Merge branch 'master' into make-cli-output-nicer28

ros-controls · Jul 23, 2024 · 40c007a · 40c007a
2 parents 3a6f191 + 3bc4e45
commit 40c007a
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diff --git a/controller_interface/CHANGELOG.rst b/controller_interface/CHANGELOG.rst
@@ -2,6 +2,12 @@
 Changelog for package controller_interface
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.14.0 (2024-07-23)
+-------------------
+* Unused header cleanup (`#1627 <https://github.com/ros-controls/ros2_control/issues/1627>`_)
+* move critical variables to the private context (`#1623 <https://github.com/ros-controls/ros2_control/issues/1623>`_)
+* Contributors: Henry Moore, Sai Kishor Kothakota
+
 4.13.0 (2024-07-08)
 -------------------
 * [ControllerChaining] Export state interfaces from chainable controllers (`#1021 <https://github.com/ros-controls/ros2_control/issues/1021>`_)

diff --git a/controller_interface/include/controller_interface/controller_interface.hpp b/controller_interface/include/controller_interface/controller_interface.hpp
@@ -16,7 +16,6 @@
 #define CONTROLLER_INTERFACE__CONTROLLER_INTERFACE_HPP_
 
 #include <memory>
-#include <string>
 #include <vector>
 
 #include "controller_interface/controller_interface_base.hpp"

diff --git a/controller_interface/include/controller_interface/controller_interface_base.hpp b/controller_interface/include/controller_interface/controller_interface_base.hpp
@@ -25,7 +25,6 @@
 #include "hardware_interface/loaned_command_interface.hpp"
 #include "hardware_interface/loaned_state_interface.hpp"
 
-#include "rclcpp/rclcpp.hpp"
 #include "rclcpp/version.h"
 #include "rclcpp_lifecycle/lifecycle_node.hpp"
 
@@ -258,12 +257,12 @@ class ControllerInterfaceBase : public rclcpp_lifecycle::node_interfaces::Lifecy
 protected:
  std::vector<hardware_interface::LoanedCommandInterface> command_interfaces_;
  std::vector<hardware_interface::LoanedStateInterface> state_interfaces_;
- unsigned int update_rate_ = 0;
- bool is_async_ = false;
- std::string urdf_ = "";
 
 private:
  std::shared_ptr<rclcpp_lifecycle::LifecycleNode> node_;
+ unsigned int update_rate_ = 0;
+ bool is_async_ = false;
+ std::string urdf_ = "";
 };
 
 using ControllerInterfaceBaseSharedPtr = std::shared_ptr<ControllerInterfaceBase>;

diff --git a/controller_interface/include/semantic_components/range_sensor.hpp b/controller_interface/include/semantic_components/range_sensor.hpp
@@ -15,7 +15,6 @@
 #ifndef SEMANTIC_COMPONENTS__RANGE_SENSOR_HPP_
 #define SEMANTIC_COMPONENTS__RANGE_SENSOR_HPP_
 
-#include <limits>
 #include <string>
 #include <vector>
 

diff --git a/controller_interface/package.xml b/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>4.13.0</version>
+ <version>4.14.0</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>

diff --git a/controller_interface/src/controller_interface.cpp b/controller_interface/src/controller_interface.cpp
@@ -14,14 +14,8 @@
 
 #include "controller_interface/controller_interface.hpp"
 
-#include <memory>
-#include <string>
-#include <utility>
 #include <vector>
 
-#include "hardware_interface/types/lifecycle_state_names.hpp"
-#include "lifecycle_msgs/msg/state.hpp"
-
 namespace controller_interface
 {
 ControllerInterface::ControllerInterface() : ControllerInterfaceBase() {}

diff --git a/controller_interface/src/controller_interface_base.cpp b/controller_interface/src/controller_interface_base.cpp
@@ -19,7 +19,6 @@
 #include <utility>
 #include <vector>
 
-#include "hardware_interface/types/lifecycle_state_names.hpp"
 #include "lifecycle_msgs/msg/state.hpp"
 
 namespace controller_interface

diff --git a/controller_interface/test/test_chainable_controller_interface.hpp b/controller_interface/test/test_chainable_controller_interface.hpp
@@ -15,14 +15,13 @@
 #ifndef TEST_CHAINABLE_CONTROLLER_INTERFACE_HPP_
 #define TEST_CHAINABLE_CONTROLLER_INTERFACE_HPP_
 
+#include <gmock/gmock.h>
+
 #include <string>
 #include <vector>
 
-#include "gmock/gmock.h"
-
 #include "controller_interface/chainable_controller_interface.hpp"
 #include "hardware_interface/handle.hpp"
-#include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp"
 
 constexpr char TEST_CONTROLLER_NAME[] = "testable_chainable_controller";
 constexpr double INTERFACE_VALUE = 1989.0;

diff --git a/controller_interface/test/test_controller_interface.hpp b/controller_interface/test/test_controller_interface.hpp
@@ -16,7 +16,6 @@
 #define TEST_CONTROLLER_INTERFACE_HPP_
 
 #include "controller_interface/controller_interface.hpp"
-#include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp"
 
 constexpr char TEST_CONTROLLER_NAME[] = "testable_controller_interface";
 

diff --git a/controller_interface/test/test_controller_with_options.cpp b/controller_interface/test/test_controller_with_options.cpp
@@ -17,7 +17,6 @@
 #include <gtest/gtest.h>
 #include <string>
 #include "ament_index_cpp/get_package_prefix.hpp"
-#include "rclcpp/rclcpp.hpp"
 
 class FriendControllerWithOptions : public controller_with_options::ControllerWithOptions
 {

diff --git a/controller_interface/test/test_controller_with_options.hpp b/controller_interface/test/test_controller_with_options.hpp
@@ -16,11 +16,9 @@
 #define TEST_CONTROLLER_WITH_OPTIONS_HPP_
 
 #include <map>
-#include <memory>
 #include <string>
 
 #include "controller_interface/controller_interface.hpp"
-#include "hardware_interface/types/lifecycle_state_names.hpp"
 
 namespace controller_with_options
 {

diff --git a/controller_interface/test/test_force_torque_sensor.hpp b/controller_interface/test/test_force_torque_sensor.hpp
@@ -19,12 +19,12 @@
 #ifndef TEST_FORCE_TORQUE_SENSOR_HPP_
 #define TEST_FORCE_TORQUE_SENSOR_HPP_
 
+#include <gmock/gmock.h>
+
 #include <memory>
 #include <string>
 #include <vector>
 
-#include "gmock/gmock.h"
-
 #include "semantic_components/force_torque_sensor.hpp"
 
 // implementing and friending so we can access member variables

diff --git a/controller_interface/test/test_imu_sensor.hpp b/controller_interface/test/test_imu_sensor.hpp
@@ -19,12 +19,12 @@
 #ifndef TEST_IMU_SENSOR_HPP_
 #define TEST_IMU_SENSOR_HPP_
 
+#include <gmock/gmock.h>
+
 #include <memory>
 #include <string>
 #include <vector>
 
-#include "gmock/gmock.h"
-
 #include "semantic_components/imu_sensor.hpp"
 
 // implementing and friending so we can access member variables

diff --git a/controller_interface/test/test_semantic_component_interface.hpp b/controller_interface/test/test_semantic_component_interface.hpp
@@ -19,11 +19,12 @@
 #ifndef TEST_SEMANTIC_COMPONENT_INTERFACE_HPP_
 #define TEST_SEMANTIC_COMPONENT_INTERFACE_HPP_
 
+#include <gmock/gmock.h>
+
 #include <memory>
 #include <string>
 
 #include "geometry_msgs/msg/wrench.hpp"
-#include "gmock/gmock.h"
 #include "semantic_components/semantic_component_interface.hpp"
 
 // implementing and friending so we can access member variables

diff --git a/controller_manager/CHANGELOG.rst b/controller_manager/CHANGELOG.rst
@@ -2,6 +2,14 @@
 Changelog for package controller_manager
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.14.0 (2024-07-23)
+-------------------
+* Unused header cleanup (`#1627 <https://github.com/ros-controls/ros2_control/issues/1627>`_)
+* Remove noqa (`#1626 <https://github.com/ros-controls/ros2_control/issues/1626>`_)
+* Fix controller starting with later load of robot description test (`#1624 <https://github.com/ros-controls/ros2_control/issues/1624>`_)
+* [CM] Remove support for the description parameter and use only `robot_description` topic (`#1358 <https://github.com/ros-controls/ros2_control/issues/1358>`_)
+* Contributors: Christoph Fröhlich, Dr. Denis, Henry Moore, Sai Kishor Kothakota
+
 4.13.0 (2024-07-08)
 -------------------
 * Change the spamming checking interface ERROR to DEBUG (`#1605 <https://github.com/ros-controls/ros2_control/issues/1605>`_)

diff --git a/controller_manager/CMakeLists.txt b/controller_manager/CMakeLists.txt
@@ -152,6 +152,7 @@ if(BUILD_TESTING)
  )
  target_link_libraries(test_controller_manager_urdf_passing
  controller_manager
+ test_controller
  ros2_control_test_assets::ros2_control_test_assets
  )
  ament_target_dependencies(test_controller_manager_urdf_passing

diff --git a/controller_manager/controller_manager/launch_utils.py b/controller_manager/controller_manager/launch_utils.py
@@ -30,7 +30,7 @@ def generate_load_controller_launch_description(
  'unload_on_kill' LaunchArguments and a Node action that runs the controller_manager
  spawner node to load and activate a controller
 
- Examples # noqa: D416
+ Examples
  --------
  # Assuming the controller type and controller parameters are known to the controller_manager
  generate_load_controller_launch_description('joint_state_broadcaster')

diff --git a/controller_manager/doc/userdoc.rst b/controller_manager/doc/userdoc.rst
@@ -48,7 +48,7 @@ jitter, using a lowlatency kernel can improve things a lot with being really eas
 Subscribers
 -----------
 
-~/robot_description [std_msgs::msg::String]
+robot_description [std_msgs::msg::String]
  String with the URDF xml, e.g., from ``robot_state_publisher``.
  Reloading of the URDF is not supported yet.
  All joints defined in the ``<ros2_control>``-tag have to be present in the URDF.

diff --git a/controller_manager/include/controller_manager/controller_manager.hpp b/controller_manager/include/controller_manager/controller_manager.hpp
@@ -18,7 +18,6 @@
 #include <map>
 #include <memory>
 #include <string>
-#include <tuple>
 #include <unordered_map>
 #include <utility>
 #include <vector>
@@ -42,17 +41,12 @@
 #include "controller_manager_msgs/srv/unload_controller.hpp"
 
 #include "diagnostic_updater/diagnostic_updater.hpp"
-#include "hardware_interface/handle.hpp"
 #include "hardware_interface/resource_manager.hpp"
 
 #include "pluginlib/class_loader.hpp"
 
 #include "rclcpp/executor.hpp"
 #include "rclcpp/node.hpp"
-#include "rclcpp/node_interfaces/node_logging_interface.hpp"
-#include "rclcpp/node_interfaces/node_parameters_interface.hpp"
-#include "rclcpp/parameter.hpp"
-#include "rclcpp/rclcpp.hpp"
 #include "std_msgs/msg/string.hpp"
 
 namespace controller_manager
@@ -356,7 +350,7 @@ class ControllerManager : public rclcpp::Node
  std::vector<std::string> get_controller_names();
  std::pair<std::string, std::string> split_command_interface(
  const std::string & command_interface);
- void subscribe_to_robot_description_topic();
+ void init_controller_manager();
 
  /**
  * Clear request lists used when switching controllers. The lists are shared between "callback"
@@ -585,6 +579,7 @@ class ControllerManager : public rclcpp::Node
 
  std::string robot_description_;
  rclcpp::Subscription<std_msgs::msg::String>::SharedPtr robot_description_subscription_;
+ rclcpp::TimerBase::SharedPtr robot_description_notification_timer_;
 
  struct SwitchParams
  {

diff --git a/controller_manager/include/controller_manager/controller_spec.hpp b/controller_manager/include/controller_manager/controller_spec.hpp
@@ -19,11 +19,10 @@
 #ifndef CONTROLLER_MANAGER__CONTROLLER_SPEC_HPP_
 #define CONTROLLER_MANAGER__CONTROLLER_SPEC_HPP_
 
-#include <map>
 #include <memory>
 #include <string>
 #include <vector>
-#include "controller_interface/controller_interface.hpp"
+#include "controller_interface/controller_interface_base.hpp"
 #include "hardware_interface/controller_info.hpp"
 
 namespace controller_manager

diff --git a/controller_manager/package.xml b/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>4.13.0</version>
+ <version>4.14.0</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>