Merge branch 'master' into add/offsets/force_torque_sensor_broadcaster

ros-controls · Sep 11, 2024 · 4bab5f6 · 4bab5f6
2 parents ebfee5b + 57c50e5
commit 4bab5f6
Show file tree

Hide file tree

Showing 49 changed files with 118 additions and 32 deletions.
diff --git a/ackermann_steering_controller/CHANGELOG.rst b/ackermann_steering_controller/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package ackermann_steering_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.14.0 (2024-09-11)
+-------------------
+
 4.13.0 (2024-08-22)
 -------------------
 * Fixes tests to work with use_global_arguments NodeOptions parameter  (`#1256 <https://github.com/ros-controls/ros2_controllers/issues/1256>`_)

diff --git a/ackermann_steering_controller/package.xml b/ackermann_steering_controller/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>ackermann_steering_controller</name>
-  <version>4.13.0</version>
+  <version>4.14.0</version>
   <description>Steering controller for Ackermann kinematics. Rear fixed wheels are powering the vehicle and front wheels are steering it.</description>
   <license>Apache License 2.0</license>
   <maintainer email="bence.magyar.robotics@gmail.com">Bence Magyar</maintainer>

diff --git a/admittance_controller/CHANGELOG.rst b/admittance_controller/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package admittance_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.14.0 (2024-09-11)
+-------------------
+
 4.13.0 (2024-08-22)
 -------------------
 * Fix segfault at reconfigure of AdmittanceController (`#1248 <https://github.com/ros-controls/ros2_controllers/issues/1248>`_)

diff --git a/admittance_controller/package.xml b/admittance_controller/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>admittance_controller</name>
-  <version>4.13.0</version>
+  <version>4.14.0</version>
   <description>Implementation of admittance controllers for different input and output interface.</description>
   <maintainer email="denis@stogl.de">Denis Štogl</maintainer>
   <maintainer email="bence.magyar.robotics@gmail.com">Bence Magyar</maintainer>

diff --git a/bicycle_steering_controller/CHANGELOG.rst b/bicycle_steering_controller/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package bicycle_steering_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.14.0 (2024-09-11)
+-------------------
+
 4.13.0 (2024-08-22)
 -------------------
 * Fixes tests to work with use_global_arguments NodeOptions parameter  (`#1256 <https://github.com/ros-controls/ros2_controllers/issues/1256>`_)

diff --git a/bicycle_steering_controller/package.xml b/bicycle_steering_controller/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>bicycle_steering_controller</name>
-  <version>4.13.0</version>
+  <version>4.14.0</version>
   <description>Steering controller with bicycle kinematics. Rear fixed wheel is powering the vehicle and front wheel is steering.</description>
   <license>Apache License 2.0</license>
   <maintainer email="bence.magyar.robotics@gmail.com">Bence Magyar</maintainer>

diff --git a/diff_drive_controller/CHANGELOG.rst b/diff_drive_controller/CHANGELOG.rst
@@ -2,6 +2,11 @@
 Changelog for package diff_drive_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.14.0 (2024-09-11)
+-------------------
+* rename get/set_state to get/set_lifecylce_state (`#1250 <https://github.com/ros-controls/ros2_controllers/issues/1250>`_)
+* Contributors: Manuel Muth
+
 4.13.0 (2024-08-22)
 -------------------
 * Fixes tests to work with use_global_arguments NodeOptions parameter  (`#1256 <https://github.com/ros-controls/ros2_controllers/issues/1256>`_)

diff --git a/diff_drive_controller/package.xml b/diff_drive_controller/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>diff_drive_controller</name>
-  <version>4.13.0</version>
+  <version>4.14.0</version>
   <description>Controller for a differential drive mobile base.</description>
   <maintainer email="bence.magyar.robotics@gmail.com">Bence Magyar</maintainer>
   <maintainer email="jordan.palacios@pal-robotics.com">Jordan Palacios</maintainer>

diff --git a/effort_controllers/CHANGELOG.rst b/effort_controllers/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package effort_controllers
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.14.0 (2024-09-11)
+-------------------
+
 4.13.0 (2024-08-22)
 -------------------
 

diff --git a/effort_controllers/package.xml b/effort_controllers/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>effort_controllers</name>
-  <version>4.13.0</version>
+  <version>4.14.0</version>
   <description>Generic controller for forwarding commands.</description>
   <maintainer email="bence.magyar.robotics@gmail.com">Bence Magyar</maintainer>
   <maintainer email="jordan.palacios@pal-robotics.com">Jordan Palacios</maintainer>

diff --git a/force_torque_sensor_broadcaster/CHANGELOG.rst b/force_torque_sensor_broadcaster/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package force_torque_sensor_broadcaster
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.14.0 (2024-09-11)
+-------------------
+
 4.13.0 (2024-08-22)
 -------------------
 * Fixes tests to work with use_global_arguments NodeOptions parameter  (`#1256 <https://github.com/ros-controls/ros2_controllers/issues/1256>`_)

diff --git a/force_torque_sensor_broadcaster/package.xml b/force_torque_sensor_broadcaster/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>force_torque_sensor_broadcaster</name>
-  <version>4.13.0</version>
+  <version>4.14.0</version>
   <description>Controller to publish state of force-torque sensors.</description>
   <maintainer email="bence.magyar.robotics@gmail.com">Bence Magyar</maintainer>
   <maintainer email="denis@stogl.de">Denis Štogl</maintainer>

diff --git a/forward_command_controller/CHANGELOG.rst b/forward_command_controller/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package forward_command_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.14.0 (2024-09-11)
+-------------------
+
 4.13.0 (2024-08-22)
 -------------------
 

diff --git a/forward_command_controller/package.xml b/forward_command_controller/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>forward_command_controller</name>
-  <version>4.13.0</version>
+  <version>4.14.0</version>
   <description>Generic controller for forwarding commands.</description>
   <maintainer email="bence.magyar.robotics@gmail.com">Bence Magyar</maintainer>
   <maintainer email="jordan.palacios@pal-robotics.com">Jordan Palacios</maintainer>

diff --git a/gripper_controllers/CHANGELOG.rst b/gripper_controllers/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package gripper_controllers
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.14.0 (2024-09-11)
+-------------------
+
 4.13.0 (2024-08-22)
 -------------------
 

diff --git a/gripper_controllers/package.xml b/gripper_controllers/package.xml
@@ -4,7 +4,7 @@
   schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>gripper_controllers</name>
-  <version>4.13.0</version>
+  <version>4.14.0</version>
   <description>The gripper_controllers package</description>
   <maintainer email="bence.magyar.robotics@gmail.com">Bence Magyar</maintainer>
 

diff --git a/imu_sensor_broadcaster/CHANGELOG.rst b/imu_sensor_broadcaster/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package imu_sensor_broadcaster
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.14.0 (2024-09-11)
+-------------------
+
 4.13.0 (2024-08-22)
 -------------------
 * Fixes tests to work with use_global_arguments NodeOptions parameter  (`#1256 <https://github.com/ros-controls/ros2_controllers/issues/1256>`_)

diff --git a/imu_sensor_broadcaster/package.xml b/imu_sensor_broadcaster/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>imu_sensor_broadcaster</name>
-  <version>4.13.0</version>
+  <version>4.14.0</version>
   <description>Controller to publish readings of IMU sensors.</description>
   <maintainer email="bence.magyar.robotics@gmail.com">Bence Magyar</maintainer>
   <maintainer email="denis@stogl.de">Denis Štogl</maintainer>

diff --git a/joint_state_broadcaster/CHANGELOG.rst b/joint_state_broadcaster/CHANGELOG.rst
@@ -2,6 +2,11 @@
 Changelog for package joint_state_broadcaster
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.14.0 (2024-09-11)
+-------------------
+* [JSB] Move the initialize of urdf::Model from on_activate to on_configure to improve real-time performance (`#1269 <https://github.com/ros-controls/ros2_controllers/issues/1269>`_)
+* Contributors: Takashi Sato
+
 4.13.0 (2024-08-22)
 -------------------
 * [Joint State Broadcaster] Publish the joint_states of joints present in the URDF (`#1233 <https://github.com/ros-controls/ros2_controllers/issues/1233>`_)

diff --git a/joint_state_broadcaster/package.xml b/joint_state_broadcaster/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>joint_state_broadcaster</name>
-  <version>4.13.0</version>
+  <version>4.14.0</version>
   <description>Broadcaster to publish joint state</description>
   <maintainer email="bence.magyar.robotics@gmail.com">Bence Magyar</maintainer>
   <maintainer email="denis@stogl.de">Denis Stogl</maintainer>

diff --git a/joint_trajectory_controller/CHANGELOG.rst b/joint_trajectory_controller/CHANGELOG.rst
@@ -2,6 +2,11 @@
 Changelog for package joint_trajectory_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.14.0 (2024-09-11)
+-------------------
+* rename get/set_state to get/set_lifecylce_state (`#1250 <https://github.com/ros-controls/ros2_controllers/issues/1250>`_)
+* Contributors: Manuel Muth
+
 4.13.0 (2024-08-22)
 -------------------
 

diff --git a/joint_trajectory_controller/package.xml b/joint_trajectory_controller/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>joint_trajectory_controller</name>
-  <version>4.13.0</version>
+  <version>4.14.0</version>
   <description>Controller for executing joint-space trajectories on a group of joints</description>
   <maintainer email="bence.magyar.robotics@gmail.com">Bence Magyar</maintainer>
   <maintainer email="denis.stogl@stoglrobotics.de">Dr. Denis Štogl</maintainer>

diff --git a/parallel_gripper_controller/CHANGELOG.rst b/parallel_gripper_controller/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package parallel_gripper_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.14.0 (2024-09-11)
+-------------------
+
 4.13.0 (2024-08-22)
 -------------------
 * Fixes tests to work with use_global_arguments NodeOptions parameter  (`#1256 <https://github.com/ros-controls/ros2_controllers/issues/1256>`_)

diff --git a/parallel_gripper_controller/package.xml b/parallel_gripper_controller/package.xml
@@ -4,7 +4,7 @@
   schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>parallel_gripper_controller</name>
-  <version>4.13.0</version>
+  <version>4.14.0</version>
   <description>The parallel_gripper_controller package</description>
   <maintainer email="bence.magyar.robotics@gmail.com">Bence Magyar</maintainer>
 

diff --git a/pid_controller/CHANGELOG.rst b/pid_controller/CHANGELOG.rst
@@ -2,6 +2,11 @@
 Changelog for package pid_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.14.0 (2024-09-11)
+-------------------
+* [PID Controller] Export state interfaces for easier chaining with other controllers (`#1214 <https://github.com/ros-controls/ros2_controllers/issues/1214>`_)
+* Contributors: Sai Kishor Kothakota
+
 4.13.0 (2024-08-22)
 -------------------
 

diff --git a/pid_controller/package.xml b/pid_controller/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>pid_controller</name>
-  <version>4.13.0</version>
+  <version>4.14.0</version>
   <description>Controller based on PID implememenation from control_toolbox package.</description>
   <maintainer email="bence.magyar.robotics@gmail.com">Bence Magyar</maintainer>
   <maintainer email="denis.stogl@stoglrobotics.de">Denis Štogl</maintainer>

diff --git a/position_controllers/CHANGELOG.rst b/position_controllers/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package position_controllers
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.14.0 (2024-09-11)
+-------------------
+
 4.13.0 (2024-08-22)
 -------------------
 

diff --git a/position_controllers/package.xml b/position_controllers/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>position_controllers</name>
-  <version>4.13.0</version>
+  <version>4.14.0</version>
   <description>Generic controller for forwarding commands.</description>
   <maintainer email="bence.magyar.robotics@gmail.com">Bence Magyar</maintainer>
   <maintainer email="jordan.palacios@pal-robotics.com">Jordan Palacios</maintainer>

diff --git a/range_sensor_broadcaster/CHANGELOG.rst b/range_sensor_broadcaster/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package range_sensor_broadcaster
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.14.0 (2024-09-11)
+-------------------
+
 4.13.0 (2024-08-22)
 -------------------
 * Fixes tests to work with use_global_arguments NodeOptions parameter  (`#1256 <https://github.com/ros-controls/ros2_controllers/issues/1256>`_)

diff --git a/range_sensor_broadcaster/package.xml b/range_sensor_broadcaster/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>range_sensor_broadcaster</name>
-  <version>4.13.0</version>
+  <version>4.14.0</version>
   <description>Controller to publish readings of Range sensors.</description>
   <maintainer email="bence.magyar.robotics@gmail.com">Bence Magyar</maintainer>
   <author email="flopubs@gmail.com">Florent Chretien</author>

diff --git a/ros2_controllers/CHANGELOG.rst b/ros2_controllers/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package ros2_controllers
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.14.0 (2024-09-11)
+-------------------
+
 4.13.0 (2024-08-22)
 -------------------
 

diff --git a/ros2_controllers/package.xml b/ros2_controllers/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>ros2_controllers</name>
-  <version>4.13.0</version>
+  <version>4.14.0</version>
   <description>Metapackage for ROS2 controllers related packages</description>
   <maintainer email="bence.magyar.robotics@gmail.com">Bence Magyar</maintainer>
   <maintainer email="jordan.palacios@pal-robotics.com">Jordan Palacios</maintainer>

diff --git a/ros2_controllers_test_nodes/CHANGELOG.rst b/ros2_controllers_test_nodes/CHANGELOG.rst
@@ -2,6 +2,11 @@
 Changelog for package ros2_controllers_test_nodes
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.14.0 (2024-09-11)
+-------------------
+* Fix deprecation warning in paramater declaration (`#1280 <https://github.com/ros-controls/ros2_controllers/issues/1280>`_)
+* Contributors: Sanjeev
+
 4.13.0 (2024-08-22)
 -------------------
 

diff --git a/ros2_controllers_test_nodes/package.xml b/ros2_controllers_test_nodes/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_controllers_test_nodes</name>
-  <version>4.13.0</version>
+  <version>4.14.0</version>
   <description>Demo nodes for showing and testing functionalities of the ros2_control framework.</description>
 
   <maintainer email="denis@stoglrobotics.de">Denis Štogl</maintainer>

diff --git a/...ntrollers_test_nodes/ros2_controllers_test_nodes/publisher_forward_position_controller.py b/...ntrollers_test_nodes/ros2_controllers_test_nodes/publisher_forward_position_controller.py
@@ -37,7 +37,7 @@ def __init__(self):
         # Read all positions from parameters
         self.goals = []
         for name in goal_names:
-            self.declare_parameter(name)
+            self.declare_parameter(name, rclpy.Parameter.Type.DOUBLE_ARRAY)
             goal = self.get_parameter(name).value
             if goal is None or len(goal) == 0:
                 raise Exception(f'Values for goal "{name}" not set!')

diff --git a/...ntrollers_test_nodes/ros2_controllers_test_nodes/publisher_joint_trajectory_controller.py b/...ntrollers_test_nodes/ros2_controllers_test_nodes/publisher_joint_trajectory_controller.py
@@ -18,7 +18,6 @@
 import rclpy
 from rclpy.node import Node
 from builtin_interfaces.msg import Duration
-from rcl_interfaces.msg import ParameterDescriptor
 
 from trajectory_msgs.msg import JointTrajectory, JointTrajectoryPoint
 from sensor_msgs.msg import JointState
@@ -67,8 +66,7 @@ def __init__(self):
         # Read all positions from parameters
         self.goals = []  # List of JointTrajectoryPoint
         for name in goal_names:
-            self.declare_parameter(name, descriptor=ParameterDescriptor(dynamic_typing=True))
-
+            self.declare_parameter(name, rclpy.Parameter.Type.DOUBLE_ARRAY)
             point = JointTrajectoryPoint()
 
             def get_sub_param(sub_param):

diff --git a/ros2_controllers_test_nodes/setup.py b/ros2_controllers_test_nodes/setup.py
@@ -20,7 +20,7 @@
 
 setup(
     name=package_name,
-    version="4.13.0",
+    version="4.14.0",
     packages=[package_name],
     data_files=[
         ("share/ament_index/resource_index/packages", ["resource/" + package_name]),

diff --git a/rqt_joint_trajectory_controller/CHANGELOG.rst b/rqt_joint_trajectory_controller/CHANGELOG.rst
@@ -2,6 +2,11 @@
 Changelog for package rqt_joint_trajectory_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.14.0 (2024-09-11)
+-------------------
+* Fix bug for displaying all controllers (`#1259 <https://github.com/ros-controls/ros2_controllers/issues/1259>`_)
+* Contributors: Francisco Martín Rico
+
 4.13.0 (2024-08-22)
 -------------------
 

diff --git a/rqt_joint_trajectory_controller/package.xml b/rqt_joint_trajectory_controller/package.xml
@@ -4,7 +4,7 @@
   schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>rqt_joint_trajectory_controller</name>
-  <version>4.13.0</version>
+  <version>4.14.0</version>
   <description>Graphical frontend for interacting with joint_trajectory_controller instances.</description>
 
   <maintainer email="bence.magyar.robotics@gmail.com">Bence Magyar</maintainer>

diff --git a/rqt_joint_trajectory_controller/setup.py b/rqt_joint_trajectory_controller/setup.py
@@ -21,7 +21,7 @@
 
 setup(
     name=package_name,
-    version="4.13.0",
+    version="4.14.0",
     packages=[package_name],
     data_files=[
         ("share/ament_index/resource_index/packages", ["resource/" + package_name]),