Merge pull request #2 from PickNikRobotics/pr-update-mimic-joint-feat…

…ure-humble Merge upstream/humble into feature branch
PickNikRobotics · Apr 4, 2024 · c23e09c · c23e09c
2 parents 5b778e7 + e806736
commit c23e09c
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Showing 8 changed files with 55 additions and 14 deletions.
diff --git a/gz_ros2_control_tests/package.xml b/gz_ros2_control_tests/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>gz_ros2_control_tests</name>
-  <version>0.7.5</version>
+  <version>0.7.6</version>
   <description>Gazebo ros2 control tests</description>
   <maintainer email="alejandro@openrobotics.org">Alejandro Hernández</maintainer>
   <license>Apache License 2.0</license>

diff --git a/gz_ros2_control_tests/tests/position_test.py b/gz_ros2_control_tests/tests/position_test.py
@@ -120,7 +120,7 @@ def generate_test_description():
 class TestFixture(unittest.TestCase):
 
     def test_arm(self, launch_service, proc_info, proc_output):
-        proc_output.assertWaitFor('Sucessfully loaded controller joint_trajectory_controller '
+        proc_output.assertWaitFor('Successfully loaded controller joint_trajectory_controller '
                                   'into state active',
                                   timeout=100, stream='stdout')
 

diff --git a/ign_ros2_control/CHANGELOG.rst b/ign_ros2_control/CHANGELOG.rst
@@ -2,6 +2,29 @@
 Changelog for package ign_ros2_control
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.7.6 (2024-03-21)
+------------------
+* Fix typo (`#253 <https://github.com/ros-controls/gz_ros2_control/issues/253>`_) (`#254 <https://github.com/ros-controls/gz_ros2_control/issues/254>`_)
+  (cherry picked from commit a98cb2a8b72827b7c1669987d6a12d3f0b30a41e)
+  Co-authored-by: Stephanie Eng <stephanie-eng@users.noreply.github.com>
+* Fix `#247 <https://github.com/ros-controls/gz_ros2_control/issues/247>`_ (`#248 <https://github.com/ros-controls/gz_ros2_control/issues/248>`_) (`#250 <https://github.com/ros-controls/gz_ros2_control/issues/250>`_)
+  (cherry picked from commit 94745e6f5f051214ac9862051f9a918685f2c6b9)
+  Co-authored-by: Graziato Davide <85335579+Fixit-Davide@users.noreply.github.com>
+* Fix `initial_value` not working (backport `#241 <https://github.com/ros-controls/gz_ros2_control/issues/241>`_) (`#243 <https://github.com/ros-controls/gz_ros2_control/issues/243>`_)
+  * Reset Gazebo with initial joint positions and velocities (`#241 <https://github.com/ros-controls/gz_ros2_control/issues/241>`_)
+  (cherry picked from commit c5b0b9049ce75410e75d1828242c1dfd5b19bb80)
+  Co-authored-by: Ruddick Lawrence <679360+mrjogo@users.noreply.github.com>
+  Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com>
+* Use portable versio for usleep (backport `#237 <https://github.com/ros-controls/gz_ros2_control/issues/237>`_) (`#238 <https://github.com/ros-controls/gz_ros2_control/issues/238>`_)
+  * Use portable versio for usleep (`#237 <https://github.com/ros-controls/gz_ros2_control/issues/237>`_)
+  (cherry picked from commit 0bdf13e6986c613c99a595889a587da1db6d7f69)
+  Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com>
+* Fix crashing due to an invalid parameter in the initial value (backport `#233 <https://github.com/ros-controls/gz_ros2_control/issues/233>`_) (`#234 <https://github.com/ros-controls/gz_ros2_control/issues/234>`_)
+  * Fix crashing due to an invalid parameter in the initial value (`#233 <https://github.com/ros-controls/gz_ros2_control/issues/233>`_)
+  (cherry picked from commit a3beadb014f62e0808033de2c5ad84e2428c36e9)
+  Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com>
+* Contributors: Alejandro Hernández Cordero, Ruddick Lawrence, Stephanie Eng, Graziato Davide, mergify[bot]
+
 0.7.5 (2024-01-24)
 ------------------
 * Load the URDF to the resource_manager before parsing it to CM (`#222 <https://github.com/ros-controls/gz_ros2_control/issues/222>`_) (`#225 <https://github.com/ros-controls/gz_ros2_control/issues/225>`_)

diff --git a/ign_ros2_control/package.xml b/ign_ros2_control/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>ign_ros2_control</name>
-  <version>0.7.5</version>
+  <version>0.7.6</version>
   <description>Ignition ros2_control package allows to control simulated robots using ros2_control framework.</description>
   <maintainer email="alejandro@openrobotics.com">Alejandro Hernández</maintainer>
   <author>Alejandro Hernández</author>

diff --git a/ign_ros2_control/src/ign_ros2_control_plugin.cpp b/ign_ros2_control/src/ign_ros2_control_plugin.cpp
@@ -383,7 +383,7 @@ void IgnitionROS2ControlPlugin::Configure(
     std::make_unique<hardware_interface::ResourceManager>();
 
   try {
-    resource_manager_->load_urdf(urdf_string, false, false);
+    resource_manager_->load_urdf(urdf_string, false);
   } catch (...) {
     RCLCPP_ERROR(
       this->dataPtr->node_->get_logger(), "Error initializing URDF to resource manager!");
@@ -463,7 +463,7 @@ void IgnitionROS2ControlPlugin::Configure(
     std::chrono::duration_cast<std::chrono::nanoseconds>(
       std::chrono::duration<double>(1.0 / static_cast<double>(this->dataPtr->update_rate))));
 
-  // Force setting of use_sime_time parameter
+  // Force setting of use_sim_time parameter
   this->dataPtr->controller_manager_->set_parameter(
     rclcpp::Parameter("use_sim_time", rclcpp::ParameterValue(true)));
 

diff --git a/ign_ros2_control/src/ign_system.cpp b/ign_ros2_control/src/ign_system.cpp
@@ -184,16 +184,20 @@ bool IgnitionSystem::initSim(
   this->dataPtr->joints_.resize(this->dataPtr->n_dof_);
 
   constexpr double default_gain = 0.1;
-  if (!this->nh_->get_parameter_or(
-      "position_proportional_gain",
-      this->dataPtr->position_proportional_gain_, default_gain))
-  {
-    RCLCPP_WARN_STREAM(
-      this->nh_->get_logger(),
-      "The position_proportional_gain parameter was not defined, defaulting to: " <<
-        default_gain);
+
+  try {
+    this->dataPtr->position_proportional_gain_ = this->nh_->declare_parameter<double>(
+      "position_proportional_gain", default_gain);
+  } catch (rclcpp::exceptions::ParameterAlreadyDeclaredException & ex) {
+    this->nh_->get_parameter(
+      "position_proportional_gain", this->dataPtr->position_proportional_gain_);
   }
 
+  RCLCPP_INFO_STREAM(
+    this->nh_->get_logger(),
+    "The position_proportional_gain has been set to: " <<
+      this->dataPtr->position_proportional_gain_);
+
   if (this->dataPtr->n_dof_ == 0) {
     RCLCPP_ERROR_STREAM(this->nh_->get_logger(), "There is no joint available");
     return false;

diff --git a/ign_ros2_control_demos/CHANGELOG.rst b/ign_ros2_control_demos/CHANGELOG.rst
@@ -2,6 +2,19 @@
 Changelog for package ign_ros2_control_demos
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.7.6 (2024-03-21)
+------------------
+* Add `ros_gz_bridge` as dependency to demos (backport `#256 <https://github.com/ros-controls/gz_ros2_control/issues/256>`_) (`#257 <https://github.com/ros-controls/gz_ros2_control/issues/257>`_)
+  * Add dep (`#256 <https://github.com/ros-controls/gz_ros2_control/issues/256>`_)
+  (cherry picked from commit b35100db16e80ffb574c0266321800e2197136c3)
+  # Conflicts:
+  #	ign_ros2_control_demos/package.xml
+  * fixed merge
+  ---------
+  Co-authored-by: Christoph Fröhlich <christophfroehlich@users.noreply.github.com>
+  Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com>
+* Contributors: mergify[bot]
+
 0.7.4 (2024-01-24)
 ------------------
 

diff --git a/ign_ros2_control_demos/package.xml b/ign_ros2_control_demos/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>ign_ros2_control_demos</name>
-  <version>0.7.5</version>
+  <version>0.7.6</version>
   <description>ign_ros2_control_demos</description>
 
   <maintainer email="ahcorde@osrfoundation.org">Alejandro Hernandez</maintainer>
@@ -38,6 +38,7 @@
   <exec_depend>rclcpp</exec_depend>
   <exec_depend>robot_state_publisher</exec_depend>
   <exec_depend>ros_ign_gazebo</exec_depend>
+  <exec_depend>ros_gz_bridge</exec_depend>
   <exec_depend>ros2controlcli</exec_depend>
   <exec_depend>std_msgs</exec_depend>
   <exec_depend>velocity_controllers</exec_depend>