Fix multi cm example

.github/dependabot.yml

@@ -0,0 +1,13 @@
+# To get started with Dependabot version updates, you'll need to specify which
+# package ecosystems to update and where the package manifests are located.
+# Please see the documentation for all configuration options:
+# https://docs.github.com/github/administering-a-repository/configuration-options-for-dependency-updates
+
+version: 2
+updates:
+  - package-ecosystem: "github-actions"
+    # Workflow files stored in the
+    # default location of `.github/workflows`
+    directory: "/"
+    schedule:
+      interval: "weekly"

.github/reviewer-lottery.yml

@@ -14,28 +14,22 @@ groups:
     reviewers: 5
     usernames:
       - rosterloh
-      - kellyprankin
       - progtologist
       - arne48
       - DasRoteSkelett
-      - a10263790
       - Serafadam
       - harderthan
       - jaron-l
       - malapatiravi
-      - erickisos
-      - ShawnSchaerer
-      - Briancbn
-      - TomoyaFujita2016
       - homalozoa
+      - erickisos
       - anfemosa
-      - jackcenter
       - VX792
       - mhubii
       - livanov93
       - aprotyas
       - peterdavidfagan
-      - UsamaHamayun1
       - duringhof
       - bijoua29
-      - kasiceo
+      - lm2292
+      - mcbed

.github/workflows/ci-coverage-build.yml

@@ -38,7 +38,7 @@ jobs:
             }
           colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
           skip-tests: true
-      - uses: codecov/codecov-action@v1.0.14
+      - uses: codecov/codecov-action@v3.1.1
         with:
           file: ros_ws/lcov/total_coverage.info
           flags: unittests

.github/workflows/ci-format.yml

@@ -13,11 +13,11 @@ jobs:
     runs-on: ubuntu-latest
     steps:
     - uses: actions/checkout@v3
-    - uses: actions/setup-python@v2
+    - uses: actions/setup-python@v4.4.0
       with:
-        python-version: 3.9.7
+        python-version: '3.10'
     - name: Install system hooks
-      run: sudo apt install -qq clang-format-11 cppcheck
-    - uses: pre-commit/action@v2.0.3
+      run: sudo apt install -qq clang-format-14 cppcheck
+    - uses: pre-commit/action@v3.0.0
       with:
         extra_args: --all-files --hook-stage manual

.github/workflows/rolling-rhel-binary-build.yml

@@ -17,7 +17,7 @@ jobs:
     runs-on: ubuntu-latest
     env:
       ROS_DISTRO: rolling
-    container: jaronl/ros:rolling-alma
+    container: ghcr.io/ros-controls/ros:${{ env.ROS_DISTRO }}-rhel
     steps:
       - uses: actions/checkout@v3
         with:

.pre-commit-config.yaml

@@ -15,7 +15,7 @@
 repos:
   # Standard hooks
   - repo: https://github.com/pre-commit/pre-commit-hooks
-    rev: v4.1.0
+    rev: v4.4.0
     hooks:
       - id: check-added-large-files
       - id: check-ast
@@ -33,26 +33,26 @@ repos:
 
   # Python hooks
   - repo: https://github.com/asottile/pyupgrade
-    rev: v2.31.1
+    rev: v3.3.1
     hooks:
     -   id: pyupgrade
         args: [--py36-plus]
 
   - repo: https://github.com/psf/black
-    rev: 22.1.0
+    rev: 22.12.0
     hooks:
       - id: black
         args: ["--line-length=99"]
 
-  # PEP 257
-  - repo: https://github.com/FalconSocial/pre-commit-mirrors-pep257
-    rev: v0.3.3
+  # PyDocStyle
+  - repo: https://github.com/PyCQA/pydocstyle
+    rev: 6.2.3
     hooks:
-    - id: pep257
+    - id: pydocstyle
       args: ["--ignore=D100,D101,D102,D103,D104,D105,D106,D107,D203,D212,D404"]
 
   - repo: https://github.com/pycqa/flake8
-    rev: 4.0.1
+    rev: 6.0.0
     hooks:
     - id: flake8
       args: ["--ignore=E501"]
@@ -63,7 +63,7 @@ repos:
       - id: clang-format
         name: clang-format
         description: Format files with ClangFormat.
-        entry: clang-format-10
+        entry: clang-format-14
         language: system
         files: \.(c|cc|cxx|cpp|frag|glsl|h|hpp|hxx|ih|ispc|ipp|java|js|m|proto|vert)$
         args: ['-fallback-style=none', '-i']
@@ -119,7 +119,7 @@ repos:
 
   # Docs - RestructuredText hooks
   - repo: https://github.com/PyCQA/doc8
-    rev: 0.10.1
+    rev: v1.1.1
     hooks:
       - id: doc8
         args: ['--max-line-length=100', '--ignore=D001']
@@ -136,7 +136,7 @@ repos:
   # Spellcheck in comments and docs
   # skipping of *.svg files is not working...
   - repo: https://github.com/codespell-project/codespell
-    rev: v2.1.0
+    rev: v2.2.2
     hooks:
       - id: codespell
         args: ['--write-changes']

ros2_control_demo_bringup/config/multi_controller_manager_forward_position_publisher.yaml

@@ -1,7 +1,8 @@
 /rrbot_1/publisher_forward_position_controller:
   ros__parameters:
 
-    controller_name: "rrbot_1/forward_position_controller"
+
+    publish_topic: "forward_position_controller/commands"
     wait_sec_between_publish: 5
 
     goal_names: ["pos1", "pos2", "pos3", "pos4"]
@@ -14,7 +15,7 @@
 /rrbot_2/publisher_forward_position_controller:
   ros__parameters:
 
-    controller_name: "rrbot_2/forward_position_controller"
+    publish_topic: "forward_position_controller/commands"
     wait_sec_between_publish: 5
 
     goal_names: ["pos1", "pos2", "pos3", "pos4"]

ros2_control_demo_bringup/config/multi_controller_manager_joint_trajectory_publisher.yaml

@@ -5,10 +5,14 @@
     wait_sec_between_publish: 6
 
     goal_names: ["pos1", "pos2", "pos3", "pos4"]
-    pos1: [0.785, 0.785]
-    pos2: [0.0, 0.0]
-    pos3: [-0.785, -0.785]
-    pos4: [0.0, 0.0]
+    pos1:
+      positions: [0.785, 0.785]
+    pos2:
+      positions: [0.0, 0.0]
+    pos3:
+      positions: [-0.785, -0.785]
+    pos4:
+      positions: [0.0, 0.0]
 
     joints:
       - rrbot_1_joint1
@@ -27,10 +31,14 @@
     wait_sec_between_publish: 6
 
     goal_names: ["pos1", "pos2", "pos3", "pos4"]
-    pos1: [-0.785, 0.0]
-    pos2: [0.0, -0.785]
-    pos3: [+0.785, -1.57]
-    pos4: [+1.57, -0.785]
+    pos1:
+      positions: [-0.785, 0.0]
+    pos2:
+      positions: [0.0, -0.785]
+    pos3:
+      positions: [+0.785, -1.57]
+    pos4:
+      positions: [+1.57, -0.785]
 
     joints:
       - rrbot_2_joint1

ros2_control_demo_bringup/config/rrbot_namespace_forward_position_publisher.yaml

@@ -1,9 +1,10 @@
 publisher_forward_position_controller:
   ros__parameters:
 
-    controller_name: "rrbot/forward_position_controller"
     wait_sec_between_publish: 5
 
+    publish_topic: /rrbot/forward_position_controller/commands
+
     goal_names: ["pos1", "pos2", "pos3", "pos4"]
     pos1: [0.785, 0.785]
     pos2: [0, 0]

ros2_control_demo_bringup/config/rrbot_namespace_joint_trajectory_publisher.yaml

@@ -5,10 +5,14 @@ publisher_joint_trajectory_controller:
     wait_sec_between_publish: 6
 
     goal_names: ["pos1", "pos2", "pos3", "pos4"]
-    pos1: [0.785, 0.785]
-    pos2: [0, 0]
-    pos3: [-0.785, -0.785]
-    pos4: [0, 0]
+    pos1:
+      positions: [0.785, 0.785]
+    pos2:
+      positions: [0.0, 0.0]
+    pos3:
+      positions: [-0.785, -0.785]
+    pos4:
+      positions: [0.0, 0.0]
 
     joints:
       - joint1

ros2_control_demo_bringup/launch/diffbot.launch.py

@@ -49,10 +49,7 @@ def generate_launch_description():
         package="controller_manager",
         executable="ros2_control_node",
         parameters=[robot_description, robot_controllers],
-        output={
-            "stdout": "screen",
-            "stderr": "screen",
-        },
+        output="both",
     )
     robot_state_pub_node = Node(
         package="robot_state_publisher",

ros2_control_demo_bringup/launch/multi_controller_manager_example_two_rrbots.launch.py

@@ -81,7 +81,7 @@ def generate_launch_description():
             "position_trajectory_controller",
             "-c",
             "/rrbot_1/controller_manager",
-            "--stopped",
+            "--inactive",
         ],
     )
 
@@ -108,7 +108,7 @@ def generate_launch_description():
             "position_trajectory_controller",
             "-c",
             "/rrbot_2/controller_manager",
-            "--stopped",
+            "--inactive",
         ],
     )
 

ros2_control_demo_bringup/launch/rrbot.launch.py

@@ -60,10 +60,7 @@ def generate_launch_description():
                 "/position_commands",
             ),
         ],
-        output={
-            "stdout": "screen",
-            "stderr": "screen",
-        },
+        output="both",
     )
     robot_state_pub_node = Node(
         package="robot_state_publisher",

ros2_control_demo_bringup/launch/rrbot_base.launch.py

@@ -73,7 +73,7 @@ def generate_launch_description():
     )
     declared_arguments.append(
         DeclareLaunchArgument(
-            "use_sim",
+            "use_gazebo",
             default_value="false",
             description="Start robot in Gazebo simulation.",
         )
@@ -87,7 +87,7 @@ def generate_launch_description():
     )
     declared_arguments.append(
         DeclareLaunchArgument(
-            "fake_sensor_commands",
+            "mock_sensor_commands",
             default_value="false",
             description="Enable fake command interfaces for sensors used for simple simulations. \
             Used only if 'use_fake_hardware' parameter is true.",
@@ -128,9 +128,9 @@ def generate_launch_description():
     description_package = LaunchConfiguration("description_package")
     description_file = LaunchConfiguration("description_file")
     prefix = LaunchConfiguration("prefix")
-    use_sim = LaunchConfiguration("use_sim")
+    use_gazebo = LaunchConfiguration("use_gazebo")
     use_fake_hardware = LaunchConfiguration("use_fake_hardware")
-    fake_sensor_commands = LaunchConfiguration("fake_sensor_commands")
+    mock_sensor_commands = LaunchConfiguration("mock_sensor_commands")
     slowdown = LaunchConfiguration("slowdown")
     controller_manager_name = LaunchConfiguration("controller_manager_name")
     robot_controller = LaunchConfiguration("robot_controller")
@@ -148,14 +148,14 @@ def generate_launch_description():
             "prefix:=",
             prefix,
             " ",
-            "use_sim:=",
-            use_sim,
+            "use_gazebo:=",
+            use_gazebo,
             " ",
             "use_fake_hardware:=",
             use_fake_hardware,
             " ",
-            "fake_sensor_commands:=",
-            fake_sensor_commands,
+            "mock_sensor_commands:=",
+            mock_sensor_commands,
             " ",
             "slowdown:=",
             slowdown,
@@ -179,10 +179,7 @@ def generate_launch_description():
         executable="ros2_control_node",
         namespace=namespace,
         parameters=[robot_description, robot_controllers],
-        output={
-            "stdout": "screen",
-            "stderr": "screen",
-        },
+        output="both",
     )
     robot_state_pub_node = Node(
         package="robot_state_publisher",

ros2_control_demo_bringup/launch/rrbot_namespace.launch.py

@@ -100,7 +100,7 @@ def generate_launch_description():
             "position_trajectory_controller",
             "-c",
             "/rrbot/controller_manager",
-            "--stopped",
+            "--inactive",
         ],
     )
 

ros2_control_demo_bringup/launch/rrbot_system_multi_interface.launch.py

@@ -55,7 +55,7 @@ def generate_launch_description():
             "description_file": "rrbot_system_multi_interface.urdf.xacro",
             "prefix": prefix,
             "use_fake_hardware": "false",
-            "fake_sensor_commands": "false",
+            "mock_sensor_commands": "false",
             "slowdown": slowdown,
             "robot_controller": robot_controller,
         }.items(),

ros2_control_demo_bringup/launch/rrbot_system_position_only.launch.py

@@ -39,7 +39,7 @@ def generate_launch_description():
     )
     declared_arguments.append(
         DeclareLaunchArgument(
-            "fake_sensor_commands",
+            "mock_sensor_commands",
             default_value="false",
             description="Enable fake command interfaces for sensors used for simple simulations. \
             Used only if 'use_fake_hardware' parameter is true.",
@@ -68,7 +68,7 @@ def generate_launch_description():
     # Initialize Arguments
     prefix = LaunchConfiguration("prefix")
     use_fake_hardware = LaunchConfiguration("use_fake_hardware")
-    fake_sensor_commands = LaunchConfiguration("fake_sensor_commands")
+    mock_sensor_commands = LaunchConfiguration("mock_sensor_commands")
     slowdown = LaunchConfiguration("slowdown")
     robot_controller = LaunchConfiguration("robot_controller")
     start_rviz = LaunchConfiguration("start_rviz")
@@ -79,7 +79,7 @@ def generate_launch_description():
             "description_file": "rrbot_system_position_only.urdf.xacro",
             "prefix": prefix,
             "use_fake_hardware": use_fake_hardware,
-            "fake_sensor_commands": fake_sensor_commands,
+            "mock_sensor_commands": mock_sensor_commands,
             "slowdown": slowdown,
             "robot_controller": robot_controller,
             "start_rviz": start_rviz,

ros2_control_demo_bringup/launch/rrbot_system_position_only_gazebo.launch.py

@@ -41,7 +41,7 @@ def generate_launch_description():
                     "rrbot_system_position_only.urdf.xacro",
                 ]
             ),
-            " use_sim:=true",
+            " use_gazebo:=true",
         ]
     )
     robot_description = {"robot_description": robot_description_content}