Merge branch 'master' into steering_lib_docs

ros-controls · May 14, 2024 · 6910604 · 6910604
2 parents 434c801 + 4008030
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diff --git a/.github/workflows/rolling-check-docs.yml b/.github/workflows/rolling-check-docs.yml
@@ -9,10 +9,11 @@ on:
       - '**.rst'
       - '**.md'
       - '**.yaml'
+      - '.github/workflows/rolling-check-docs.yml'
 
 jobs:
   check-docs:
     name: Check Docs
-    uses: ros-controls/control.ros.org/.github/workflows/reusable-sphinx-check-single-version.yml@master
+    uses: ros-controls/control.ros.org/.github/workflows/reusable-sphinx-check-single-version.yml@rolling
     with:
       ROS2_CONTROLLERS_PR: ${{ github.ref }}
diff --git a/ackermann_steering_controller/CHANGELOG.rst b/ackermann_steering_controller/CHANGELOG.rst
@@ -2,6 +2,12 @@
 Changelog for package ackermann_steering_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.8.0 (2024-05-14)
+------------------
+* Add parameter check for geometric values (`#1120 <https://github.com/ros-controls/ros2_controllers/issues/1120>`_)
+* add missing compiler definitions of RCPPUTILS_VERSION (`#1089 <https://github.com/ros-controls/ros2_controllers/issues/1089>`_)
+* Contributors: Christoph Fröhlich, Sai Kishor Kothakota
+
 4.7.0 (2024-03-22)
 ------------------
 * Fix pid_controller build on ROS 2 Rolling on Ubuntu 24.04 (`#1084 <https://github.com/ros-controls/ros2_controllers/issues/1084>`_)

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>4.7.0</version>
+  <version>4.8.0</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>

diff --git a/ackermann_steering_controller/src/ackermann_steering_controller.yaml b/ackermann_steering_controller/src/ackermann_steering_controller.yaml
@@ -5,6 +5,9 @@ ackermann_steering_controller:
       default_value: 0.0,
       description: "Front wheel track length. For details see: https://en.wikipedia.org/wiki/Wheelbase",
       read_only: false,
+      validation: {
+        gt<>: [0.0]
+      }
     }
 
   rear_wheel_track:
@@ -13,6 +16,9 @@ ackermann_steering_controller:
       default_value: 0.0,
       description: "Rear wheel track length. For details see: https://en.wikipedia.org/wiki/Wheelbase",
       read_only: false,
+      validation: {
+        gt<>: [0.0]
+      }
     }
 
   wheelbase:
@@ -21,6 +27,9 @@ ackermann_steering_controller:
       default_value: 0.0,
       description: "Distance between front and rear wheels. For details see: https://en.wikipedia.org/wiki/Wheelbase",
       read_only: false,
+      validation: {
+        gt<>: [0.0]
+      }
     }
 
   front_wheels_radius:
@@ -29,6 +38,9 @@ ackermann_steering_controller:
       default_value: 0.0,
       description: "Front wheels radius.",
       read_only: false,
+      validation: {
+        gt<>: [0.0]
+      }
     }
 
   rear_wheels_radius:
@@ -37,4 +49,7 @@ ackermann_steering_controller:
       default_value: 0.0,
       description: "Rear wheels radius.",
       read_only: false,
+      validation: {
+        gt<>: [0.0]
+      }
     }
diff --git a/admittance_controller/CHANGELOG.rst b/admittance_controller/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package admittance_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.8.0 (2024-05-14)
+------------------
+
 4.7.0 (2024-03-22)
 ------------------
 * Use CMake target for eigen (`#1058 <https://github.com/ros-controls/ros2_controllers/issues/1058>`_)

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>4.7.0</version>
+  <version>4.8.0</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>

diff --git a/bicycle_steering_controller/CHANGELOG.rst b/bicycle_steering_controller/CHANGELOG.rst
@@ -2,6 +2,12 @@
 Changelog for package bicycle_steering_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.8.0 (2024-05-14)
+------------------
+* Add parameter check for geometric values (`#1120 <https://github.com/ros-controls/ros2_controllers/issues/1120>`_)
+* add missing compiler definitions of RCPPUTILS_VERSION (`#1089 <https://github.com/ros-controls/ros2_controllers/issues/1089>`_)
+* Contributors: Christoph Fröhlich, Sai Kishor Kothakota
+
 4.7.0 (2024-03-22)
 ------------------
 * Fix pid_controller build on ROS 2 Rolling on Ubuntu 24.04 (`#1084 <https://github.com/ros-controls/ros2_controllers/issues/1084>`_)

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>4.7.0</version>
+  <version>4.8.0</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>

diff --git a/bicycle_steering_controller/src/bicycle_steering_controller.yaml b/bicycle_steering_controller/src/bicycle_steering_controller.yaml
@@ -5,6 +5,9 @@ bicycle_steering_controller:
       default_value: 0.0,
       description: "Distance between front and rear wheel. For details see: https://en.wikipedia.org/wiki/Wheelbase",
       read_only: false,
+      validation: {
+        gt<>: [0.0]
+      }
     }
 
   front_wheel_radius:
@@ -13,6 +16,9 @@ bicycle_steering_controller:
       default_value: 0.0,
       description: "Front wheel radius.",
       read_only: false,
+      validation: {
+        gt<>: [0.0]
+      }
     }
 
   rear_wheel_radius:
@@ -21,4 +27,7 @@ bicycle_steering_controller:
       default_value: 0.0,
       description: "Rear wheel radius.",
       read_only: false,
+      validation: {
+        gt<>: [0.0]
+      }
     }
diff --git a/diff_drive_controller/CHANGELOG.rst b/diff_drive_controller/CHANGELOG.rst
@@ -2,6 +2,14 @@
 Changelog for package diff_drive_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.8.0 (2024-05-14)
+------------------
+* Remove non-existing parameter (`#1119 <https://github.com/ros-controls/ros2_controllers/issues/1119>`_)
+* Add parameter check for geometric values (`#1120 <https://github.com/ros-controls/ros2_controllers/issues/1120>`_)
+* Deprecate non-stamped twist for tricycle_controller and steering_controllers (`#1093 <https://github.com/ros-controls/ros2_controllers/issues/1093>`_)
+* add missing compiler definitions of RCPPUTILS_VERSION (`#1089 <https://github.com/ros-controls/ros2_controllers/issues/1089>`_)
+* Contributors: Christoph Fröhlich, Sai Kishor Kothakota
+
 4.7.0 (2024-03-22)
 ------------------
 * added conditioning to have rolling tags compilable in older versions (`#1071 <https://github.com/ros-controls/ros2_controllers/issues/1071>`_)

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>4.7.0</version>
+  <version>4.8.0</version>
   <description>Controller for a differential drive mobile base.</description>
   <maintainer email="[email protected]">Bence Magyar</maintainer>
   <maintainer email="[email protected]">Jordan Palacios</maintainer>

diff --git a/diff_drive_controller/src/diff_drive_controller_parameter.yaml b/diff_drive_controller/src/diff_drive_controller_parameter.yaml
@@ -19,11 +19,17 @@ diff_drive_controller:
     type: double,
     default_value: 0.0,
     description: "Shortest distance between the left and right wheels. If this parameter is wrong, the robot will not behave correctly in curves.",
+    validation: {
+      gt<>: [0.0]
+    }
   }
   wheel_radius: {
     type: double,
     default_value: 0.0,
     description: "Radius of a wheel, i.e., wheels size, used for transformation of linear velocity into wheel rotations. If this parameter is wrong the robot will move faster or slower then expected.",
+    validation: {
+      gt<>: [0.0]
+    }
   }
   wheel_separation_multiplier: {
     type: double,

diff --git a/diff_drive_controller/test/config/test_diff_drive_controller.yaml b/diff_drive_controller/test/config/test_diff_drive_controller.yaml
@@ -4,7 +4,6 @@ test_diff_drive_controller:
     right_wheel_names: ["right_wheels"]
 
     wheel_separation: 0.40
-    wheels_per_side: 1  # actually 2, but both are controlled by 1 signal
     wheel_radius: 0.02
 
     wheel_separation_multiplier: 1.0

diff --git a/diff_drive_controller/test/test_diff_drive_controller.cpp b/diff_drive_controller/test/test_diff_drive_controller.cpp
@@ -184,6 +184,10 @@ class TestDiffDriveController : public ::testing::Test
       rclcpp::Parameter("left_wheel_names", rclcpp::ParameterValue(left_wheel_joints_init)));
     parameter_overrides.push_back(
       rclcpp::Parameter("right_wheel_names", rclcpp::ParameterValue(right_wheel_joints_init)));
+    // default parameters
+    parameter_overrides.push_back(
+      rclcpp::Parameter("wheel_separation", rclcpp::ParameterValue(1.0)));
+    parameter_overrides.push_back(rclcpp::Parameter("wheel_radius", rclcpp::ParameterValue(0.1)));
 
     parameter_overrides.insert(parameter_overrides.end(), parameters.begin(), parameters.end());
     node_options.parameter_overrides(parameter_overrides);

diff --git a/doc/controllers_index.rst b/doc/controllers_index.rst
@@ -6,7 +6,7 @@
 ros2_controllers
 #################
 
-Commonly used and generalized controllers for ros2_control framework that are ready to use with many robots, `MoveIt2 <https://moveit.picknik.ai/main/index.html>`_ and `Nav2 <https://navigation.ros.org/>`_.
+Commonly used and generalized controllers for ros2_control framework that are ready to use with many robots, `MoveIt2 <https://moveit.picknik.ai/main/index.html>`_ and `Nav2 <https://nav2.org/>`_.
 
 `Link to GitHub Repository <https://github.com/ros-controls/ros2_controllers>`_
 

diff --git a/effort_controllers/CHANGELOG.rst b/effort_controllers/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package effort_controllers
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.8.0 (2024-05-14)
+------------------
+
 4.7.0 (2024-03-22)
 ------------------
 

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>4.7.0</version>
+  <version>4.8.0</version>
   <description>Generic controller for forwarding commands.</description>
   <maintainer email="[email protected]">Bence Magyar</maintainer>
   <maintainer email="[email protected]">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
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.8.0 (2024-05-14)
+------------------
+
 4.7.0 (2024-03-22)
 ------------------
 

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>4.7.0</version>
+  <version>4.8.0</version>
   <description>Controller to publish state of force-torque sensors.</description>
   <maintainer email="[email protected]">Bence Magyar</maintainer>
   <maintainer email="[email protected]">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
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.8.0 (2024-05-14)
+------------------
+
 4.7.0 (2024-03-22)
 ------------------
 

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>4.7.0</version>
+  <version>4.8.0</version>
   <description>Generic controller for forwarding commands.</description>
   <maintainer email="[email protected]">Bence Magyar</maintainer>
   <maintainer email="[email protected]">Jordan Palacios</maintainer>

diff --git a/gripper_controllers/CHANGELOG.rst b/gripper_controllers/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package gripper_controllers
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.8.0 (2024-05-14)
+------------------
+
 4.7.0 (2024-03-22)
 ------------------
 * Fix usage of visibility macros (`#1039 <https://github.com/ros-controls/ros2_controllers/issues/1039>`_)

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>4.7.0</version>
+  <version>4.8.0</version>
   <description>The gripper_controllers package</description>
   <maintainer email="[email protected]">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
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.8.0 (2024-05-14)
+------------------
+
 4.7.0 (2024-03-22)
 ------------------
 

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>4.7.0</version>
+  <version>4.8.0</version>
   <description>Controller to publish readings of IMU sensors.</description>
   <maintainer email="[email protected]">Bence Magyar</maintainer>
   <maintainer email="[email protected]">Denis Štogl</maintainer>

diff --git a/joint_state_broadcaster/CHANGELOG.rst b/joint_state_broadcaster/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package joint_state_broadcaster
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.8.0 (2024-05-14)
+------------------
+
 4.7.0 (2024-03-22)
 ------------------
 * added conditioning to have rolling tags compilable in older versions (`#1071 <https://github.com/ros-controls/ros2_controllers/issues/1071>`_)

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>4.7.0</version>
+  <version>4.8.0</version>
   <description>Broadcaster to publish joint state</description>
   <maintainer email="[email protected]">Bence Magyar</maintainer>
   <maintainer email="[email protected]">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
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.8.0 (2024-05-14)
+------------------
+* [JTC] Remove unused test code (`#1095 <https://github.com/ros-controls/ros2_controllers/issues/1095>`_)
+* Contributors: Bence Magyar
+
 4.7.0 (2024-03-22)
 ------------------
 * Remove action_msg dependency (`#1077 <https://github.com/ros-controls/ros2_controllers/issues/1077>`_)

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>4.7.0</version>
+  <version>4.8.0</version>
   <description>Controller for executing joint-space trajectories on a group of joints</description>
   <maintainer email="[email protected]">Bence Magyar</maintainer>
   <maintainer email="[email protected]">Dr. Denis Štogl</maintainer>

diff --git a/pid_controller/CHANGELOG.rst b/pid_controller/CHANGELOG.rst
@@ -2,6 +2,11 @@
 Changelog for package pid_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.8.0 (2024-05-14)
+------------------
+* [PID] Add example yaml to docs (`#951 <https://github.com/ros-controls/ros2_controllers/issues/951>`_)
+* Contributors: Christoph Fröhlich
+
 4.7.0 (2024-03-22)
 ------------------
 * Fix pid_controller build on ROS 2 Rolling on Ubuntu 24.04 (`#1084 <https://github.com/ros-controls/ros2_controllers/issues/1084>`_)

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>4.7.0</version>
+  <version>4.8.0</version>
   <description>Controller based on PID implememenation from control_toolbox package.</description>
   <maintainer email="[email protected]">Bence Magyar</maintainer>
   <maintainer email="[email protected]">Denis Štogl</maintainer>

diff --git a/position_controllers/CHANGELOG.rst b/position_controllers/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package position_controllers
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.8.0 (2024-05-14)
+------------------
+
 4.7.0 (2024-03-22)
 ------------------
 

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>4.7.0</version>
+  <version>4.8.0</version>
   <description>Generic controller for forwarding commands.</description>
   <maintainer email="[email protected]">Bence Magyar</maintainer>
   <maintainer email="[email protected]">Jordan Palacios</maintainer>