Merge branch 'master' into rm/iron

ros-controls · Nov 18, 2024 · 0536852 · 0536852
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diff --git a/ackermann_steering_controller/CHANGELOG.rst b/ackermann_steering_controller/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package ackermann_steering_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.16.0 (2024-11-08)
+-------------------
+
 4.15.0 (2024-10-07)
 -------------------
 * Adapt test to new way of exporting reference interfaces (Related to `#1240 <https://github.com/ros-controls/ros2_controllers/issues/1240>`_ in ros2_control) (`#1103 <https://github.com/ros-controls/ros2_controllers/issues/1103>`_)

diff --git a/ackermann_steering_controller/CMakeLists.txt b/ackermann_steering_controller/CMakeLists.txt
@@ -3,7 +3,8 @@ project(ackermann_steering_controller LANGUAGES CXX)
 
 if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
   add_compile_options(-Wall -Wextra -Wpedantic -Werror=conversion -Werror=unused-but-set-variable
-                      -Werror=return-type -Werror=shadow -Werror=format)
+                      -Werror=return-type -Werror=shadow -Werror=format  -Werror=range-loop-construct
+                      -Werror=missing-braces)
 endif()
 
 # find dependencies

diff --git a/ackermann_steering_controller/package.xml b/ackermann_steering_controller/package.xml
@@ -2,12 +2,19 @@
 <?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>4.15.0</version>
+  <version>4.16.0</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="[email protected]">Bence Magyar</maintainer>
-  <maintainer email="[email protected]">Dr.-Ing. Denis Štogl</maintainer>
-  <maintainer email="[email protected]">dr. sc. Tomislav Petkovic</maintainer>
+  <maintainer email="[email protected]">Denis Štogl</maintainer>
+  <maintainer email="[email protected]">Christoph Froehlich</maintainer>
+  <maintainer email="[email protected]">Sai Kishor Kothakota</maintainer>
+
+  <license>Apache License 2.0</license>
+
+  <url type="website">https://control.ros.org</url>
+  <url type="bugtracker">https://github.com/ros-controls/ros2_controllers/issues</url>
+  <url type="repository">https://github.com/ros-controls/ros2_controllers/</url>
 
   <author email="[email protected]">Dr.-Ing. Denis Štogl</author>
   <author email="[email protected]">dr. sc. Tomislav Petkovic</author>

diff --git a/ackermann_steering_controller/test/test_ackermann_steering_controller.hpp b/ackermann_steering_controller/test/test_ackermann_steering_controller.hpp
@@ -293,9 +293,10 @@ class AckermannSteeringControllerFixture : public ::testing::Test
   double front_wheels_radius_ = 0.45;
   double rear_wheels_radius_ = 0.45;
 
-  std::array<double, 4> joint_state_values_ = {0.5, 0.5, 0.0, 0.0};
-  std::array<double, 4> joint_command_values_ = {1.1, 3.3, 2.2, 4.4};
-  std::array<std::string, 2> joint_reference_interfaces_ = {"linear/velocity", "angular/velocity"};
+  std::array<double, 4> joint_state_values_ = {{0.5, 0.5, 0.0, 0.0}};
+  std::array<double, 4> joint_command_values_ = {{1.1, 3.3, 2.2, 4.4}};
+  std::array<std::string, 2> joint_reference_interfaces_ = {
+    {"linear/velocity", "angular/velocity"}};
   std::string steering_interface_name_ = "position";
   // defined in setup
   std::string traction_interface_name_ = "";

diff --git a/admittance_controller/CHANGELOG.rst b/admittance_controller/CHANGELOG.rst
@@ -2,6 +2,11 @@
 Changelog for package admittance_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.16.0 (2024-11-08)
+-------------------
+* Adding use of robot description parameter in the Admittance Controller (`#1247 <https://github.com/ros-controls/ros2_controllers/issues/1247>`_)
+* Contributors: Dr. Denis, Kevin DeMarco, Nikola Banovic, Bence Magyar, Christoph Fröhlich
+
 4.15.0 (2024-10-07)
 -------------------
 

diff --git a/admittance_controller/CMakeLists.txt b/admittance_controller/CMakeLists.txt
@@ -3,7 +3,8 @@ project(admittance_controller LANGUAGES CXX)
 
 if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
   add_compile_options(-Wall -Wextra -Wpedantic -Werror=conversion -Werror=unused-but-set-variable
-                      -Werror=return-type -Werror=shadow -Werror=format)
+                      -Werror=return-type -Werror=shadow -Werror=format -Werror=range-loop-construct
+                      -Werror=missing-braces)
 endif()
 
 set(THIS_PACKAGE_INCLUDE_DEPENDS

diff --git a/admittance_controller/include/admittance_controller/admittance_rule.hpp b/admittance_controller/include/admittance_controller/admittance_rule.hpp
@@ -102,7 +102,8 @@ class AdmittanceRule
 
   /// Configure admittance rule memory using number of joints.
   controller_interface::return_type configure(
-    const std::shared_ptr<rclcpp_lifecycle::LifecycleNode> & node, const size_t num_joint);
+    const std::shared_ptr<rclcpp_lifecycle::LifecycleNode> & node, const size_t num_joint,
+    const std::string & robot_description);
 
   /// Reset all values back to default
   controller_interface::return_type reset(const size_t num_joints);

diff --git a/admittance_controller/include/admittance_controller/admittance_rule_impl.hpp b/admittance_controller/include/admittance_controller/admittance_rule_impl.hpp
@@ -20,6 +20,7 @@
 #include "admittance_controller/admittance_rule.hpp"
 
 #include <memory>
+#include <string>
 #include <vector>
 
 #include <control_toolbox/filters.hpp>
@@ -34,7 +35,8 @@ constexpr auto NUM_CARTESIAN_DOF = 6;  // (3 translation + 3 rotation)
 
 /// Configure admittance rule memory for num joints and load kinematics interface
 controller_interface::return_type AdmittanceRule::configure(
-  const std::shared_ptr<rclcpp_lifecycle::LifecycleNode> & node, const size_t num_joints)
+  const std::shared_ptr<rclcpp_lifecycle::LifecycleNode> & node, const size_t num_joints,
+  const std::string & robot_description)
 {
   num_joints_ = num_joints;
 
@@ -58,7 +60,7 @@ controller_interface::return_type AdmittanceRule::configure(
         kinematics_loader_->createUnmanagedInstance(parameters_.kinematics.plugin_name));
 
       if (!kinematics_->initialize(
-            node->get_node_parameters_interface(), parameters_.kinematics.tip))
+            robot_description, node->get_node_parameters_interface(), "kinematics"))
       {
         return controller_interface::return_type::ERROR;
       }

diff --git a/admittance_controller/package.xml b/admittance_controller/package.xml
@@ -2,13 +2,24 @@
 <?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>4.15.0</version>
+  <version>4.16.0</version>
   <description>Implementation of admittance controllers for different input and output interface.</description>
-  <maintainer email="[email protected]">Denis Štogl</maintainer>
+
   <maintainer email="[email protected]">Bence Magyar</maintainer>
-  <maintainer email="[email protected]">Andy Zelenak</maintainer>
+  <maintainer email="[email protected]">Denis Štogl</maintainer>
+  <maintainer email="[email protected]">Christoph Froehlich</maintainer>
+  <maintainer email="[email protected]">Sai Kishor Kothakota</maintainer>
+
   <license>Apache License 2.0</license>
 
+  <url type="website">https://control.ros.org</url>
+  <url type="bugtracker">https://github.com/ros-controls/ros2_controllers/issues</url>
+  <url type="repository">https://github.com/ros-controls/ros2_controllers/</url>
+
+  <author email="[email protected]">Denis Štogl</author>
+  <author email="[email protected]">Andy Zelenak</author>
+  <author email="[email protected]">Paul Gesel</author>
+
   <buildtool_depend>ament_cmake</buildtool_depend>
 
   <depend>backward_ros</depend>

diff --git a/admittance_controller/src/admittance_controller.cpp b/admittance_controller/src/admittance_controller.cpp
@@ -280,7 +280,9 @@ controller_interface::CallbackReturn AdmittanceController::on_configure(
     semantic_components::ForceTorqueSensor(admittance_->parameters_.ft_sensor.name));
 
   // configure admittance rule
-  if (admittance_->configure(get_node(), num_joints_) == controller_interface::return_type::ERROR)
+  if (
+    admittance_->configure(get_node(), num_joints_, this->get_robot_description()) ==
+    controller_interface::return_type::ERROR)
   {
     return controller_interface::CallbackReturn::ERROR;
   }

diff --git a/admittance_controller/test/test_admittance_controller.hpp b/admittance_controller/test/test_admittance_controller.hpp
@@ -102,18 +102,14 @@ class TestableAdmittanceController : public admittance_controller::AdmittanceCon
     }
   }
 
-private:
   const std::string robot_description_ = ros2_control_test_assets::valid_6d_robot_urdf;
   const std::string robot_description_semantic_ = ros2_control_test_assets::valid_6d_robot_srdf;
 };
 
 class AdmittanceControllerTest : public ::testing::Test
 {
 public:
-  static void SetUpTestCase()
-  {
-    //    rclcpp::init(0, nullptr);
-  }
+  static void SetUpTestCase() {}
 
   void SetUp()
   {
@@ -163,7 +159,8 @@ class AdmittanceControllerTest : public ::testing::Test
   controller_interface::return_type SetUpControllerCommon(
     const std::string & controller_name, const rclcpp::NodeOptions & options)
   {
-    auto result = controller_->init(controller_name, "", 0, "", options);
+    auto result =
+      controller_->init(controller_name, controller_->robot_description_, 0, "", options);
 
     controller_->export_reference_interfaces();
     assign_interfaces();
@@ -374,15 +371,15 @@ class AdmittanceControllerTest : public ::testing::Test
   const std::string fixed_world_frame_ = "fixed_world_frame";
   const std::string sensor_frame_ = "link_6";
 
-  std::array<bool, 6> admittance_selected_axes_ = {true, true, true, true, true, true};
-  std::array<double, 6> admittance_mass_ = {5.5, 6.6, 7.7, 8.8, 9.9, 10.10};
-  std::array<double, 6> admittance_damping_ratio_ = {2.828427, 2.828427, 2.828427,
-                                                     2.828427, 2.828427, 2.828427};
-  std::array<double, 6> admittance_stiffness_ = {214.1, 214.2, 214.3, 214.4, 214.5, 214.6};
+  std::array<bool, 6> admittance_selected_axes_ = {{true, true, true, true, true, true}};
+  std::array<double, 6> admittance_mass_ = {{5.5, 6.6, 7.7, 8.8, 9.9, 10.10}};
+  std::array<double, 6> admittance_damping_ratio_ = {
+    {2.828427, 2.828427, 2.828427, 2.828427, 2.828427, 2.828427}};
+  std::array<double, 6> admittance_stiffness_ = {{214.1, 214.2, 214.3, 214.4, 214.5, 214.6}};
 
-  std::array<double, 6> joint_command_values_ = {0.0, 0.0, 0.0, 0.0, 0.0, 0.0};
-  std::array<double, 6> joint_state_values_ = {1.1, 2.2, 3.3, 4.4, 5.5, 6.6};
-  std::array<double, 6> fts_state_values_ = {0.0, 0.0, 0.0, 0.0, 0.0, 0.0};
+  std::array<double, 6> joint_command_values_ = {{0.0, 0.0, 0.0, 0.0, 0.0, 0.0}};
+  std::array<double, 6> joint_state_values_ = {{1.1, 2.2, 3.3, 4.4, 5.5, 6.6}};
+  std::array<double, 6> fts_state_values_ = {{0.0, 0.0, 0.0, 0.0, 0.0, 0.0}};
   std::vector<std::string> fts_state_names_;
 
   std::vector<hardware_interface::StateInterface> state_itfs_;

diff --git a/bicycle_steering_controller/CHANGELOG.rst b/bicycle_steering_controller/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package bicycle_steering_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.16.0 (2024-11-08)
+-------------------
+
 4.15.0 (2024-10-07)
 -------------------
 * Adapt test to new way of exporting reference interfaces (Related to `#1240 <https://github.com/ros-controls/ros2_controllers/issues/1240>`_ in ros2_control) (`#1103 <https://github.com/ros-controls/ros2_controllers/issues/1103>`_)

diff --git a/bicycle_steering_controller/CMakeLists.txt b/bicycle_steering_controller/CMakeLists.txt
@@ -3,7 +3,8 @@ project(bicycle_steering_controller LANGUAGES CXX)
 
 if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
   add_compile_options(-Wall -Wextra -Wpedantic -Werror=conversion -Werror=unused-but-set-variable
-                      -Werror=return-type -Werror=shadow -Werror=format)
+                      -Werror=return-type -Werror=shadow -Werror=format -Werror=range-loop-construct
+                      -Werror=missing-braces)
 endif()
 
 # find dependencies

diff --git a/bicycle_steering_controller/package.xml b/bicycle_steering_controller/package.xml
@@ -2,12 +2,19 @@
 <?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>4.15.0</version>
+  <version>4.16.0</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="[email protected]">Bence Magyar</maintainer>
-  <maintainer email="[email protected]">Dr.-Ing. Denis Štogl</maintainer>
-  <maintainer email="[email protected]">dr. sc. Tomislav Petkovic</maintainer>
+  <maintainer email="[email protected]">Denis Štogl</maintainer>
+  <maintainer email="[email protected]">Christoph Froehlich</maintainer>
+  <maintainer email="[email protected]">Sai Kishor Kothakota</maintainer>
+
+  <license>Apache License 2.0</license>
+
+  <url type="website">https://control.ros.org</url>
+  <url type="bugtracker">https://github.com/ros-controls/ros2_controllers/issues</url>
+  <url type="repository">https://github.com/ros-controls/ros2_controllers/</url>
 
   <author email="[email protected]">Dr.-Ing. Denis Štogl</author>
   <author email="[email protected]">dr. sc. Tomislav Petkovic</author>

diff --git a/bicycle_steering_controller/test/test_bicycle_steering_controller.hpp b/bicycle_steering_controller/test/test_bicycle_steering_controller.hpp
@@ -247,22 +247,24 @@ class BicycleSteeringControllerFixture : public ::testing::Test
   bool open_loop_ = false;
   unsigned int velocity_rolling_window_size_ = 10;
   bool position_feedback_ = false;
-  std::vector<std::string> rear_wheels_names_ = {"rear_wheel_joint"};
-  std::vector<std::string> front_wheels_names_ = {"steering_axis_joint"};
-  std::vector<std::string> joint_names_ = {rear_wheels_names_[0], front_wheels_names_[0]};
+  std::vector<std::string> rear_wheels_names_ = {{"rear_wheel_joint"}};
+  std::vector<std::string> front_wheels_names_ = {{"steering_axis_joint"}};
+  std::vector<std::string> joint_names_ = {{rear_wheels_names_[0], front_wheels_names_[0]}};
 
-  std::vector<std::string> rear_wheels_preceeding_names_ = {"pid_controller/rear_wheel_joint"};
-  std::vector<std::string> front_wheels_preceeding_names_ = {"pid_controller/steering_axis_joint"};
+  std::vector<std::string> rear_wheels_preceeding_names_ = {{"pid_controller/rear_wheel_joint"}};
+  std::vector<std::string> front_wheels_preceeding_names_ = {
+    {"pid_controller/steering_axis_joint"}};
   std::vector<std::string> preceeding_joint_names_ = {
     rear_wheels_preceeding_names_[0], front_wheels_preceeding_names_[0]};
 
   double wheelbase_ = 3.24644;
   double front_wheels_radius_ = 0.45;
   double rear_wheels_radius_ = 0.45;
 
-  std::array<double, 2> joint_state_values_ = {3.3, 0.5};
-  std::array<double, 2> joint_command_values_ = {1.1, 2.2};
-  std::array<std::string, 2> joint_reference_interfaces_ = {"linear/velocity", "angular/velocity"};
+  std::array<double, 2> joint_state_values_ = {{3.3, 0.5}};
+  std::array<double, 2> joint_command_values_ = {{1.1, 2.2}};
+  std::array<std::string, 2> joint_reference_interfaces_ = {
+    {"linear/velocity", "angular/velocity"}};
   std::string steering_interface_name_ = "position";
 
   // defined in setup

diff --git a/diff_drive_controller/CHANGELOG.rst b/diff_drive_controller/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package diff_drive_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.16.0 (2024-11-08)
+-------------------
+
 4.15.0 (2024-10-07)
 -------------------
 

diff --git a/diff_drive_controller/CMakeLists.txt b/diff_drive_controller/CMakeLists.txt
@@ -2,7 +2,9 @@ cmake_minimum_required(VERSION 3.16)
 project(diff_drive_controller LANGUAGES CXX)
 
 if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
-  add_compile_options(-Wall -Wextra -Werror=conversion -Werror=unused-but-set-variable -Werror=return-type -Werror=shadow -Werror=format)
+  add_compile_options(-Wall -Wextra -Werror=conversion -Werror=unused-but-set-variable
+                      -Werror=return-type -Werror=shadow -Werror=format -Werror=range-loop-construct
+                      -Werror=missing-braces)
 endif()
 
 set(THIS_PACKAGE_INCLUDE_DEPENDS

diff --git a/diff_drive_controller/package.xml b/diff_drive_controller/package.xml
@@ -1,13 +1,25 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>diff_drive_controller</name>
-  <version>4.15.0</version>
-  <description>Controller for a differential drive mobile base.</description>
+  <version>4.16.0</version>
+  <description>Controller for a differential-drive mobile base.</description>
+
   <maintainer email="[email protected]">Bence Magyar</maintainer>
-  <maintainer email="[email protected]">Jordan Palacios</maintainer>
+  <maintainer email="[email protected]">Denis Štogl</maintainer>
+  <maintainer email="[email protected]">Christoph Froehlich</maintainer>
+  <maintainer email="[email protected]">Sai Kishor Kothakota</maintainer>
 
   <license>Apache License 2.0</license>
 
+  <url type="website">https://control.ros.org</url>
+  <url type="bugtracker">https://github.com/ros-controls/ros2_controllers/issues</url>
+  <url type="repository">https://github.com/ros-controls/ros2_controllers/</url>
+
+  <author email="[email protected]">Bence Magyar</author>
+  <author>Enrique Fernández</author>
+  <author>Manuel Meraz</author>
+  <author email="[email protected]">Jordan Palacios</author>
+
   <buildtool_depend>ament_cmake</buildtool_depend>
   <build_depend>generate_parameter_library</build_depend>
 

diff --git a/doc/controllers_index.rst b/doc/controllers_index.rst
@@ -56,6 +56,7 @@ The controllers are using `common hardware interface definitions`_, and may use
    PID Controller <../pid_controller/doc/userdoc.rst>
    Position Controllers <../position_controllers/doc/userdoc.rst>
    Velocity Controllers <../velocity_controllers/doc/userdoc.rst>
+   Gpio Command Controller <../gpio_controllers/doc/userdoc.rst>
 
 
 Broadcasters

diff --git a/doc/release_notes.rst b/doc/release_notes.rst
@@ -63,3 +63,7 @@ steering_controllers_library
 tricycle_controller
 ************************
 * tricycle_controller now uses generate_parameter_library (`#957 <https://github.com/ros-controls/ros2_controllers/pull/957>`_).
+
+gpio_controllers
+************************
+* The GPIO command controller was added 🎉 (`#1251 <https://github.com/ros-controls/ros2_controllers/pull/1251>`_).
diff --git a/effort_controllers/CHANGELOG.rst b/effort_controllers/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package effort_controllers
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.16.0 (2024-11-08)
+-------------------
+
 4.15.0 (2024-10-07)
 -------------------
 

diff --git a/effort_controllers/CMakeLists.txt b/effort_controllers/CMakeLists.txt
@@ -3,7 +3,8 @@ project(effort_controllers LANGUAGES CXX)
 
 if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
   add_compile_options(-Wall -Wextra -Wpedantic -Werror=conversion -Werror=unused-but-set-variable
-                      -Werror=return-type -Werror=shadow -Werror=format)
+                      -Werror=return-type -Werror=shadow -Werror=format -Werror=range-loop-construct
+                      -Werror=missing-braces)
 endif()
 
 set(THIS_PACKAGE_INCLUDE_DEPENDS

diff --git a/effort_controllers/package.xml b/effort_controllers/package.xml
@@ -1,13 +1,22 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>effort_controllers</name>
-  <version>4.15.0</version>
+  <version>4.16.0</version>
   <description>Generic controller for forwarding commands.</description>
+
   <maintainer email="[email protected]">Bence Magyar</maintainer>
-  <maintainer email="[email protected]">Jordan Palacios</maintainer>
+  <maintainer email="[email protected]">Denis Štogl</maintainer>
+  <maintainer email="[email protected]">Christoph Froehlich</maintainer>
+  <maintainer email="[email protected]">Sai Kishor Kothakota</maintainer>
 
   <license>Apache License 2.0</license>
 
+  <url type="website">https://control.ros.org</url>
+  <url type="bugtracker">https://github.com/ros-controls/ros2_controllers/issues</url>
+  <url type="repository">https://github.com/ros-controls/ros2_controllers/</url>
+
+  <author email="[email protected]">Jordan Palacios</author>
+
   <buildtool_depend>ament_cmake</buildtool_depend>
 
   <depend>backward_ros</depend>