From f2da66240082c1abf2e25a624640b148171e861d Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Christoph=20Fr=C3=B6hlich?= Date: Tue, 5 Nov 2024 16:50:59 +0100 Subject: [PATCH 1/6] Update ros2_controllers.humble.repos (#1350) --- ros2_controllers.humble.repos | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/ros2_controllers.humble.repos b/ros2_controllers.humble.repos index 2a3b96551d..a0432f65b3 100644 --- a/ros2_controllers.humble.repos +++ b/ros2_controllers.humble.repos @@ -10,7 +10,7 @@ repositories: kinematics_interface: type: git url: https://github.com/ros-controls/kinematics_interface.git - version: master + version: humble control_msgs: type: git url: https://github.com/ros-controls/control_msgs.git From 9439764015ef4a8b245ed07381459c19883e5a2b Mon Sep 17 00:00:00 2001 From: "Dr. Denis" Date: Wed, 6 Nov 2024 22:47:17 +0100 Subject: [PATCH 2/6] Adding use of robot description parameter in the Admittance Controller (#1247) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --------- Co-authored-by: Kevin DeMarco Co-authored-by: Nikola Banovic Co-authored-by: Bence Magyar Co-authored-by: Christoph Fröhlich --- .../include/admittance_controller/admittance_rule.hpp | 3 ++- .../admittance_controller/admittance_rule_impl.hpp | 6 ++++-- admittance_controller/src/admittance_controller.cpp | 4 +++- .../test/test_admittance_controller.hpp | 9 +++------ 4 files changed, 12 insertions(+), 10 deletions(-) diff --git a/admittance_controller/include/admittance_controller/admittance_rule.hpp b/admittance_controller/include/admittance_controller/admittance_rule.hpp index 7223dbe9d1..a326b663d0 100644 --- 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 & node, const size_t num_joint); + const std::shared_ptr & 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 index cab8b4cf45..13d4e67fbc 100644 --- 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 +#include #include #include @@ -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 & node, const size_t num_joints) + const std::shared_ptr & 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/src/admittance_controller.cpp b/admittance_controller/src/admittance_controller.cpp index a4b56d739c..6e0e38140a 100644 --- 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 index b2a95c12fa..4f4635d861 100644 --- a/admittance_controller/test/test_admittance_controller.hpp +++ b/admittance_controller/test/test_admittance_controller.hpp @@ -102,7 +102,6 @@ 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; }; @@ -110,10 +109,7 @@ class TestableAdmittanceController : public admittance_controller::AdmittanceCon 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(); From b0391e2069c8ec9a94ce35cb3e395bac3ca62eb6 Mon Sep 17 00:00:00 2001 From: RobertWilbrandt Date: Thu, 7 Nov 2024 09:06:38 +0100 Subject: [PATCH 3/6] [jtc] Improve trajectory sampling efficiency (#1297) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --------- Co-authored-by: Christoph Fröhlich Co-authored-by: Bence Magyar --- .../trajectory.hpp | 21 +++- .../src/trajectory.cpp | 5 +- .../test/test_trajectory.cpp | 115 ++++++++++++++++++ 3 files changed, 137 insertions(+), 4 deletions(-) diff --git a/joint_trajectory_controller/include/joint_trajectory_controller/trajectory.hpp b/joint_trajectory_controller/include/joint_trajectory_controller/trajectory.hpp index b00d79481c..14373b006e 100644 --- a/joint_trajectory_controller/include/joint_trajectory_controller/trajectory.hpp +++ b/joint_trajectory_controller/include/joint_trajectory_controller/trajectory.hpp @@ -69,6 +69,9 @@ class Trajectory * acceleration respectively. Deduction assumes that the provided velocity or acceleration have to * be reached at the time defined in the segment. * + * This function assumes that sampling is only done at monotonically increasing \p sample_time + * for any trajectory. + * * Specific case returns for start_segment_itr and end_segment_itr: * - Sampling before the trajectory start: * start_segment_itr = begin(), end_segment_itr = begin() @@ -85,9 +88,12 @@ class Trajectory * * \param[in] sample_time Time at which trajectory will be sampled. * \param[in] interpolation_method Specify whether splines, another method, or no interpolation at - * all. \param[out] expected_state Calculated new at \p sample_time. \param[out] start_segment_itr - * Iterator to the start segment for given \p sample_time. See description above. \param[out] - * end_segment_itr Iterator to the end segment for given \p sample_time. See description above. + * all. + * \param[out] output_state Calculated new at \p sample_time. + * \param[out] start_segment_itr Iterator to the start segment for given \p sample_time. See + * description above. + * \param[out] end_segment_itr Iterator to the end segment for given \p sample_time. See + * description above. */ JOINT_TRAJECTORY_CONTROLLER_PUBLIC bool sample( @@ -147,6 +153,14 @@ class Trajectory JOINT_TRAJECTORY_CONTROLLER_PUBLIC bool is_sampled_already() const { return sampled_already_; } + /// Get the index of the segment start returned by the last \p sample() operation. + /** + * As the trajectory is only accessed at monotonically increasing sampling times, this index is + * used to speed up the selection of relevant trajectory points. + */ + JOINT_TRAJECTORY_CONTROLLER_PUBLIC + size_t last_sample_index() const { return last_sample_idx_; } + private: void deduce_from_derivatives( trajectory_msgs::msg::JointTrajectoryPoint & first_state, @@ -160,6 +174,7 @@ class Trajectory trajectory_msgs::msg::JointTrajectoryPoint state_before_traj_msg_; bool sampled_already_ = false; + size_t last_sample_idx_ = 0; }; /** diff --git a/joint_trajectory_controller/src/trajectory.cpp b/joint_trajectory_controller/src/trajectory.cpp index 54f785a070..512b16f3c5 100644 --- a/joint_trajectory_controller/src/trajectory.cpp +++ b/joint_trajectory_controller/src/trajectory.cpp @@ -84,6 +84,7 @@ void Trajectory::update(std::shared_ptr j trajectory_msg_ = joint_trajectory; trajectory_start_time_ = static_cast(joint_trajectory->header.stamp); sampled_already_ = false; + last_sample_idx_ = 0; } bool Trajectory::sample( @@ -149,7 +150,7 @@ bool Trajectory::sample( // time_from_start + trajectory time is the expected arrival time of trajectory const auto last_idx = trajectory_msg_->points.size() - 1; - for (size_t i = 0; i < last_idx; ++i) + for (size_t i = last_sample_idx_; i < last_idx; ++i) { auto & point = trajectory_msg_->points[i]; auto & next_point = trajectory_msg_->points[i + 1]; @@ -175,6 +176,7 @@ bool Trajectory::sample( } start_segment_itr = begin() + i; end_segment_itr = begin() + (i + 1); + last_sample_idx_ = i; return true; } } @@ -182,6 +184,7 @@ bool Trajectory::sample( // whole animation has played out start_segment_itr = --end(); end_segment_itr = end(); + last_sample_idx_ = last_idx; output_state = (*start_segment_itr); // the trajectories in msg may have empty velocities/accel, so resize them if (output_state.velocities.empty()) diff --git a/joint_trajectory_controller/test/test_trajectory.cpp b/joint_trajectory_controller/test/test_trajectory.cpp index b0d7ad8e18..44f511aa31 100644 --- a/joint_trajectory_controller/test/test_trajectory.cpp +++ b/joint_trajectory_controller/test/test_trajectory.cpp @@ -44,10 +44,12 @@ TEST(TestTrajectory, initialize_trajectory) empty_msg->header.stamp.nanosec = 2; const rclcpp::Time empty_time = empty_msg->header.stamp; auto traj = joint_trajectory_controller::Trajectory(empty_msg); + EXPECT_EQ(0, traj.last_sample_index()); trajectory_msgs::msg::JointTrajectoryPoint expected_point; joint_trajectory_controller::TrajectoryPointConstIter start, end; traj.sample(clock.now(), DEFAULT_INTERPOLATION, expected_point, start, end); + EXPECT_EQ(0, traj.last_sample_index()); EXPECT_EQ(traj.end(), start); EXPECT_EQ(traj.end(), end); @@ -64,6 +66,7 @@ TEST(TestTrajectory, initialize_trajectory) trajectory_msgs::msg::JointTrajectoryPoint expected_point; joint_trajectory_controller::TrajectoryPointConstIter start, end; traj.sample(clock.now(), DEFAULT_INTERPOLATION, expected_point, start, end); + EXPECT_EQ(0, traj.last_sample_index()); EXPECT_EQ(traj.end(), start); EXPECT_EQ(traj.end(), end); @@ -109,6 +112,7 @@ TEST(TestTrajectory, sample_trajectory_positions) // sample at trajectory starting time { traj.sample(time_now, DEFAULT_INTERPOLATION, expected_state, start, end); + EXPECT_EQ(0, traj.last_sample_index()); ASSERT_EQ(traj.begin(), start); ASSERT_EQ(traj.begin(), end); EXPECT_NEAR(point_before_msg.positions[0], expected_state.positions[0], EPS); @@ -121,6 +125,7 @@ TEST(TestTrajectory, sample_trajectory_positions) bool result = traj.sample( time_now - rclcpp::Duration::from_seconds(0.5), DEFAULT_INTERPOLATION, expected_state, start, end); + EXPECT_EQ(0, traj.last_sample_index()); ASSERT_EQ(result, false); } @@ -129,6 +134,7 @@ TEST(TestTrajectory, sample_trajectory_positions) traj.sample( time_now + rclcpp::Duration::from_seconds(0.5), DEFAULT_INTERPOLATION, expected_state, start, end); + EXPECT_EQ(0, traj.last_sample_index()); ASSERT_EQ(traj.begin(), start); ASSERT_EQ(traj.begin(), end); double half_current_to_p1 = (point_before_msg.positions[0] + p1.positions[0]) * 0.5; @@ -142,6 +148,7 @@ TEST(TestTrajectory, sample_trajectory_positions) traj.sample( time_now + rclcpp::Duration::from_seconds(1.0), DEFAULT_INTERPOLATION, expected_state, start, end); + EXPECT_EQ(0, traj.last_sample_index()); ASSERT_EQ(traj.begin(), start); ASSERT_EQ((++traj.begin()), end); EXPECT_NEAR(p1.positions[0], expected_state.positions[0], EPS); @@ -154,6 +161,7 @@ TEST(TestTrajectory, sample_trajectory_positions) traj.sample( time_now + rclcpp::Duration::from_seconds(1.5), DEFAULT_INTERPOLATION, expected_state, start, end); + EXPECT_EQ(0, traj.last_sample_index()); ASSERT_EQ(traj.begin(), start); ASSERT_EQ((++traj.begin()), end); double half_p1_to_p2 = (p1.positions[0] + p2.positions[0]) * 0.5; @@ -165,6 +173,7 @@ TEST(TestTrajectory, sample_trajectory_positions) traj.sample( time_now + rclcpp::Duration::from_seconds(2.5), DEFAULT_INTERPOLATION, expected_state, start, end); + EXPECT_EQ(1, traj.last_sample_index()); double half_p2_to_p3 = (p2.positions[0] + p3.positions[0]) * 0.5; EXPECT_NEAR(half_p2_to_p3, expected_state.positions[0], EPS); } @@ -174,6 +183,7 @@ TEST(TestTrajectory, sample_trajectory_positions) traj.sample( time_now + rclcpp::Duration::from_seconds(3.0), DEFAULT_INTERPOLATION, expected_state, start, end); + EXPECT_EQ(2, traj.last_sample_index()); EXPECT_NEAR(p3.positions[0], expected_state.positions[0], EPS); } @@ -182,6 +192,7 @@ TEST(TestTrajectory, sample_trajectory_positions) traj.sample( time_now + rclcpp::Duration::from_seconds(3.125), DEFAULT_INTERPOLATION, expected_state, start, end); + EXPECT_EQ(2, traj.last_sample_index()); ASSERT_EQ((--traj.end()), start); ASSERT_EQ(traj.end(), end); EXPECT_NEAR(p3.positions[0], expected_state.positions[0], EPS); @@ -193,6 +204,7 @@ TEST(TestTrajectory, sample_trajectory_positions) traj.sample( time_now + rclcpp::Duration::from_seconds(30.0), DEFAULT_INTERPOLATION, expected_state, start, end); + EXPECT_EQ(2, traj.last_sample_index()); ASSERT_EQ((--traj.end()), start); ASSERT_EQ(traj.end(), end); EXPECT_NEAR(p3.positions[0], expected_state.positions[0], EPS); @@ -350,6 +362,7 @@ TEST(TestTrajectory, sample_trajectory_velocity_with_interpolation) // sample at trajectory starting time { traj.sample(time_now, DEFAULT_INTERPOLATION, expected_state, start, end); + EXPECT_EQ(traj.last_sample_index(), 0); EXPECT_EQ(traj.begin(), start); EXPECT_EQ(traj.begin(), end); EXPECT_NEAR(point_before_msg.positions[0], expected_state.positions[0], EPS); @@ -362,6 +375,7 @@ TEST(TestTrajectory, sample_trajectory_velocity_with_interpolation) bool result = traj.sample( time_now - rclcpp::Duration::from_seconds(0.5), DEFAULT_INTERPOLATION, expected_state, start, end); + EXPECT_EQ(0, traj.last_sample_index()); EXPECT_EQ(result, false); } @@ -370,6 +384,7 @@ TEST(TestTrajectory, sample_trajectory_velocity_with_interpolation) traj.sample( time_now + rclcpp::Duration::from_seconds(0.5), DEFAULT_INTERPOLATION, expected_state, start, end); + EXPECT_EQ(0, traj.last_sample_index()); EXPECT_EQ(traj.begin(), start); EXPECT_EQ(traj.begin(), end); double half_current_to_p1 = @@ -390,6 +405,7 @@ TEST(TestTrajectory, sample_trajectory_velocity_with_interpolation) traj.sample( time_now + rclcpp::Duration::from_seconds(1.0), DEFAULT_INTERPOLATION, expected_state, start, end); + EXPECT_EQ(0, traj.last_sample_index()); EXPECT_EQ(traj.begin(), start); EXPECT_EQ((++traj.begin()), end); EXPECT_NEAR(position_first_seg, expected_state.positions[0], EPS); @@ -404,6 +420,7 @@ TEST(TestTrajectory, sample_trajectory_velocity_with_interpolation) traj.sample( time_now + rclcpp::Duration::from_seconds(1.5), DEFAULT_INTERPOLATION, expected_state, start, end); + EXPECT_EQ(0, traj.last_sample_index()); EXPECT_EQ(traj.begin(), start); EXPECT_EQ((++traj.begin()), end); double half_p1_to_p2 = @@ -424,6 +441,7 @@ TEST(TestTrajectory, sample_trajectory_velocity_with_interpolation) traj.sample( time_now + rclcpp::Duration::from_seconds(2), DEFAULT_INTERPOLATION, expected_state, start, end); + EXPECT_EQ(1, traj.last_sample_index()); EXPECT_EQ((++traj.begin()), start); EXPECT_EQ((--traj.end()), end); EXPECT_NEAR(position_second_seg, expected_state.positions[0], EPS); @@ -438,6 +456,7 @@ TEST(TestTrajectory, sample_trajectory_velocity_with_interpolation) traj.sample( time_now + rclcpp::Duration::from_seconds(2.5), DEFAULT_INTERPOLATION, expected_state, start, end); + EXPECT_EQ(1, traj.last_sample_index()); EXPECT_EQ((++traj.begin()), start); EXPECT_EQ((--traj.end()), end); double half_p2_to_p3 = @@ -458,6 +477,7 @@ TEST(TestTrajectory, sample_trajectory_velocity_with_interpolation) traj.sample( time_now + rclcpp::Duration::from_seconds(3.0), DEFAULT_INTERPOLATION, expected_state, start, end); + EXPECT_EQ(2, traj.last_sample_index()); EXPECT_EQ((--traj.end()), start); EXPECT_EQ(traj.end(), end); EXPECT_NEAR(position_third_seg, expected_state.positions[0], EPS); @@ -471,6 +491,7 @@ TEST(TestTrajectory, sample_trajectory_velocity_with_interpolation) traj.sample( time_now + rclcpp::Duration::from_seconds(3.125), DEFAULT_INTERPOLATION, expected_state, start, end); + EXPECT_EQ(2, traj.last_sample_index()); EXPECT_EQ((--traj.end()), start); EXPECT_EQ(traj.end(), end); EXPECT_NEAR(position_third_seg, expected_state.positions[0], EPS); @@ -523,6 +544,7 @@ TEST(TestTrajectory, sample_trajectory_velocity_with_interpolation_strange_witho // sample at trajectory starting time { traj.sample(time_now, DEFAULT_INTERPOLATION, expected_state, start, end); + EXPECT_EQ(0, traj.last_sample_index()); EXPECT_EQ(traj.begin(), start); EXPECT_EQ(traj.begin(), end); EXPECT_NEAR(point_before_msg.positions[0], expected_state.positions[0], EPS); @@ -536,6 +558,7 @@ TEST(TestTrajectory, sample_trajectory_velocity_with_interpolation_strange_witho bool result = traj.sample( time_now - rclcpp::Duration::from_seconds(0.5), DEFAULT_INTERPOLATION, expected_state, start, end); + EXPECT_EQ(0, traj.last_sample_index()); EXPECT_EQ(result, false); } @@ -544,6 +567,7 @@ TEST(TestTrajectory, sample_trajectory_velocity_with_interpolation_strange_witho traj.sample( time_now + rclcpp::Duration::from_seconds(0.5), DEFAULT_INTERPOLATION, expected_state, start, end); + EXPECT_EQ(0, traj.last_sample_index()); EXPECT_EQ(traj.begin(), start); EXPECT_EQ(traj.begin(), end); // double half_current_to_p1 = point_before_msg.positions[0] + @@ -564,6 +588,7 @@ TEST(TestTrajectory, sample_trajectory_velocity_with_interpolation_strange_witho traj.sample( time_now + rclcpp::Duration::from_seconds(1.0), DEFAULT_INTERPOLATION, expected_state, start, end); + EXPECT_EQ(0, traj.last_sample_index()); EXPECT_EQ(traj.begin(), start); EXPECT_EQ((++traj.begin()), end); EXPECT_NEAR(position_first_seg, expected_state.positions[0], EPS); @@ -615,6 +640,7 @@ TEST(TestTrajectory, sample_trajectory_acceleration_with_interpolation) // sample at trajectory starting time { traj.sample(time_now, DEFAULT_INTERPOLATION, expected_state, start, end); + EXPECT_EQ(0, traj.last_sample_index()); EXPECT_EQ(traj.begin(), start); EXPECT_EQ(traj.begin(), end); EXPECT_NEAR(point_before_msg.positions[0], expected_state.positions[0], EPS); @@ -628,6 +654,7 @@ TEST(TestTrajectory, sample_trajectory_acceleration_with_interpolation) bool result = traj.sample( time_now - rclcpp::Duration::from_seconds(0.5), DEFAULT_INTERPOLATION, expected_state, start, end); + EXPECT_EQ(0, traj.last_sample_index()); EXPECT_EQ(result, false); } @@ -642,6 +669,7 @@ TEST(TestTrajectory, sample_trajectory_acceleration_with_interpolation) traj.sample( time_now + rclcpp::Duration::from_seconds(1.0), DEFAULT_INTERPOLATION, expected_state, start, end); + EXPECT_EQ(0, traj.last_sample_index()); EXPECT_EQ(traj.begin(), start); EXPECT_EQ((++traj.begin()), end); EXPECT_NEAR(position_first_seg, expected_state.positions[0], EPS); @@ -658,6 +686,7 @@ TEST(TestTrajectory, sample_trajectory_acceleration_with_interpolation) traj.sample( time_now + rclcpp::Duration::from_seconds(2), DEFAULT_INTERPOLATION, expected_state, start, end); + EXPECT_EQ(1, traj.last_sample_index()); EXPECT_EQ((++traj.begin()), start); EXPECT_EQ((--traj.end()), end); EXPECT_NEAR(position_second_seg, expected_state.positions[0], EPS); @@ -674,6 +703,7 @@ TEST(TestTrajectory, sample_trajectory_acceleration_with_interpolation) traj.sample( time_now + rclcpp::Duration::from_seconds(3.0), DEFAULT_INTERPOLATION, expected_state, start, end); + EXPECT_EQ(2, traj.last_sample_index()); EXPECT_EQ((--traj.end()), start); EXPECT_EQ(traj.end(), end); EXPECT_NEAR(position_third_seg, expected_state.positions[0], EPS); @@ -686,6 +716,7 @@ TEST(TestTrajectory, sample_trajectory_acceleration_with_interpolation) traj.sample( time_now + rclcpp::Duration::from_seconds(3.125), DEFAULT_INTERPOLATION, expected_state, start, end); + EXPECT_EQ(2, traj.last_sample_index()); EXPECT_EQ((--traj.end()), start); EXPECT_EQ(traj.end(), end); EXPECT_NEAR(position_third_seg, expected_state.positions[0], EPS); @@ -732,6 +763,7 @@ TEST(TestTrajectory, skip_interpolation) // sample at trajectory starting time { traj.sample(time_now, no_interpolation, expected_state, start, end); + EXPECT_EQ(0, traj.last_sample_index()); ASSERT_EQ(traj.begin(), start); ASSERT_EQ(traj.begin(), end); EXPECT_NEAR(point_before_msg.positions[0], expected_state.positions[0], EPS); @@ -747,6 +779,7 @@ TEST(TestTrajectory, skip_interpolation) bool result = traj.sample( time_now - rclcpp::Duration::from_seconds(0.5), no_interpolation, expected_state, start, end); + EXPECT_EQ(0, traj.last_sample_index()); ASSERT_EQ(result, false); } @@ -755,6 +788,7 @@ TEST(TestTrajectory, skip_interpolation) traj.sample( time_now + rclcpp::Duration::from_seconds(0.5), no_interpolation, expected_state, start, end); + EXPECT_EQ(0, traj.last_sample_index()); ASSERT_EQ(traj.begin(), start); ASSERT_EQ(traj.begin(), end); // For passthrough, this should just return the first waypoint @@ -771,6 +805,7 @@ TEST(TestTrajectory, skip_interpolation) traj.sample( time_now + rclcpp::Duration::from_seconds(1.0), no_interpolation, expected_state, start, end); + EXPECT_EQ(0, traj.last_sample_index()); ASSERT_EQ(traj.begin(), start); ASSERT_EQ((++traj.begin()), end); EXPECT_NEAR(p2.positions[0], expected_state.positions[0], EPS); @@ -786,6 +821,7 @@ TEST(TestTrajectory, skip_interpolation) traj.sample( time_now + rclcpp::Duration::from_seconds(1.5), no_interpolation, expected_state, start, end); + EXPECT_EQ(0, traj.last_sample_index()); ASSERT_EQ(traj.begin(), start); ASSERT_EQ((++traj.begin()), end); EXPECT_NEAR(p2.positions[0], expected_state.positions[0], EPS); @@ -796,6 +832,7 @@ TEST(TestTrajectory, skip_interpolation) traj.sample( time_now + rclcpp::Duration::from_seconds(2.5), no_interpolation, expected_state, start, end); + EXPECT_EQ(1, traj.last_sample_index()); EXPECT_NEAR(p3.positions[0], expected_state.positions[0], EPS); } @@ -804,6 +841,7 @@ TEST(TestTrajectory, skip_interpolation) traj.sample( time_now + rclcpp::Duration::from_seconds(3.0), no_interpolation, expected_state, start, end); + EXPECT_EQ(2, traj.last_sample_index()); EXPECT_NEAR(p3.positions[0], expected_state.positions[0], EPS); } @@ -812,6 +850,7 @@ TEST(TestTrajectory, skip_interpolation) traj.sample( time_now + rclcpp::Duration::from_seconds(3.125), no_interpolation, expected_state, start, end); + EXPECT_EQ(2, traj.last_sample_index()); ASSERT_EQ((--traj.end()), start); ASSERT_EQ(traj.end(), end); EXPECT_NEAR(p3.positions[0], expected_state.positions[0], EPS); @@ -819,6 +858,82 @@ TEST(TestTrajectory, skip_interpolation) } } +TEST(TestTrajectory, update_trajectory) +{ + // Verify that sampling works correctly after updating with a new trajectory + auto first_msg = std::make_shared(); + first_msg->header.stamp = rclcpp::Time(0); + + trajectory_msgs::msg::JointTrajectoryPoint p1; + p1.positions.push_back(1.0); + p1.time_from_start = rclcpp::Duration::from_seconds(1.0); + first_msg->points.push_back(p1); + + trajectory_msgs::msg::JointTrajectoryPoint p2; + p2.positions.push_back(2.0); + p2.time_from_start = rclcpp::Duration::from_seconds(2.0); + first_msg->points.push_back(p2); + + trajectory_msgs::msg::JointTrajectoryPoint p3; + p3.positions.push_back(3.0); + p3.time_from_start = rclcpp::Duration::from_seconds(3.0); + first_msg->points.push_back(p3); + + trajectory_msgs::msg::JointTrajectoryPoint point_before_msg; + point_before_msg.time_from_start = rclcpp::Duration::from_seconds(0.0); + point_before_msg.positions.push_back(0.0); + + const rclcpp::Time time_now = rclcpp::Clock().now(); + auto traj = joint_trajectory_controller::Trajectory(time_now, point_before_msg, first_msg); + EXPECT_EQ(0, traj.last_sample_index()); + + trajectory_msgs::msg::JointTrajectoryPoint expected_state; + joint_trajectory_controller::TrajectoryPointConstIter start, end; + + // Sample at starting time + traj.sample(time_now, DEFAULT_INTERPOLATION, expected_state, start, end); + EXPECT_EQ(0, traj.last_sample_index()); + + // Sample 2.5s after msg + traj.sample( + time_now + rclcpp::Duration::from_seconds(2.5), DEFAULT_INTERPOLATION, expected_state, start, + end); + EXPECT_EQ(1, traj.last_sample_index()); + + // Update trajectory + auto snd_msg = std::make_shared(); + snd_msg->header.stamp = rclcpp::Time(0); + + snd_msg->points.push_back(p1); + snd_msg->points.push_back(p2); + snd_msg->points.push_back(p3); + + traj.update(snd_msg); + + // Sample at starting time + { + traj.sample(time_now, DEFAULT_INTERPOLATION, expected_state, start, end); + EXPECT_EQ(0, traj.last_sample_index()); + EXPECT_EQ(traj.begin(), start); + EXPECT_EQ(traj.begin(), end); + EXPECT_NEAR(point_before_msg.positions[0], expected_state.positions[0], EPS); + EXPECT_NEAR( + (p1.positions[0] - point_before_msg.positions[0]), expected_state.velocities[0], EPS); + EXPECT_NEAR(0.0, expected_state.accelerations[0], EPS); + } + + // Sample 1.5s after msg + { + traj.sample( + time_now + rclcpp::Duration::from_seconds(1.5), DEFAULT_INTERPOLATION, expected_state, start, + end); + EXPECT_EQ(0, traj.last_sample_index()); + EXPECT_EQ(traj.begin(), start); + EXPECT_EQ(std::next(traj.begin()), end); + EXPECT_NEAR((p1.positions[0] + p2.positions[0]) / 2, expected_state.positions[0], EPS); + } +} + TEST(TestWrapAroundJoint, no_wraparound) { const std::vector initial_position(3, 0.); From 7ed1a0ee49187139bcf2b574b0b7c992fe0d06a3 Mon Sep 17 00:00:00 2001 From: Sai Kishor Kothakota Date: Fri, 8 Nov 2024 11:43:45 +0100 Subject: [PATCH 4/6] [JTC] Fix the JTC length_error exceptions in the tests (#1360) --- .../test/test_trajectory_controller_utils.hpp | 18 ++++++++++++++++++ 1 file changed, 18 insertions(+) diff --git a/joint_trajectory_controller/test/test_trajectory_controller_utils.hpp b/joint_trajectory_controller/test/test_trajectory_controller_utils.hpp index 796503c036..a850891331 100644 --- a/joint_trajectory_controller/test/test_trajectory_controller_utils.hpp +++ b/joint_trajectory_controller/test/test_trajectory_controller_utils.hpp @@ -26,6 +26,7 @@ #include "hardware_interface/types/hardware_interface_type_values.hpp" #include "joint_trajectory_controller/joint_trajectory_controller.hpp" #include "joint_trajectory_controller/tolerances.hpp" +#include "lifecycle_msgs/msg/state.hpp" #include "ros2_control_test_assets/descriptions.hpp" namespace @@ -391,6 +392,21 @@ class TrajectoryControllerTest : public ::testing::Test return traj_controller_->get_node()->activate(); } + void DeactivateTrajectoryController() + { + if (traj_controller_) + { + if ( + traj_controller_->get_lifecycle_state().id() == + lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE) + { + EXPECT_EQ( + traj_controller_->get_node()->deactivate().id(), + lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE); + } + } + } + static void TearDownTestCase() { rclcpp::shutdown(); } void subscribeToState(rclcpp::Executor & executor) @@ -776,6 +792,8 @@ class TrajectoryControllerTestParameterized state_interface_types_ = std::get<1>(GetParam()); } + virtual void TearDown() { TrajectoryControllerTest::DeactivateTrajectoryController(); } + static void TearDownTestCase() { TrajectoryControllerTest::TearDownTestCase(); } }; From 55ed331f761113be5f3acf3018ffde2f78872f6c Mon Sep 17 00:00:00 2001 From: Bence Magyar Date: Fri, 8 Nov 2024 10:56:32 +0000 Subject: [PATCH 5/6] Update changelogs --- ackermann_steering_controller/CHANGELOG.rst | 3 + admittance_controller/CHANGELOG.rst | 5 + bicycle_steering_controller/CHANGELOG.rst | 3 + diff_drive_controller/CHANGELOG.rst | 3 + effort_controllers/CHANGELOG.rst | 3 + force_torque_sensor_broadcaster/CHANGELOG.rst | 5 + forward_command_controller/CHANGELOG.rst | 3 + gripper_controllers/CHANGELOG.rst | 3 + imu_sensor_broadcaster/CHANGELOG.rst | 3 + joint_state_broadcaster/CHANGELOG.rst | 5 + joint_trajectory_controller/CHANGELOG.rst | 8 + parallel_gripper_controller/CHANGELOG.rst | 3 + pid_controller/CHANGELOG.rst | 5 + pose_broadcaster/CHANGELOG.rst | 210 ++++++++++++++++++ pose_broadcaster/package.xml | 2 +- position_controllers/CHANGELOG.rst | 3 + range_sensor_broadcaster/CHANGELOG.rst | 3 + ros2_controllers/CHANGELOG.rst | 3 + ros2_controllers_test_nodes/CHANGELOG.rst | 3 + rqt_joint_trajectory_controller/CHANGELOG.rst | 3 + steering_controllers_library/CHANGELOG.rst | 3 + tricycle_controller/CHANGELOG.rst | 3 + tricycle_steering_controller/CHANGELOG.rst | 3 + velocity_controllers/CHANGELOG.rst | 3 + 24 files changed, 290 insertions(+), 1 deletion(-) create mode 100644 pose_broadcaster/CHANGELOG.rst diff --git a/ackermann_steering_controller/CHANGELOG.rst b/ackermann_steering_controller/CHANGELOG.rst index bc2997b8a9..8f13e3cb6f 100644 --- a/ackermann_steering_controller/CHANGELOG.rst +++ b/ackermann_steering_controller/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package ackermann_steering_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 4.15.0 (2024-10-07) ------------------- * Adapt test to new way of exporting reference interfaces (Related to `#1240 `_ in ros2_control) (`#1103 `_) diff --git a/admittance_controller/CHANGELOG.rst b/admittance_controller/CHANGELOG.rst index 46899f9cd6..bff4354f4a 100644 --- a/admittance_controller/CHANGELOG.rst +++ b/admittance_controller/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package admittance_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* Adding use of robot description parameter in the Admittance Controller (`#1247 `_) +* Contributors: Dr. Denis, Kevin DeMarco, Nikola Banovic, Bence Magyar, Christoph Fröhlich + 4.15.0 (2024-10-07) ------------------- diff --git a/bicycle_steering_controller/CHANGELOG.rst b/bicycle_steering_controller/CHANGELOG.rst index 0d096951ca..82a4e610bb 100644 --- a/bicycle_steering_controller/CHANGELOG.rst +++ b/bicycle_steering_controller/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package bicycle_steering_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 4.15.0 (2024-10-07) ------------------- * Adapt test to new way of exporting reference interfaces (Related to `#1240 `_ in ros2_control) (`#1103 `_) diff --git a/diff_drive_controller/CHANGELOG.rst b/diff_drive_controller/CHANGELOG.rst index 4c48fb234d..e806e497af 100644 --- a/diff_drive_controller/CHANGELOG.rst +++ b/diff_drive_controller/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package diff_drive_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 4.15.0 (2024-10-07) ------------------- diff --git a/effort_controllers/CHANGELOG.rst b/effort_controllers/CHANGELOG.rst index ea2efdcf4e..2cc63d7c90 100644 --- a/effort_controllers/CHANGELOG.rst +++ b/effort_controllers/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package effort_controllers ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 4.15.0 (2024-10-07) ------------------- diff --git a/force_torque_sensor_broadcaster/CHANGELOG.rst b/force_torque_sensor_broadcaster/CHANGELOG.rst index 7d2a7a1a8a..258b1d52a3 100644 --- a/force_torque_sensor_broadcaster/CHANGELOG.rst +++ b/force_torque_sensor_broadcaster/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package force_torque_sensor_broadcaster ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* [ForceTorqueSensorBroadcaster] added force and torque offsets to the parameters + export state interfaces (`#1215 `_) +* Contributors: Sai Kishor Kothakota + 4.15.0 (2024-10-07) ------------------- diff --git a/forward_command_controller/CHANGELOG.rst b/forward_command_controller/CHANGELOG.rst index 54caa9d764..8130b880b3 100644 --- a/forward_command_controller/CHANGELOG.rst +++ b/forward_command_controller/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package forward_command_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 4.15.0 (2024-10-07) ------------------- diff --git a/gripper_controllers/CHANGELOG.rst b/gripper_controllers/CHANGELOG.rst index 11c61f86cf..5feab361b1 100644 --- a/gripper_controllers/CHANGELOG.rst +++ b/gripper_controllers/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package gripper_controllers ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 4.15.0 (2024-10-07) ------------------- diff --git a/imu_sensor_broadcaster/CHANGELOG.rst b/imu_sensor_broadcaster/CHANGELOG.rst index 40af7a5360..214b914e08 100644 --- a/imu_sensor_broadcaster/CHANGELOG.rst +++ b/imu_sensor_broadcaster/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package imu_sensor_broadcaster ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 4.15.0 (2024-10-07) ------------------- diff --git a/joint_state_broadcaster/CHANGELOG.rst b/joint_state_broadcaster/CHANGELOG.rst index cf422e3eb8..47ce981e63 100644 --- a/joint_state_broadcaster/CHANGELOG.rst +++ b/joint_state_broadcaster/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package joint_state_broadcaster ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* [JSB] Fix the behaviour of publishing unavailable state interfaces when they are previously available (`#1331 `_) +* Contributors: Sai Kishor Kothakota + 4.15.0 (2024-10-07) ------------------- diff --git a/joint_trajectory_controller/CHANGELOG.rst b/joint_trajectory_controller/CHANGELOG.rst index 81696246b1..e873080f17 100644 --- a/joint_trajectory_controller/CHANGELOG.rst +++ b/joint_trajectory_controller/CHANGELOG.rst @@ -2,6 +2,14 @@ Changelog for package joint_trajectory_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* [JTC] Fix the JTC length_error exceptions in the tests (`#1360 `_) +* [jtc] Improve trajectory sampling efficiency (`#1297 `_) +* fixes for windows compilation (`#1330 `_) +* [JTC] Add Parameter to Toggle State Setting on Activation (`#1231 `_) +* Contributors: Gilmar Correia, Kenta Kato, RobertWilbrandt, Sai Kishor Kothakota + 4.15.0 (2024-10-07) ------------------- diff --git a/parallel_gripper_controller/CHANGELOG.rst b/parallel_gripper_controller/CHANGELOG.rst index a3024fbf62..da2098ecd0 100644 --- a/parallel_gripper_controller/CHANGELOG.rst +++ b/parallel_gripper_controller/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package parallel_gripper_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 4.15.0 (2024-10-07) ------------------- diff --git a/pid_controller/CHANGELOG.rst b/pid_controller/CHANGELOG.rst index 5a27471199..c4ce2430f6 100644 --- a/pid_controller/CHANGELOG.rst +++ b/pid_controller/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package pid_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* fixes for windows compilation (`#1330 `_) +* Contributors: Gilmar Correia + 4.15.0 (2024-10-07) ------------------- * Adapt test to new way of exporting reference interfaces (Related to `#1240 `_ in ros2_control) (`#1103 `_) diff --git a/pose_broadcaster/CHANGELOG.rst b/pose_broadcaster/CHANGELOG.rst new file mode 100644 index 0000000000..729df5a2f9 --- /dev/null +++ b/pose_broadcaster/CHANGELOG.rst @@ -0,0 +1,210 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package pose_broadcaster +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +Forthcoming +----------- +* Add hardware_interface_testing dependency (`#1335 `_) +* Implement new PoseBroadcaster controller (`#1311 `_) +* Contributors: Christoph Fröhlich, RobertWilbrandt + +4.15.0 (2024-10-07) +------------------- + +4.14.0 (2024-09-11) +------------------- + +4.13.0 (2024-08-22) +------------------- + +4.12.1 (2024-08-14) +------------------- + +4.12.0 (2024-07-23) +------------------- + +4.11.0 (2024-07-09) +------------------- + +4.10.0 (2024-07-01) +------------------- + +4.9.0 (2024-06-05) +------------------ + +4.8.0 (2024-05-14) +------------------ + +4.7.0 (2024-03-22) +------------------ + +4.6.0 (2024-02-12) +------------------ + +4.5.0 (2024-01-31) +------------------ + +4.4.0 (2024-01-11) +------------------ + +4.3.0 (2024-01-08) +------------------ + +4.2.0 (2023-12-12) +------------------ + +4.1.0 (2023-12-01) +------------------ + +4.0.0 (2023-11-21) +------------------ + +3.17.0 (2023-10-31) +------------------- + +3.16.0 (2023-09-20) +------------------- + +3.15.0 (2023-09-11) +------------------- + +3.14.0 (2023-08-16) +------------------- + +3.13.0 (2023-08-04) +------------------- + +3.12.0 (2023-07-18) +------------------- + +3.11.0 (2023-06-24) +------------------- + +3.10.1 (2023-06-06) +------------------- + +3.10.0 (2023-06-04) +------------------- + +3.9.0 (2023-05-28) +------------------ + +3.8.0 (2023-05-14) +------------------ + +3.7.0 (2023-05-02) +------------------ + +3.6.0 (2023-04-29) +------------------ + +3.5.0 (2023-04-14) +------------------ + +3.4.0 (2023-04-02) +------------------ + +3.3.0 (2023-03-07) +------------------ + +3.2.0 (2023-02-10) +------------------ + +3.1.0 (2023-01-26) +------------------ + +3.0.0 (2023-01-19) +------------------ + +2.15.0 (2022-12-06) +------------------- + +2.14.0 (2022-11-18) +------------------- + +2.13.0 (2022-10-05) +------------------- + +2.12.0 (2022-09-01) +------------------- + +2.11.0 (2022-08-04) +------------------- + +2.10.0 (2022-08-01) +------------------- + +2.9.0 (2022-07-14) +------------------ + +2.8.0 (2022-07-09) +------------------ + +2.7.0 (2022-07-03) +------------------ + +2.6.0 (2022-06-18) +------------------ + +2.5.0 (2022-05-13) +------------------ + +2.4.0 (2022-04-29) +------------------ + +2.3.0 (2022-04-21) +------------------ + +2.2.0 (2022-03-25) +------------------ + +2.1.0 (2022-02-23) +------------------ + +2.0.1 (2022-02-01) +------------------ + +2.0.0 (2022-01-28) +------------------ + +1.3.0 (2022-01-11) +------------------ + +1.2.0 (2021-12-29) +------------------ + +1.1.0 (2021-10-25) +------------------ + +1.0.0 (2021-09-29) +------------------ + +0.5.0 (2021-08-30) +------------------ + +0.4.1 (2021-07-08) +------------------ + +0.4.0 (2021-06-28) +------------------ + +0.3.1 (2021-05-23) +------------------ + +0.3.0 (2021-05-21) +------------------ + +0.2.1 (2021-05-03) +------------------ + +0.2.0 (2021-02-06) +------------------ + +0.1.2 (2021-01-07) +------------------ + +0.1.1 (2021-01-06) +------------------ + +0.1.0 (2020-12-23) +------------------ diff --git a/pose_broadcaster/package.xml b/pose_broadcaster/package.xml index 4c3506f1cd..6a71e11c7e 100644 --- a/pose_broadcaster/package.xml +++ b/pose_broadcaster/package.xml @@ -2,7 +2,7 @@ pose_broadcaster - 0.0.0 + 4.15.0 Broadcaster to publish cartesian states. Robert Wilbrandt diff --git a/position_controllers/CHANGELOG.rst b/position_controllers/CHANGELOG.rst index d52201f2b4..eb6d8df132 100644 --- a/position_controllers/CHANGELOG.rst +++ b/position_controllers/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package position_controllers ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 4.15.0 (2024-10-07) ------------------- diff --git a/range_sensor_broadcaster/CHANGELOG.rst b/range_sensor_broadcaster/CHANGELOG.rst index 77eae62d2a..c485b49efe 100644 --- a/range_sensor_broadcaster/CHANGELOG.rst +++ b/range_sensor_broadcaster/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package range_sensor_broadcaster ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 4.15.0 (2024-10-07) ------------------- diff --git a/ros2_controllers/CHANGELOG.rst b/ros2_controllers/CHANGELOG.rst index bd9e0a8b38..51c989d4f2 100644 --- a/ros2_controllers/CHANGELOG.rst +++ b/ros2_controllers/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package ros2_controllers ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 4.15.0 (2024-10-07) ------------------- diff --git a/ros2_controllers_test_nodes/CHANGELOG.rst b/ros2_controllers_test_nodes/CHANGELOG.rst index 29ca6cd84d..7a9ab97dc6 100644 --- a/ros2_controllers_test_nodes/CHANGELOG.rst +++ b/ros2_controllers_test_nodes/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package ros2_controllers_test_nodes ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 4.15.0 (2024-10-07) ------------------- diff --git a/rqt_joint_trajectory_controller/CHANGELOG.rst b/rqt_joint_trajectory_controller/CHANGELOG.rst index 043930c536..5db2db7bad 100644 --- a/rqt_joint_trajectory_controller/CHANGELOG.rst +++ b/rqt_joint_trajectory_controller/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package rqt_joint_trajectory_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 4.15.0 (2024-10-07) ------------------- diff --git a/steering_controllers_library/CHANGELOG.rst b/steering_controllers_library/CHANGELOG.rst index 39360d6921..44fed2a58c 100644 --- a/steering_controllers_library/CHANGELOG.rst +++ b/steering_controllers_library/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package steering_controllers_library ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 4.15.0 (2024-10-07) ------------------- * Adapt test to new way of exporting reference interfaces (Related to `#1240 `_ in ros2_control) (`#1103 `_) diff --git a/tricycle_controller/CHANGELOG.rst b/tricycle_controller/CHANGELOG.rst index 34520eeb83..c867767b9a 100644 --- a/tricycle_controller/CHANGELOG.rst +++ b/tricycle_controller/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package tricycle_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 4.15.0 (2024-10-07) ------------------- diff --git a/tricycle_steering_controller/CHANGELOG.rst b/tricycle_steering_controller/CHANGELOG.rst index 4e1f9abd1e..3542beded0 100644 --- a/tricycle_steering_controller/CHANGELOG.rst +++ b/tricycle_steering_controller/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package tricycle_steering_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 4.15.0 (2024-10-07) ------------------- * Adapt test to new way of exporting reference interfaces (Related to `#1240 `_ in ros2_control) (`#1103 `_) diff --git a/velocity_controllers/CHANGELOG.rst b/velocity_controllers/CHANGELOG.rst index a04bf1c4ae..82ceab063a 100644 --- a/velocity_controllers/CHANGELOG.rst +++ b/velocity_controllers/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package velocity_controllers ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 4.15.0 (2024-10-07) ------------------- From f519170c776649de11431addbfe5bba84ac3603d Mon Sep 17 00:00:00 2001 From: Bence Magyar Date: Fri, 8 Nov 2024 10:56:52 +0000 Subject: [PATCH 6/6] 4.16.0 --- ackermann_steering_controller/CHANGELOG.rst | 4 ++-- ackermann_steering_controller/package.xml | 2 +- admittance_controller/CHANGELOG.rst | 4 ++-- admittance_controller/package.xml | 2 +- bicycle_steering_controller/CHANGELOG.rst | 4 ++-- bicycle_steering_controller/package.xml | 2 +- diff_drive_controller/CHANGELOG.rst | 4 ++-- diff_drive_controller/package.xml | 2 +- effort_controllers/CHANGELOG.rst | 4 ++-- effort_controllers/package.xml | 2 +- force_torque_sensor_broadcaster/CHANGELOG.rst | 4 ++-- force_torque_sensor_broadcaster/package.xml | 2 +- forward_command_controller/CHANGELOG.rst | 4 ++-- forward_command_controller/package.xml | 2 +- gripper_controllers/CHANGELOG.rst | 4 ++-- gripper_controllers/package.xml | 2 +- imu_sensor_broadcaster/CHANGELOG.rst | 4 ++-- imu_sensor_broadcaster/package.xml | 2 +- joint_state_broadcaster/CHANGELOG.rst | 4 ++-- joint_state_broadcaster/package.xml | 2 +- joint_trajectory_controller/CHANGELOG.rst | 4 ++-- joint_trajectory_controller/package.xml | 2 +- parallel_gripper_controller/CHANGELOG.rst | 4 ++-- parallel_gripper_controller/package.xml | 2 +- pid_controller/CHANGELOG.rst | 4 ++-- pid_controller/package.xml | 2 +- pose_broadcaster/CHANGELOG.rst | 4 ++-- pose_broadcaster/package.xml | 2 +- position_controllers/CHANGELOG.rst | 4 ++-- position_controllers/package.xml | 2 +- range_sensor_broadcaster/CHANGELOG.rst | 4 ++-- range_sensor_broadcaster/package.xml | 2 +- ros2_controllers/CHANGELOG.rst | 4 ++-- ros2_controllers/package.xml | 2 +- ros2_controllers_test_nodes/CHANGELOG.rst | 4 ++-- ros2_controllers_test_nodes/package.xml | 2 +- ros2_controllers_test_nodes/setup.py | 2 +- rqt_joint_trajectory_controller/CHANGELOG.rst | 4 ++-- rqt_joint_trajectory_controller/package.xml | 2 +- rqt_joint_trajectory_controller/setup.py | 2 +- steering_controllers_library/CHANGELOG.rst | 4 ++-- steering_controllers_library/package.xml | 2 +- tricycle_controller/CHANGELOG.rst | 4 ++-- tricycle_controller/package.xml | 2 +- tricycle_steering_controller/CHANGELOG.rst | 4 ++-- tricycle_steering_controller/package.xml | 2 +- velocity_controllers/CHANGELOG.rst | 4 ++-- velocity_controllers/package.xml | 2 +- 48 files changed, 71 insertions(+), 71 deletions(-) diff --git a/ackermann_steering_controller/CHANGELOG.rst b/ackermann_steering_controller/CHANGELOG.rst index 8f13e3cb6f..1f275bd7ba 100644 --- a/ackermann_steering_controller/CHANGELOG.rst +++ b/ackermann_steering_controller/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package ackermann_steering_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +4.16.0 (2024-11-08) +------------------- 4.15.0 (2024-10-07) ------------------- diff --git a/ackermann_steering_controller/package.xml b/ackermann_steering_controller/package.xml index 5764de56c1..128eabae4c 100644 --- a/ackermann_steering_controller/package.xml +++ b/ackermann_steering_controller/package.xml @@ -2,7 +2,7 @@ ackermann_steering_controller - 4.15.0 + 4.16.0 Steering controller for Ackermann kinematics. Rear fixed wheels are powering the vehicle and front wheels are steering it. Apache License 2.0 Bence Magyar diff --git a/admittance_controller/CHANGELOG.rst b/admittance_controller/CHANGELOG.rst index bff4354f4a..0d7daa5f5d 100644 --- a/admittance_controller/CHANGELOG.rst +++ b/admittance_controller/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package admittance_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +4.16.0 (2024-11-08) +------------------- * Adding use of robot description parameter in the Admittance Controller (`#1247 `_) * Contributors: Dr. Denis, Kevin DeMarco, Nikola Banovic, Bence Magyar, Christoph Fröhlich diff --git a/admittance_controller/package.xml b/admittance_controller/package.xml index 06fde3cb59..1a08bff889 100644 --- a/admittance_controller/package.xml +++ b/admittance_controller/package.xml @@ -2,7 +2,7 @@ admittance_controller - 4.15.0 + 4.16.0 Implementation of admittance controllers for different input and output interface. Denis Štogl Bence Magyar diff --git a/bicycle_steering_controller/CHANGELOG.rst b/bicycle_steering_controller/CHANGELOG.rst index 82a4e610bb..57d23a977a 100644 --- a/bicycle_steering_controller/CHANGELOG.rst +++ b/bicycle_steering_controller/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package bicycle_steering_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +4.16.0 (2024-11-08) +------------------- 4.15.0 (2024-10-07) ------------------- diff --git a/bicycle_steering_controller/package.xml b/bicycle_steering_controller/package.xml index f58cf42dff..c87e4e6642 100644 --- a/bicycle_steering_controller/package.xml +++ b/bicycle_steering_controller/package.xml @@ -2,7 +2,7 @@ bicycle_steering_controller - 4.15.0 + 4.16.0 Steering controller with bicycle kinematics. Rear fixed wheel is powering the vehicle and front wheel is steering. Apache License 2.0 Bence Magyar diff --git a/diff_drive_controller/CHANGELOG.rst b/diff_drive_controller/CHANGELOG.rst index e806e497af..e79f1faf1d 100644 --- a/diff_drive_controller/CHANGELOG.rst +++ b/diff_drive_controller/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package diff_drive_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +4.16.0 (2024-11-08) +------------------- 4.15.0 (2024-10-07) ------------------- diff --git a/diff_drive_controller/package.xml b/diff_drive_controller/package.xml index 45ab80d5cb..84f51a0750 100644 --- a/diff_drive_controller/package.xml +++ b/diff_drive_controller/package.xml @@ -1,7 +1,7 @@ diff_drive_controller - 4.15.0 + 4.16.0 Controller for a differential drive mobile base. Bence Magyar Jordan Palacios diff --git a/effort_controllers/CHANGELOG.rst b/effort_controllers/CHANGELOG.rst index 2cc63d7c90..0abc5feee9 100644 --- a/effort_controllers/CHANGELOG.rst +++ b/effort_controllers/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package effort_controllers ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +4.16.0 (2024-11-08) +------------------- 4.15.0 (2024-10-07) ------------------- diff --git a/effort_controllers/package.xml b/effort_controllers/package.xml index fab6d671ad..36ab9ce79e 100644 --- a/effort_controllers/package.xml +++ b/effort_controllers/package.xml @@ -1,7 +1,7 @@ effort_controllers - 4.15.0 + 4.16.0 Generic controller for forwarding commands. Bence Magyar Jordan Palacios diff --git a/force_torque_sensor_broadcaster/CHANGELOG.rst b/force_torque_sensor_broadcaster/CHANGELOG.rst index 258b1d52a3..6bd9e2febd 100644 --- a/force_torque_sensor_broadcaster/CHANGELOG.rst +++ b/force_torque_sensor_broadcaster/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package force_torque_sensor_broadcaster ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +4.16.0 (2024-11-08) +------------------- * [ForceTorqueSensorBroadcaster] added force and torque offsets to the parameters + export state interfaces (`#1215 `_) * Contributors: Sai Kishor Kothakota diff --git a/force_torque_sensor_broadcaster/package.xml b/force_torque_sensor_broadcaster/package.xml index 1383342246..237cb2c888 100644 --- a/force_torque_sensor_broadcaster/package.xml +++ b/force_torque_sensor_broadcaster/package.xml @@ -2,7 +2,7 @@ force_torque_sensor_broadcaster - 4.15.0 + 4.16.0 Controller to publish state of force-torque sensors. Bence Magyar Denis Štogl diff --git a/forward_command_controller/CHANGELOG.rst b/forward_command_controller/CHANGELOG.rst index 8130b880b3..ae920d9f83 100644 --- a/forward_command_controller/CHANGELOG.rst +++ b/forward_command_controller/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package forward_command_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +4.16.0 (2024-11-08) +------------------- 4.15.0 (2024-10-07) ------------------- diff --git a/forward_command_controller/package.xml b/forward_command_controller/package.xml index f9f30dd053..8a02785a3a 100644 --- a/forward_command_controller/package.xml +++ b/forward_command_controller/package.xml @@ -1,7 +1,7 @@ forward_command_controller - 4.15.0 + 4.16.0 Generic controller for forwarding commands. Bence Magyar Jordan Palacios diff --git a/gripper_controllers/CHANGELOG.rst b/gripper_controllers/CHANGELOG.rst index 5feab361b1..291cab691a 100644 --- a/gripper_controllers/CHANGELOG.rst +++ b/gripper_controllers/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package gripper_controllers ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +4.16.0 (2024-11-08) +------------------- 4.15.0 (2024-10-07) ------------------- diff --git a/gripper_controllers/package.xml b/gripper_controllers/package.xml index d46c98f608..76877ff6fa 100644 --- a/gripper_controllers/package.xml +++ b/gripper_controllers/package.xml @@ -4,7 +4,7 @@ schematypens="http://www.w3.org/2001/XMLSchema"?> gripper_controllers - 4.15.0 + 4.16.0 The gripper_controllers package Bence Magyar diff --git a/imu_sensor_broadcaster/CHANGELOG.rst b/imu_sensor_broadcaster/CHANGELOG.rst index 214b914e08..2219d53fe4 100644 --- a/imu_sensor_broadcaster/CHANGELOG.rst +++ b/imu_sensor_broadcaster/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package imu_sensor_broadcaster ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +4.16.0 (2024-11-08) +------------------- 4.15.0 (2024-10-07) ------------------- diff --git a/imu_sensor_broadcaster/package.xml b/imu_sensor_broadcaster/package.xml index ed1f794afa..9de0f9c316 100644 --- a/imu_sensor_broadcaster/package.xml +++ b/imu_sensor_broadcaster/package.xml @@ -2,7 +2,7 @@ imu_sensor_broadcaster - 4.15.0 + 4.16.0 Controller to publish readings of IMU sensors. Bence Magyar Denis Štogl diff --git a/joint_state_broadcaster/CHANGELOG.rst b/joint_state_broadcaster/CHANGELOG.rst index 47ce981e63..ed2f4b31eb 100644 --- a/joint_state_broadcaster/CHANGELOG.rst +++ b/joint_state_broadcaster/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package joint_state_broadcaster ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +4.16.0 (2024-11-08) +------------------- * [JSB] Fix the behaviour of publishing unavailable state interfaces when they are previously available (`#1331 `_) * Contributors: Sai Kishor Kothakota diff --git a/joint_state_broadcaster/package.xml b/joint_state_broadcaster/package.xml index c3a1e66574..9e5412881c 100644 --- a/joint_state_broadcaster/package.xml +++ b/joint_state_broadcaster/package.xml @@ -1,7 +1,7 @@ joint_state_broadcaster - 4.15.0 + 4.16.0 Broadcaster to publish joint state Bence Magyar Denis Stogl diff --git a/joint_trajectory_controller/CHANGELOG.rst b/joint_trajectory_controller/CHANGELOG.rst index e873080f17..87089f700a 100644 --- a/joint_trajectory_controller/CHANGELOG.rst +++ b/joint_trajectory_controller/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package joint_trajectory_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +4.16.0 (2024-11-08) +------------------- * [JTC] Fix the JTC length_error exceptions in the tests (`#1360 `_) * [jtc] Improve trajectory sampling efficiency (`#1297 `_) * fixes for windows compilation (`#1330 `_) diff --git a/joint_trajectory_controller/package.xml b/joint_trajectory_controller/package.xml index 112c4ad9a1..c21db502ec 100644 --- a/joint_trajectory_controller/package.xml +++ b/joint_trajectory_controller/package.xml @@ -1,7 +1,7 @@ joint_trajectory_controller - 4.15.0 + 4.16.0 Controller for executing joint-space trajectories on a group of joints Bence Magyar Dr. Denis Štogl diff --git a/parallel_gripper_controller/CHANGELOG.rst b/parallel_gripper_controller/CHANGELOG.rst index da2098ecd0..6ee5646ac4 100644 --- a/parallel_gripper_controller/CHANGELOG.rst +++ b/parallel_gripper_controller/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package parallel_gripper_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +4.16.0 (2024-11-08) +------------------- 4.15.0 (2024-10-07) ------------------- diff --git a/parallel_gripper_controller/package.xml b/parallel_gripper_controller/package.xml index b396ba7b85..5fbb69303e 100644 --- a/parallel_gripper_controller/package.xml +++ b/parallel_gripper_controller/package.xml @@ -4,7 +4,7 @@ schematypens="http://www.w3.org/2001/XMLSchema"?> parallel_gripper_controller - 4.15.0 + 4.16.0 The parallel_gripper_controller package Bence Magyar diff --git a/pid_controller/CHANGELOG.rst b/pid_controller/CHANGELOG.rst index c4ce2430f6..9c20af4e97 100644 --- a/pid_controller/CHANGELOG.rst +++ b/pid_controller/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package pid_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +4.16.0 (2024-11-08) +------------------- * fixes for windows compilation (`#1330 `_) * Contributors: Gilmar Correia diff --git a/pid_controller/package.xml b/pid_controller/package.xml index 79a66d3cc3..0a22ecfe7b 100644 --- a/pid_controller/package.xml +++ b/pid_controller/package.xml @@ -2,7 +2,7 @@ pid_controller - 4.15.0 + 4.16.0 Controller based on PID implememenation from control_toolbox package. Bence Magyar Denis Štogl diff --git a/pose_broadcaster/CHANGELOG.rst b/pose_broadcaster/CHANGELOG.rst index 729df5a2f9..c12bc9da80 100644 --- a/pose_broadcaster/CHANGELOG.rst +++ b/pose_broadcaster/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package pose_broadcaster ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +4.16.0 (2024-11-08) +------------------- * Add hardware_interface_testing dependency (`#1335 `_) * Implement new PoseBroadcaster controller (`#1311 `_) * Contributors: Christoph Fröhlich, RobertWilbrandt diff --git a/pose_broadcaster/package.xml b/pose_broadcaster/package.xml index 6a71e11c7e..01c91f21f2 100644 --- a/pose_broadcaster/package.xml +++ b/pose_broadcaster/package.xml @@ -2,7 +2,7 @@ pose_broadcaster - 4.15.0 + 4.16.0 Broadcaster to publish cartesian states. Robert Wilbrandt diff --git a/position_controllers/CHANGELOG.rst b/position_controllers/CHANGELOG.rst index eb6d8df132..e5478f518a 100644 --- a/position_controllers/CHANGELOG.rst +++ b/position_controllers/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package position_controllers ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +4.16.0 (2024-11-08) +------------------- 4.15.0 (2024-10-07) ------------------- diff --git a/position_controllers/package.xml b/position_controllers/package.xml index c03888eaf8..17bf0b736e 100644 --- a/position_controllers/package.xml +++ b/position_controllers/package.xml @@ -1,7 +1,7 @@ position_controllers - 4.15.0 + 4.16.0 Generic controller for forwarding commands. Bence Magyar Jordan Palacios diff --git a/range_sensor_broadcaster/CHANGELOG.rst b/range_sensor_broadcaster/CHANGELOG.rst index c485b49efe..5d97df0e0b 100644 --- a/range_sensor_broadcaster/CHANGELOG.rst +++ b/range_sensor_broadcaster/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package range_sensor_broadcaster ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +4.16.0 (2024-11-08) +------------------- 4.15.0 (2024-10-07) ------------------- diff --git a/range_sensor_broadcaster/package.xml b/range_sensor_broadcaster/package.xml index 92283fe3ad..3b4276951f 100644 --- a/range_sensor_broadcaster/package.xml +++ b/range_sensor_broadcaster/package.xml @@ -2,7 +2,7 @@ range_sensor_broadcaster - 4.15.0 + 4.16.0 Controller to publish readings of Range sensors. Bence Magyar Florent Chretien diff --git a/ros2_controllers/CHANGELOG.rst b/ros2_controllers/CHANGELOG.rst index 51c989d4f2..a45a425f24 100644 --- a/ros2_controllers/CHANGELOG.rst +++ b/ros2_controllers/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package ros2_controllers ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +4.16.0 (2024-11-08) +------------------- 4.15.0 (2024-10-07) ------------------- diff --git a/ros2_controllers/package.xml b/ros2_controllers/package.xml index 0886b489c7..6eb4144647 100644 --- a/ros2_controllers/package.xml +++ b/ros2_controllers/package.xml @@ -1,7 +1,7 @@ ros2_controllers - 4.15.0 + 4.16.0 Metapackage for ROS2 controllers related packages Bence Magyar Jordan Palacios diff --git a/ros2_controllers_test_nodes/CHANGELOG.rst b/ros2_controllers_test_nodes/CHANGELOG.rst index 7a9ab97dc6..d3c3059abf 100644 --- a/ros2_controllers_test_nodes/CHANGELOG.rst +++ b/ros2_controllers_test_nodes/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package ros2_controllers_test_nodes ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +4.16.0 (2024-11-08) +------------------- 4.15.0 (2024-10-07) ------------------- diff --git a/ros2_controllers_test_nodes/package.xml b/ros2_controllers_test_nodes/package.xml index f61a51e34e..1ad38581a2 100644 --- a/ros2_controllers_test_nodes/package.xml +++ b/ros2_controllers_test_nodes/package.xml @@ -2,7 +2,7 @@ ros2_controllers_test_nodes - 4.15.0 + 4.16.0 Demo nodes for showing and testing functionalities of the ros2_control framework. Denis Štogl diff --git a/ros2_controllers_test_nodes/setup.py b/ros2_controllers_test_nodes/setup.py index 59aee66875..fb26e9c5f7 100644 --- a/ros2_controllers_test_nodes/setup.py +++ b/ros2_controllers_test_nodes/setup.py @@ -20,7 +20,7 @@ setup( name=package_name, - version="4.15.0", + version="4.16.0", 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 index 5db2db7bad..555a636d7e 100644 --- a/rqt_joint_trajectory_controller/CHANGELOG.rst +++ b/rqt_joint_trajectory_controller/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package rqt_joint_trajectory_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +4.16.0 (2024-11-08) +------------------- 4.15.0 (2024-10-07) ------------------- diff --git a/rqt_joint_trajectory_controller/package.xml b/rqt_joint_trajectory_controller/package.xml index 7920e63246..5954bcd03d 100644 --- 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"?> rqt_joint_trajectory_controller - 4.15.0 + 4.16.0 Graphical frontend for interacting with joint_trajectory_controller instances. Bence Magyar diff --git a/rqt_joint_trajectory_controller/setup.py b/rqt_joint_trajectory_controller/setup.py index a70342e154..f2ee71c3d7 100644 --- a/rqt_joint_trajectory_controller/setup.py +++ b/rqt_joint_trajectory_controller/setup.py @@ -21,7 +21,7 @@ setup( name=package_name, - version="4.15.0", + version="4.16.0", packages=[package_name], data_files=[ ("share/ament_index/resource_index/packages", ["resource/" + package_name]), diff --git a/steering_controllers_library/CHANGELOG.rst b/steering_controllers_library/CHANGELOG.rst index 44fed2a58c..417c4c9f05 100644 --- a/steering_controllers_library/CHANGELOG.rst +++ b/steering_controllers_library/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package steering_controllers_library ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +4.16.0 (2024-11-08) +------------------- 4.15.0 (2024-10-07) ------------------- diff --git a/steering_controllers_library/package.xml b/steering_controllers_library/package.xml index 5c96c4624c..93d304637d 100644 --- a/steering_controllers_library/package.xml +++ b/steering_controllers_library/package.xml @@ -2,7 +2,7 @@ steering_controllers_library - 4.15.0 + 4.16.0 Package for steering robot configurations including odometry and interfaces. Apache License 2.0 Bence Magyar diff --git a/tricycle_controller/CHANGELOG.rst b/tricycle_controller/CHANGELOG.rst index c867767b9a..31258cac7c 100644 --- a/tricycle_controller/CHANGELOG.rst +++ b/tricycle_controller/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package tricycle_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +4.16.0 (2024-11-08) +------------------- 4.15.0 (2024-10-07) ------------------- diff --git a/tricycle_controller/package.xml b/tricycle_controller/package.xml index 4e6ab510f3..568bd5cb46 100644 --- a/tricycle_controller/package.xml +++ b/tricycle_controller/package.xml @@ -2,7 +2,7 @@ tricycle_controller - 4.15.0 + 4.16.0 Controller for a tricycle drive mobile base Bence Magyar Tony Najjar diff --git a/tricycle_steering_controller/CHANGELOG.rst b/tricycle_steering_controller/CHANGELOG.rst index 3542beded0..975c48303d 100644 --- a/tricycle_steering_controller/CHANGELOG.rst +++ b/tricycle_steering_controller/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package tricycle_steering_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +4.16.0 (2024-11-08) +------------------- 4.15.0 (2024-10-07) ------------------- diff --git a/tricycle_steering_controller/package.xml b/tricycle_steering_controller/package.xml index 27aac82dd1..66c5456b9b 100644 --- a/tricycle_steering_controller/package.xml +++ b/tricycle_steering_controller/package.xml @@ -2,7 +2,7 @@ tricycle_steering_controller - 4.15.0 + 4.16.0 Steering controller with tricycle kinematics. Rear fixed wheels are powering the vehicle and front wheel is steering. Apache License 2.0 Bence Magyar diff --git a/velocity_controllers/CHANGELOG.rst b/velocity_controllers/CHANGELOG.rst index 82ceab063a..90b143f675 100644 --- a/velocity_controllers/CHANGELOG.rst +++ b/velocity_controllers/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package velocity_controllers ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +4.16.0 (2024-11-08) +------------------- 4.15.0 (2024-10-07) ------------------- diff --git a/velocity_controllers/package.xml b/velocity_controllers/package.xml index ea295db0ed..60ca9c693c 100644 --- a/velocity_controllers/package.xml +++ b/velocity_controllers/package.xml @@ -1,7 +1,7 @@ velocity_controllers - 4.15.0 + 4.16.0 Generic controller for forwarding commands. Bence Magyar Jordan Palacios