Merge branch 'master' into add_parameters_to_interface_info

controller_interface/CHANGELOG.rst

@@ -2,6 +2,12 @@
 Changelog for package controller_interface
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.16.0 (2024-08-22)
+-------------------
+* Fix params_file typo in spawner and update release notes for use_global_arguments (`#1701 <https://github.com/ros-controls/ros2_control/issues/1701>`_)
+* Avoid using the global arguments for internal controller nodes (`#1694 <https://github.com/ros-controls/ros2_control/issues/1694>`_)
+* Contributors: Sai Kishor Kothakota
+
 4.15.0 (2024-08-05)
 -------------------
 

controller_interface/include/controller_interface/controller_interface_base.hpp

@@ -174,12 +174,11 @@ class ControllerInterfaceBase : public rclcpp_lifecycle::node_interfaces::Lifecy
   {
 // \note The versions conditioning is added here to support the source-compatibility with Humble
 #if RCLCPP_VERSION_MAJOR >= 21
-    return rclcpp::NodeOptions().enable_logger_service(true).use_global_arguments(false);
+    return rclcpp::NodeOptions().enable_logger_service(true);
 #else
     return rclcpp::NodeOptions()
       .allow_undeclared_parameters(true)
-      .automatically_declare_parameters_from_overrides(true)
-      .use_global_arguments(false);
+      .automatically_declare_parameters_from_overrides(true);
 #endif
   }
 

controller_interface/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="2">
   <name>controller_interface</name>
-  <version>4.15.0</version>
+  <version>4.16.0</version>
   <description>Description of controller_interface</description>
   <maintainer email="bence.magyar.robotics@gmail.com">Bence Magyar</maintainer>
   <maintainer email="denis@stoglrobotics.de">Denis Štogl</maintainer>

controller_manager/CHANGELOG.rst

@@ -2,6 +2,21 @@
 Changelog for package controller_manager
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.16.0 (2024-08-22)
+-------------------
+* inform user what reason is for not setting rt policy, inform is policy (`#1705 <https://github.com/ros-controls/ros2_control/issues/1705>`_)
+* Fix params_file typo in spawner and update release notes for use_global_arguments (`#1701 <https://github.com/ros-controls/ros2_control/issues/1701>`_)
+* Fix spawner tests timeout (`#1692 <https://github.com/ros-controls/ros2_control/issues/1692>`_)
+* Refactor spawner to be able to reuse code for ros2controlcli (`#1661 <https://github.com/ros-controls/ros2_control/issues/1661>`_)
+* Robustify controller spawner and add integration test with many controllers (`#1501 <https://github.com/ros-controls/ros2_control/issues/1501>`_)
+* Handle waiting in Spawner and align Hardware Spawner functionality (`#1562 <https://github.com/ros-controls/ros2_control/issues/1562>`_)
+* Make list controller and list hardware components immediately visualize the state. (`#1606 <https://github.com/ros-controls/ros2_control/issues/1606>`_)
+* [CI] Add coveragepy and remove ignore: test (`#1668 <https://github.com/ros-controls/ros2_control/issues/1668>`_)
+* Fix spawner unload on kill test (`#1675 <https://github.com/ros-controls/ros2_control/issues/1675>`_)
+* [CM] Add more logging for easier debugging (`#1645 <https://github.com/ros-controls/ros2_control/issues/1645>`_)
+* refactor SwitchParams to fix the incosistencies in the spawner tests (`#1638 <https://github.com/ros-controls/ros2_control/issues/1638>`_)
+* Contributors: Bence Magyar, Christoph Fröhlich, Dr. Denis, Felix Exner (fexner), Manuel Muth, Sai Kishor Kothakota
+
 4.15.0 (2024-08-05)
 -------------------
 * Add missing include for executors (`#1653 <https://github.com/ros-controls/ros2_control/issues/1653>`_)

controller_manager/controller_manager/controller_manager_services.py

@@ -312,7 +312,7 @@ def set_controller_parameters_from_param_file(
     if parameter_file:
         spawner_namespace = namespace if namespace else node.get_namespace()
         set_controller_parameters(
-            node, controller_manager_name, controller_name, "param_file", parameter_file
+            node, controller_manager_name, controller_name, "params_file", parameter_file
         )
 
         controller_type = get_parameter_from_param_file(

controller_manager/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="2">
   <name>controller_manager</name>
-  <version>4.15.0</version>
+  <version>4.16.0</version>
   <description>Description of controller_manager</description>
   <maintainer email="bence.magyar.robotics@gmail.com">Bence Magyar</maintainer>
   <maintainer email="denis@stoglrobotics.de">Denis Štogl</maintainer>

controller_manager/src/controller_manager.cpp

@@ -2843,6 +2843,7 @@ rclcpp::NodeOptions ControllerManager::determine_controller_node_options(
   }
 
   controller_node_options = controller_node_options.arguments(node_options_arguments);
+  controller_node_options.use_global_arguments(false);
   return controller_node_options;
 }
 

controller_manager/src/ros2_control_node.cpp

@@ -12,6 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+#include <errno.h>
 #include <chrono>
 #include <memory>
 #include <string>
@@ -51,10 +52,16 @@ int main(int argc, char ** argv)
       {
         RCLCPP_WARN(
           cm->get_logger(),
-          "Could not enable FIFO RT scheduling policy. Consider setting up your user to do FIFO RT "
-          "scheduling. See "
+          "Could not enable FIFO RT scheduling policy: with error number <%i>(%s). See "
           "[https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] "
-          "for details.");
+          "for details on how to enable realtime scheduling.",
+          errno, strerror(errno));
+      }
+      else
+      {
+        RCLCPP_INFO(
+          cm->get_logger(), "Successful set up FIFO RT scheduling policy with priority %i.",
+          kSchedPriority);
       }
 
       // for calculating sleep time

controller_manager_msgs/CHANGELOG.rst

@@ -2,6 +2,9 @@
 Changelog for package controller_manager_msgs
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.16.0 (2024-08-22)
+-------------------
+
 4.15.0 (2024-08-05)
 -------------------
 

controller_manager_msgs/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>controller_manager_msgs</name>
-  <version>4.15.0</version>
+  <version>4.16.0</version>
   <description>Messages and services for the controller manager.</description>
   <maintainer email="bence.magyar.robotics@gmail.com">Bence Magyar</maintainer>
   <maintainer email="denis@stoglrobotics.de">Denis Štogl</maintainer>

doc/migration.rst

@@ -2,6 +2,10 @@
 
 Iron to Jazzy
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+controller_interface
+********************
+* The changes from `(PR #1694) <https://github.com/ros-controls/ros2_control/pull/1694>`__ will affect how the controllers will be loading the parameters. Defining parameters in a single yaml file and loading it to the controller_manager node alone will no longer work.
+  In order to load the parameters to the controllers properly, it is needed to use ``--param-file`` option from the spawner. This is because the controllers will now set ``use_global_arguments`` from `NodeOptions <https://docs.ros.org/en/rolling/p/rclcpp/generated/classrclcpp_1_1NodeOptions.html#_CPPv4N6rclcpp11NodeOptions20use_global_argumentsEb>`__ to false, to avoid getting influenced by global arguments.
 
 controller_manager
 ******************

doc/release_notes.rst

@@ -22,6 +22,8 @@ For details see the controller_manager section.
 * A method to get node options to setup the controller node #api-breaking (`#1169 <https://github.com/ros-controls/ros2_control/pull/1169>`_)
 * Export state interfaces from the chainable controller #api-breaking (`#1021 <https://github.com/ros-controls/ros2_control/pull/1021>`_)
 * All chainable controllers must implement the method ``export_state_interfaces`` to export the state interfaces, similar to ``export_reference_interfaces`` method that is exporting the reference interfaces.
+* The controllers will now set ``use_global_arguments`` from `NodeOptions <https://docs.ros.org/en/rolling/p/rclcpp/generated/classrclcpp_1_1NodeOptions.html#_CPPv4N6rclcpp11NodeOptions20use_global_argumentsEb>`__ to false, to avoid getting influenced by global arguments (Issue : `#1684 <https://github.com/ros-controls/ros2_control/issues/1684>`_) (`#1694 <https://github.com/ros-controls/ros2_control/pull/1694>`_).
+  From now on, in order to set the parameters to the controller, the ``--param-file`` option from spawner should be used.
 
 controller_manager
 ******************

hardware_interface/CHANGELOG.rst

@@ -2,6 +2,14 @@
 Changelog for package hardware_interface
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.16.0 (2024-08-22)
+-------------------
+* Use handle_name\_ variable instead of allocating for every `get_name` call (`#1706 <https://github.com/ros-controls/ros2_control/issues/1706>`_)
+* Introduce Creation of Handles with InterfaceDescription (variant support) (`#1679 <https://github.com/ros-controls/ros2_control/issues/1679>`_)
+* Preparation of Handles for Variant Support (`#1678 <https://github.com/ros-controls/ros2_control/issues/1678>`_)
+* [RM] Decouple read/write cycles of each component with mutex to not block other components (`#1646 <https://github.com/ros-controls/ros2_control/issues/1646>`_)
+* Contributors: Manuel Muth, Sai Kishor Kothakota
+
 4.15.0 (2024-08-05)
 -------------------
 * [RM] Add `get_hardware_info` method to the Hardware Components (`#1643 <https://github.com/ros-controls/ros2_control/issues/1643>`_)

hardware_interface/include/hardware_interface/component_parser.hpp

@@ -32,5 +32,23 @@ namespace hardware_interface
 HARDWARE_INTERFACE_PUBLIC
 std::vector<HardwareInfo> parse_control_resources_from_urdf(const std::string & urdf);
 
+/**
+ * \param[in] component_info information about a component (gpio, joint, sensor)
+ * \return vector filled with information about hardware's StateInterfaces for the component
+ * which are exported
+ */
+HARDWARE_INTERFACE_PUBLIC
+std::vector<InterfaceDescription> parse_state_interface_descriptions(
+  const std::vector<ComponentInfo> & component_info);
+
+/**
+ * \param[in] component_info information about a component (gpio, joint, sensor)
+ * \return vector filled with information about hardware's CommandInterfaces for the component
+ * which are exported
+ */
+HARDWARE_INTERFACE_PUBLIC
+std::vector<InterfaceDescription> parse_command_interface_descriptions(
+  const std::vector<ComponentInfo> & component_info);
+
 }  // namespace hardware_interface
 #endif  // HARDWARE_INTERFACE__COMPONENT_PARSER_HPP_

hardware_interface/include/hardware_interface/handle.hpp

@@ -15,9 +15,11 @@
 #ifndef HARDWARE_INTERFACE__HANDLE_HPP_
 #define HARDWARE_INTERFACE__HANDLE_HPP_
 
+#include <limits>
 #include <string>
 #include <variant>
 
+#include "hardware_interface/hardware_info.hpp"
 #include "hardware_interface/macros.hpp"
 
 namespace hardware_interface
@@ -29,20 +31,40 @@ using HANDLE_DATATYPE = std::variant<double>;
 class Handle
 {
 public:
+  [[deprecated("Use InterfaceDescription for initializing the Interface")]]
+
   Handle(
     const std::string & prefix_name, const std::string & interface_name,
     double * value_ptr = nullptr)
-  : prefix_name_(prefix_name), interface_name_(interface_name), value_ptr_(value_ptr)
+  : prefix_name_(prefix_name),
+    interface_name_(interface_name),
+    handle_name_(prefix_name_ + "/" + interface_name_),
+    value_ptr_(value_ptr)
   {
   }
 
+  explicit Handle(const InterfaceDescription & interface_description)
+  : prefix_name_(interface_description.prefix_name),
+    interface_name_(interface_description.interface_info.name),
+    handle_name_(prefix_name_ + "/" + interface_name_)
+  {
+    // As soon as multiple datatypes are used in HANDLE_DATATYPE
+    // we need to initialize according the type passed in interface description
+    value_ = std::numeric_limits<double>::quiet_NaN();
+    value_ptr_ = std::get_if<double>(&value_);
+  }
+
+  [[deprecated("Use InterfaceDescription for initializing the Interface")]]
+
   explicit Handle(const std::string & interface_name)
-  : interface_name_(interface_name), value_ptr_(nullptr)
+  : interface_name_(interface_name), handle_name_("/" + interface_name_), value_ptr_(nullptr)
   {
   }
 
+  [[deprecated("Use InterfaceDescription for initializing the Interface")]]
+
   explicit Handle(const char * interface_name)
-  : interface_name_(interface_name), value_ptr_(nullptr)
+  : interface_name_(interface_name), handle_name_("/" + interface_name_), value_ptr_(nullptr)
   {
   }
 
@@ -59,12 +81,12 @@ class Handle
   /// Returns true if handle references a value.
   inline operator bool() const { return value_ptr_ != nullptr; }
 
-  const std::string get_name() const { return prefix_name_ + "/" + interface_name_; }
+  const std::string & get_name() const { return handle_name_; }
 
   const std::string & get_interface_name() const { return interface_name_; }
 
   [[deprecated(
-    "Replaced by get_name method, which is semantically more correct")]] const std::string
+    "Replaced by get_name method, which is semantically more correct")]] const std::string &
   get_full_name() const
   {
     return get_name();
@@ -93,6 +115,7 @@ class Handle
 protected:
   std::string prefix_name_;
   std::string interface_name_;
+  std::string handle_name_;
   HANDLE_DATATYPE value_;
   // BEGIN (Handle export change): for backward compatibility
   // TODO(Manuel) redeclare as HANDLE_DATATYPE * value_ptr_ if old functionality is removed
@@ -103,10 +126,8 @@ class Handle
 class StateInterface : public Handle
 {
 public:
-  explicit StateInterface(
-    const std::string & prefix_name, const std::string & interface_name,
-    double * value_ptr = nullptr)
-  : Handle(prefix_name, interface_name, value_ptr)
+  explicit StateInterface(const InterfaceDescription & interface_description)
+  : Handle(interface_description)
   {
   }
 
@@ -120,10 +141,8 @@ class StateInterface : public Handle
 class CommandInterface : public Handle
 {
 public:
-  explicit CommandInterface(
-    const std::string & prefix_name, const std::string & interface_name,
-    double * value_ptr = nullptr)
-  : Handle(prefix_name, interface_name, value_ptr)
+  explicit CommandInterface(const InterfaceDescription & interface_description)
+  : Handle(interface_description)
   {
   }
   /// CommandInterface copy constructor is actively deleted.

hardware_interface/include/hardware_interface/hardware_info.hpp

@@ -40,9 +40,9 @@ struct InterfaceInfo
   std::string max;
   /// (Optional) Initial value of the interface.
   std::string initial_value;
-  /// (Optional) The datatype of the interface, e.g. "bool", "int". Used by GPIOs.
+  /// (Optional) The datatype of the interface, e.g. "bool", "int".
   std::string data_type;
-  /// (Optional) If the handle is an array, the size of the array. Used by GPIOs.
+  /// (Optional) If the handle is an array, the size of the array.
   int size;
   /// (Optional) enable or disable the limits for the command interfaces
   bool enable_limits;
@@ -130,6 +130,41 @@ struct TransmissionInfo
   std::unordered_map<std::string, std::string> parameters;
 };
 
+/**
+ * This structure stores information about an interface for a specific hardware which should be
+ * instantiated internally.
+ */
+struct InterfaceDescription
+{
+  InterfaceDescription(const std::string & prefix_name_in, const InterfaceInfo & interface_info_in)
+  : prefix_name(prefix_name_in),
+    interface_info(interface_info_in),
+    interface_name(prefix_name + "/" + interface_info.name)
+  {
+  }
+
+  /**
+   * Name of the interface defined by the user.
+   */
+  std::string prefix_name;
+
+  /**
+   * Information about the Interface type (position, velocity,...) as well as limits and so on.
+   */
+  InterfaceInfo interface_info;
+
+  /**
+   * Name of the interface
+   */
+  std::string interface_name;
+
+  std::string get_prefix_name() const { return prefix_name; }
+
+  std::string get_interface_name() const { return interface_info.name; }
+
+  std::string get_name() const { return interface_name; }
+};
+
 /// This structure stores information about hardware defined in a robot's URDF.
 struct HardwareInfo
 {

hardware_interface/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>hardware_interface</name>
-  <version>4.15.0</version>
+  <version>4.16.0</version>
   <description>ros2_control hardware interface</description>
   <maintainer email="bence.magyar.robotics@gmail.com">Bence Magyar</maintainer>
   <maintainer email="denis@stoglrobotics.de">Denis Štogl</maintainer>

hardware_interface/src/component_parser.cpp

@@ -912,4 +912,38 @@ std::vector<HardwareInfo> parse_control_resources_from_urdf(const std::string &
   return hardware_info;
 }
 
+std::vector<InterfaceDescription> parse_state_interface_descriptions(
+  const std::vector<ComponentInfo> & component_info)
+{
+  std::vector<InterfaceDescription> component_state_interface_descriptions;
+  component_state_interface_descriptions.reserve(component_info.size());
+
+  for (const auto & component : component_info)
+  {
+    for (const auto & state_interface : component.state_interfaces)
+    {
+      component_state_interface_descriptions.emplace_back(
+        InterfaceDescription(component.name, state_interface));
+    }
+  }
+  return component_state_interface_descriptions;
+}
+
+std::vector<InterfaceDescription> parse_command_interface_descriptions(
+  const std::vector<ComponentInfo> & component_info)
+{
+  std::vector<InterfaceDescription> component_command_interface_descriptions;
+  component_command_interface_descriptions.reserve(component_info.size());
+
+  for (const auto & component : component_info)
+  {
+    for (const auto & command_interface : component.command_interfaces)
+    {
+      component_command_interface_descriptions.emplace_back(
+        InterfaceDescription(component.name, command_interface));
+    }
+  }
+  return component_command_interface_descriptions;
+}
+
 }  // namespace hardware_interface