Generate params for ForwardCommandController (ros-controls#396)

* Generate params for ForwardCommandController

Signed-off-by: Tyler Weaver <[email protected]>

* Clean up CMake

Signed-off-by: Tyler Weaver <[email protected]>
Co-authored-by: Denis Štogl <[email protected]>
Co-authored-by: Bence Magyar <[email protected]>

forward_command_controller/CMakeLists.txt

@@ -13,6 +13,7 @@ endif()
 
 set(THIS_PACKAGE_INCLUDE_DEPENDS
     controller_interface
+    generate_parameter_library
     hardware_interface
     pluginlib
     rclcpp
@@ -26,17 +27,30 @@ foreach(Dependency IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS})
   find_package(${Dependency} REQUIRED)
 endforeach()
 
-add_library(${PROJECT_NAME}
+generate_parameter_library(
+  forward_command_controller_parameters
+  src/forward_command_controller_parameters.yaml
+)
+generate_parameter_library(
+  multi_interface_forward_command_controller_parameters
+  src/multi_interface_forward_command_controller_parameters.yaml
+)
+
+add_library(forward_command_controller
   SHARED
   src/forward_controllers_base.cpp
   src/forward_command_controller.cpp
   src/multi_interface_forward_command_controller.cpp
 )
-target_include_directories(${PROJECT_NAME} PRIVATE include)
-ament_target_dependencies(${PROJECT_NAME} ${THIS_PACKAGE_INCLUDE_DEPENDS})
+target_include_directories(forward_command_controller PRIVATE include)
+ament_target_dependencies(forward_command_controller ${THIS_PACKAGE_INCLUDE_DEPENDS})
+target_link_libraries(forward_command_controller
+  forward_command_controller_parameters
+  multi_interface_forward_command_controller_parameters
+)
 # Causes the visibility macros to use dllexport rather than dllimport,
 # which is appropriate when building the dll but not consuming it.
-target_compile_definitions(${PROJECT_NAME} PRIVATE "FORWARD_COMMAND_CONTROLLER_BUILDING_DLL")
+target_compile_definitions(forward_command_controller PRIVATE "FORWARD_COMMAND_CONTROLLER_BUILDING_DLL")
 pluginlib_export_plugin_description_file(controller_interface forward_command_plugin.xml)
 
 install(
@@ -46,10 +60,14 @@ install(
 
 install(
   TARGETS
-  ${PROJECT_NAME}
+    forward_command_controller
+    forward_command_controller_parameters
+    multi_interface_forward_command_controller_parameters
+  EXPORT export_forward_command_controller
   RUNTIME DESTINATION bin
   ARCHIVE DESTINATION lib
   LIBRARY DESTINATION lib
+  INCLUDES DESTINATION include
 )
 
 if(BUILD_TESTING)
@@ -75,7 +93,7 @@ if(BUILD_TESTING)
   )
   target_include_directories(test_forward_command_controller PRIVATE include)
   target_link_libraries(test_forward_command_controller
-    ${PROJECT_NAME}
+    forward_command_controller
   )
 
   ament_add_gmock(
@@ -96,15 +114,10 @@ if(BUILD_TESTING)
   )
   target_include_directories(test_multi_interface_forward_command_controller PRIVATE include)
   target_link_libraries(test_multi_interface_forward_command_controller
-    ${PROJECT_NAME}
+    forward_command_controller
   )
 endif()
 
+ament_export_targets(export_forward_command_controller HAS_LIBRARY_TARGET)
 ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS})
-ament_export_include_directories(
-  include
-)
-ament_export_libraries(
-  ${PROJECT_NAME}
-)
 ament_package()

forward_command_controller/include/forward_command_controller/forward_command_controller.hpp

@@ -15,11 +15,13 @@
 #ifndef FORWARD_COMMAND_CONTROLLER__FORWARD_COMMAND_CONTROLLER_HPP_
 #define FORWARD_COMMAND_CONTROLLER__FORWARD_COMMAND_CONTROLLER_HPP_
 
+#include <memory>
 #include <string>
 #include <vector>
 
 #include "forward_command_controller/forward_controllers_base.hpp"
 #include "forward_command_controller/visibility_control.h"
+#include "forward_command_controller_parameters.hpp"
 
 namespace forward_command_controller
 {
@@ -44,8 +46,8 @@ class ForwardCommandController : public ForwardControllersBase
   void declare_parameters() override;
   controller_interface::CallbackReturn read_parameters() override;
 
-  std::vector<std::string> joint_names_;
-  std::string interface_name_;
+  std::shared_ptr<ParamListener> param_listener_;
+  Params params_;
 };
 
 }  // namespace forward_command_controller

forward_command_controller/include/forward_command_controller/multi_interface_forward_command_controller.hpp

@@ -15,11 +15,13 @@
 #ifndef FORWARD_COMMAND_CONTROLLER__MULTI_INTERFACE_FORWARD_COMMAND_CONTROLLER_HPP_
 #define FORWARD_COMMAND_CONTROLLER__MULTI_INTERFACE_FORWARD_COMMAND_CONTROLLER_HPP_
 
+#include <memory>
 #include <string>
 #include <vector>
 
 #include "forward_command_controller/forward_controllers_base.hpp"
 #include "forward_command_controller/visibility_control.h"
+#include "multi_interface_forward_command_controller_parameters.hpp"
 
 namespace forward_command_controller
 {
@@ -45,8 +47,11 @@ class MultiInterfaceForwardCommandController
   void declare_parameters() override;
   controller_interface::CallbackReturn read_parameters() override;
 
-  std::string joint_name_;
-  std::vector<std::string> interface_names_;
+  using Params = multi_interface_forward_command_controller::Params;
+  using ParamListener = multi_interface_forward_command_controller::ParamListener;
+
+  std::shared_ptr<ParamListener> param_listener_;
+  Params params_;
 };
 
 }  // namespace forward_command_controller

forward_command_controller/package.xml

@@ -11,6 +11,7 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
 
   <depend>controller_interface</depend>
+  <depend>generate_parameter_library</depend>
   <depend>hardware_interface</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_lifecycle</depend>

forward_command_controller/src/forward_command_controller.cpp

@@ -29,35 +29,33 @@ ForwardCommandController::ForwardCommandController() : ForwardControllersBase()
 
 void ForwardCommandController::declare_parameters()
 {
-  auto_declare("joints", std::vector<std::string>());
-  auto_declare("interface_name", std::string());
+  param_listener_ = std::make_shared<ParamListener>(get_node());
 }
 
 controller_interface::CallbackReturn ForwardCommandController::read_parameters()
 {
-  joint_names_ = get_node()->get_parameter("joints").as_string_array();
-
-  if (joint_names_.empty())
+  if (!param_listener_)
   {
-    RCLCPP_ERROR(get_node()->get_logger(), "'joints' parameter was empty");
+    RCLCPP_ERROR(get_node()->get_logger(), "Error encountered during init");
     return controller_interface::CallbackReturn::ERROR;
   }
+  params_ = param_listener_->get_params();
 
-  // Specialized, child controllers set interfaces before calling configure function.
-  if (interface_name_.empty())
+  if (params_.joints.empty())
   {
-    interface_name_ = get_node()->get_parameter("interface_name").as_string();
+    RCLCPP_ERROR(get_node()->get_logger(), "'joints' parameter was empty");
+    return controller_interface::CallbackReturn::ERROR;
   }
 
-  if (interface_name_.empty())
+  if (params_.interface_name.empty())
   {
     RCLCPP_ERROR(get_node()->get_logger(), "'interface_name' parameter was empty");
     return controller_interface::CallbackReturn::ERROR;
   }
 
-  for (const auto & joint : joint_names_)
+  for (const auto & joint : params_.joints)
   {
-    command_interface_types_.push_back(joint + "/" + interface_name_);
+    command_interface_types_.push_back(joint + "/" + params_.interface_name);
   }
 
   return controller_interface::CallbackReturn::SUCCESS;

forward_command_controller/src/forward_command_controller_parameters.yaml

@@ -0,0 +1,11 @@
+forward_command_controller:
+  joints: {
+    type: string_array,
+    default_value: [],
+    description: "Name of the joints to control",
+  }
+  interface_name: {
+    type: string,
+    default_value: "",
+    description: "Name of the interface to command",
+  }

forward_command_controller/src/multi_interface_forward_command_controller.cpp

@@ -14,6 +14,7 @@
 
 #include "forward_command_controller/multi_interface_forward_command_controller.hpp"
 
+#include <memory>
 #include <string>
 #include <vector>
 
@@ -26,30 +27,33 @@ MultiInterfaceForwardCommandController::MultiInterfaceForwardCommandController()
 
 void MultiInterfaceForwardCommandController::declare_parameters()
 {
-  auto_declare("joint", joint_name_);
-  auto_declare("interface_names", interface_names_);
+  param_listener_ = std::make_shared<ParamListener>(get_node());
 }
 
 controller_interface::CallbackReturn MultiInterfaceForwardCommandController::read_parameters()
 {
-  joint_name_ = get_node()->get_parameter("joint").as_string();
-  interface_names_ = get_node()->get_parameter("interface_names").as_string_array();
+  if (!param_listener_)
+  {
+    RCLCPP_ERROR(get_node()->get_logger(), "Error encountered during init");
+    return controller_interface::CallbackReturn::ERROR;
+  }
+  params_ = param_listener_->get_params();
 
-  if (joint_name_.empty())
+  if (params_.joint.empty())
   {
     RCLCPP_ERROR(get_node()->get_logger(), "'joint' parameter is empty");
     return controller_interface::CallbackReturn::ERROR;
   }
 
-  if (interface_names_.empty())
+  if (params_.interface_names.empty())
   {
     RCLCPP_ERROR(get_node()->get_logger(), "'interfaces' parameter is empty");
     return controller_interface::CallbackReturn::ERROR;
   }
 
-  for (const auto & interface : interface_names_)
+  for (const auto & interface : params_.interface_names)
   {
-    command_interface_types_.push_back(joint_name_ + "/" + interface);
+    command_interface_types_.push_back(params_.joint + "/" + interface);
   }
 
   return controller_interface::CallbackReturn::SUCCESS;

forward_command_controller/src/multi_interface_forward_command_controller_parameters.yaml

@@ -0,0 +1,11 @@
+multi_interface_forward_command_controller:
+  joint: {
+    type: string,
+    default_value: "",
+    description: "Name of the joint to control",
+  }
+  interface_names: {
+    type: string_array,
+    default_value: [],
+    description: "Names of the interfaces to command",
+  }

ros2_controllers-not-released.rolling.repos

@@ -1,10 +1,5 @@
 repositories:
-  ## EXAMPLE DEPENDENCY
-#   <some_ros_package>:
-#     type: git
-#     url: [email protected]:<some_github_namespace>/<some_ros_package>.git
-#     version: master
-  control_msgs:
+  generate_parameter_library:
     type: git
-    url: https://github.com/ros-controls/control_msgs.git
-    version: humble
+    url: https://github.com/picknikrobotics/generate_parameter_library.git
+    version: main

ros2_controllers.rolling.repos

@@ -20,3 +20,11 @@ repositories:
     type: git
     url: https://github.com/ros-controls/kinematics_interface.git
     version: master
+  angles:
+    type: git
+    url: https://github.com/ros/angles.git
+    version: ros2
+  generate_parameter_library:
+    type: git
+    url: https://github.com/picknikrobotics/generate_parameter_library.git
+    version: main