Merge branch 'master' into get_set_lifecylce_state

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

doc/migration.rst

@@ -5,7 +5,7 @@ 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 to false, to avoid getting influenced by global arguments.
+ 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

@@ -21,10 +21,8 @@ For details see the controller_manager section.
 * Pass controller manager update rate on the init of the controller interface (`#1141 <https://github.com/ros-controls/ros2_control/pull/1141>`_)
 * 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.
+* 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.
 * With (`#1683 <https://github.com/ros-controls/ros2_control/pull/1683>`_) the ``rclcpp_lifecycle::State & get_state()`` and ``void set_state(const rclcpp_lifecycle::State & new_state)`` are replaced by ``rclcpp_lifecycle::State & get_lifecycle_state()`` and ``void set_lifecycle_state(const rclcpp_lifecycle::State & new_state)``. This change affects controllers and hardware. This is related to (`#1240 <https://github.com/ros-controls/ros2_control/pull/1240>`_) as variant support introduces ``get_state`` and ``set_state`` methods for setting/getting state of handles.
-* The controllers will now set ``use_global_arguments`` from NodeOptions 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/include/hardware_interface/handle.hpp

@@ -36,13 +36,17 @@ class Handle
  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)
+ 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
@@ -53,14 +57,14 @@ class Handle
  [[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)
  {
  }
 
@@ -77,12 +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();
@@ -111,6 +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