/ros-controls/ros2_control/issues/1630>`_)
+* Contributors: mergify[bot]
+
+3.26.0 (2024-07-09)
+-------------------
+* Fix dependencies for source build (`#1533 <https://github.com/ros-controls/ros2_control/issues/1533>`_) (`#1536 <https://github.com/ros-controls/ros2_control/issues/1536>`_)
+* Contributors: mergify[bot]
+
 3.25.0 (2024-04-30)
 -------------------
 

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>3.25.0</version>
+  <version>3.27.0</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>

controller_interface/src/controller_interface_base.cpp

@@ -84,7 +84,7 @@ const rclcpp_lifecycle::State & ControllerInterfaceBase::configure()
   // Other solution is to add check into the LifecycleNode if a transition is valid to trigger
   if (get_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED)
   {
-    update_rate_ = get_node()->get_parameter("update_rate").as_int();
+    update_rate_ = static_cast<unsigned int>(get_node()->get_parameter("update_rate").as_int());
     is_async_ = get_node()->get_parameter("is_async").as_bool();
   }
 

controller_manager/CHANGELOG.rst

@@ -2,6 +2,17 @@
 Changelog for package controller_manager
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.27.0 (2024-07-23)
+-------------------
+* Remove noqa (`#1626 <https://github.com/ros-controls/ros2_control/issues/1626>`_) (`#1629 <https://github.com/ros-controls/ros2_control/issues/1629>`_)
+* Contributors: mergify[bot]
+
+3.26.0 (2024-07-09)
+-------------------
+* [rqt_controller_manager] Add hardware components (`#1455 <https://github.com/ros-controls/ros2_control/issues/1455>`_) (`#1587 <https://github.com/ros-controls/ros2_control/issues/1587>`_)
+* Bump version of pre-commit hooks (backport `#1556 <https://github.com/ros-controls/ros2_control/issues/1556>`_) (`#1558 <https://github.com/ros-controls/ros2_control/issues/1558>`_)
+* Contributors: mergify[bot]
+
 3.25.0 (2024-04-30)
 -------------------
 * check for state of the controller node before cleanup (backport `#1363 <https://github.com/ros-controls/ros2_control/issues/1363>`_) (`#1379 <https://github.com/ros-controls/ros2_control/issues/1379>`_)

controller_manager/CMakeLists.txt

@@ -182,13 +182,17 @@ if(BUILD_TESTING)
 
   ament_add_gmock(test_spawner_unspawner
     test/test_spawner_unspawner.cpp
+    TIMEOUT 120
   )
   target_link_libraries(test_spawner_unspawner
     controller_manager
     test_controller
     ros2_control_test_assets::ros2_control_test_assets
   )
 
+  install(FILES test/test_controller_spawner_with_type.yaml
+  DESTINATION test)
+
   ament_add_gmock(test_hardware_management_srvs
     test/test_hardware_management_srvs.cpp
   )

controller_manager/controller_manager/controller_manager_services.py

@@ -28,15 +28,20 @@
 import rclpy
 
 
-def service_caller(node, service_name, service_type, request, service_timeout=10.0):
+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)
 
-    if not cli.service_is_ready():
-        node.get_logger().debug(
-            f"waiting {service_timeout} seconds for service {service_name} to become available..."
-        )
-        if not cli.wait_for_service(service_timeout):
-            raise RuntimeError(f"Could not contact service {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):
+                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}")
 
     node.get_logger().debug(f"requester: making request: {request}\n")
     future = cli.call_async(request)
@@ -47,7 +52,7 @@ def service_caller(node, service_name, service_type, request, service_timeout=10
         raise RuntimeError(f"Exception while calling service: {future.exception()}")
 
 
-def configure_controller(node, controller_manager_name, controller_name, service_timeout=10.0):
+def configure_controller(node, controller_manager_name, controller_name, service_timeout=0.0):
     request = ConfigureController.Request()
     request.name = controller_name
     return service_caller(
@@ -59,7 +64,7 @@ def configure_controller(node, controller_manager_name, controller_name, service
     )
 
 
-def list_controllers(node, controller_manager_name, service_timeout=10.0):
+def list_controllers(node, controller_manager_name, service_timeout=0.0):
     request = ListControllers.Request()
     return service_caller(
         node,
@@ -70,7 +75,7 @@ def list_controllers(node, controller_manager_name, service_timeout=10.0):
     )
 
 
-def list_controller_types(node, controller_manager_name, service_timeout=10.0):
+def list_controller_types(node, controller_manager_name, service_timeout=0.0):
     request = ListControllerTypes.Request()
     return service_caller(
         node,
@@ -81,7 +86,7 @@ def list_controller_types(node, controller_manager_name, service_timeout=10.0):
     )
 
 
-def list_hardware_components(node, controller_manager_name, service_timeout=10.0):
+def list_hardware_components(node, controller_manager_name, service_timeout=0.0):
     request = ListHardwareComponents.Request()
     return service_caller(
         node,
@@ -92,7 +97,7 @@ def list_hardware_components(node, controller_manager_name, service_timeout=10.0
     )
 
 
-def list_hardware_interfaces(node, controller_manager_name, service_timeout=10.0):
+def list_hardware_interfaces(node, controller_manager_name, service_timeout=0.0):
     request = ListHardwareInterfaces.Request()
     return service_caller(
         node,
@@ -103,7 +108,7 @@ def list_hardware_interfaces(node, controller_manager_name, service_timeout=10.0
     )
 
 
-def load_controller(node, controller_manager_name, controller_name, service_timeout=10.0):
+def load_controller(node, controller_manager_name, controller_name, service_timeout=0.0):
     request = LoadController.Request()
     request.name = controller_name
     return service_caller(
@@ -115,7 +120,7 @@ def load_controller(node, controller_manager_name, controller_name, service_time
     )
 
 
-def reload_controller_libraries(node, controller_manager_name, force_kill, service_timeout=10.0):
+def reload_controller_libraries(node, controller_manager_name, force_kill, service_timeout=0.0):
     request = ReloadControllerLibraries.Request()
     request.force_kill = force_kill
     return service_caller(
@@ -128,7 +133,7 @@ def reload_controller_libraries(node, controller_manager_name, force_kill, servi
 
 
 def set_hardware_component_state(
-    node, controller_manager_name, component_name, lifecyle_state, service_timeout=10.0
+    node, controller_manager_name, component_name, lifecyle_state, service_timeout=0.0
 ):
     request = SetHardwareComponentState.Request()
     request.name = component_name
@@ -165,7 +170,7 @@ def switch_controllers(
     )
 
 
-def unload_controller(node, controller_manager_name, controller_name, service_timeout=10.0):
+def unload_controller(node, controller_manager_name, controller_name, service_timeout=0.0):
     request = UnloadController.Request()
     request.name = controller_name
     return service_caller(

controller_manager/controller_manager/hardware_spawner.py

@@ -15,13 +15,15 @@
 
 import argparse
 import sys
-import time
 
-from controller_manager import set_hardware_component_state
+from controller_manager import (
+    list_hardware_components,
+    set_hardware_component_state,
+)
+from controller_manager.controller_manager_services import ServiceNotFoundError
 
 from lifecycle_msgs.msg import State
 import rclpy
-from rclpy.duration import Duration
 from rclpy.node import Node
 from rclpy.signals import SignalHandlerOptions
 
@@ -43,17 +45,6 @@ def first_match(iterable, predicate):
     return next((n for n in iterable if predicate(n)), None)
 
 
-def wait_for_value_or(function, node, timeout, default, description):
-    while node.get_clock().now() < timeout:
-        if result := function():
-            return result
-        node.get_logger().info(
-            f"Waiting for {description}", throttle_duration_sec=2, skip_first=True
-        )
-        time.sleep(0.2)
-    return default
-
-
 def combine_name_and_namespace(name_and_namespace):
     node_name, namespace = name_and_namespace
     return namespace + ("" if namespace.endswith("/") else "/") + node_name
@@ -75,35 +66,11 @@ def has_service_names(node, node_name, node_namespace, service_names):
     return all(service in client_names for service in service_names)
 
 
-def wait_for_controller_manager(node, controller_manager, timeout_duration):
-    # List of service names from controller_manager we wait for
-    service_names = (
-        f"{controller_manager}/list_hardware_components",
-        f"{controller_manager}/set_hardware_component_state",
-    )
-
-    # Wait for controller_manager
-    timeout = node.get_clock().now() + Duration(seconds=timeout_duration)
-    node_and_namespace = wait_for_value_or(
-        lambda: find_node_and_namespace(node, controller_manager),
-        node,
-        timeout,
-        None,
-        f"'{controller_manager}' node to exist",
-    )
-
-    # Wait for the services if the node was found
-    if node_and_namespace:
-        node_name, namespace = node_and_namespace
-        return wait_for_value_or(
-            lambda: has_service_names(node, node_name, namespace, service_names),
-            node,
-            timeout,
-            False,
-            f"'{controller_manager}' services to be available",
-        )
-
-    return False
+def is_hardware_component_loaded(
+    node, controller_manager, hardware_component, service_timeout=0.0
+):
+    components = list_hardware_components(node, hardware_component, service_timeout).component
+    return any(c.name == hardware_component for c in components)
 
 
 def handle_set_component_state_service_call(
@@ -167,10 +134,9 @@ def main(args=None):
         "--controller-manager-timeout",
         help="Time to wait for the controller manager",
         required=False,
-        default=10,
-        type=int,
+        default=0,
+        type=float,
     )
-
     # add arguments which are mutually exclusive
     activate_or_confiigure_grp.add_argument(
         "--activate",
@@ -202,13 +168,15 @@ def main(args=None):
             controller_manager_name = f"/{controller_manager_name}"
 
     try:
-        if not wait_for_controller_manager(
-            node, controller_manager_name, controller_manager_timeout
+        if not is_hardware_component_loaded(
+            node, controller_manager_name, hardware_component, controller_manager_timeout
         ):
-            node.get_logger().error("Controller manager not available")
-            return 1
-
-        if activate:
+            node.get_logger().warn(
+                bcolors.WARNING
+                + "Hardware Component is not loaded - state can not be changed."
+                + bcolors.ENDC
+            )
+        elif activate:
             activate_components(node, controller_manager_name, hardware_component)
         elif configure:
             configure_components(node, controller_manager_name, hardware_component)
@@ -218,6 +186,11 @@ def main(args=None):
             )
             parser.print_help()
             return 0
+    except KeyboardInterrupt:
+        pass
+    except ServiceNotFoundError as err:
+        node.get_logger().fatal(str(err))
+        return 1
     finally:
         rclpy.shutdown()
 

controller_manager/controller_manager/launch_utils.py

@@ -29,7 +29,7 @@ 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
       generate_load_controller_launch_description('joint_state_broadcaster')