Merge branch 'master' into semantic_components_cleanup

.github/workflows/humble-semi-binary-downstream-build.yml

@@ -0,0 +1,49 @@
+name: Humble Downstream Build
+# description: 'Build & test downstream packages from source.'
+# author: Christoph Froehlich <christoph.froehlich@ait.ac.at>
+
+on:
+  workflow_dispatch:
+  pull_request:
+    branches:
+      - humble
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '**.py'
+      - '**.yaml'
+      - '.github/workflows/humble-semi-binary-downstream-build.yml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros_controls.humble.repos'
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
+jobs:
+  build-downstream:
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
+    with:
+      ros_distro: humble
+      ros_repo: testing
+      ref_for_scheduled_build: humble
+      upstream_workspace: ros2_control.humble.repos
+      # we don't test this repository, we just build it
+      not_test_build: true
+      # we test the downstream packages, which are part of our organization
+      downstream_workspace: ros_controls.humble.repos
+      not_test_downstream: false
+  build-downstream-3rd-party:
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
+    with:
+      ros_distro: humble
+      ros_repo: testing
+      ref_for_scheduled_build: humble
+      upstream_workspace: ros2_control.humble.repos
+      # we don't test this repository, we just build it
+      not_test_build: true
+      # we don't test the downstream packages, which are outside of our organization
+      downstream_workspace: downstream.humble.repos
+      not_test_downstream: true

.github/workflows/jazzy-semi-binary-downstream-build.yml

@@ -0,0 +1,49 @@
+name: Jazzy Downstream Build
+# description: 'Build & test downstream packages from source.'
+# author: Christoph Froehlich <christoph.froehlich@ait.ac.at>
+
+on:
+  workflow_dispatch:
+  pull_request:
+    branches:
+      - master
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '**.py'
+      - '**.yaml'
+      - '.github/workflows/jazzy-semi-binary-downstream-build.yml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros_controls.jazzy.repos'
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
+jobs:
+  build-downstream:
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
+    with:
+      ros_distro: jazzy
+      ros_repo: testing
+      ref_for_scheduled_build: master
+      upstream_workspace: ros2_control.jazzy.repos
+      # we don't test this repository, we just build it
+      not_test_build: true
+      # we test the downstream packages, which are part of our organization
+      downstream_workspace: ros_controls.jazzy.repos
+      not_test_downstream: false
+  build-downstream-3rd-party:
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
+    with:
+      ros_distro: jazzy
+      ros_repo: testing
+      ref_for_scheduled_build: master
+      upstream_workspace: ros2_control.jazzy.repos
+      # we don't test this repository, we just build it
+      not_test_build: true
+      # we don't test the downstream packages, which are outside of our organization
+      downstream_workspace: downstream.jazzy.repos
+      not_test_downstream: true

.github/workflows/rolling-semi-binary-downstream-build.yml

@@ -0,0 +1,57 @@
+name: Rolling Downstream Build
+# description: 'Build & test downstream packages from source.'
+# author: Christoph Froehlich <christoph.froehlich@ait.ac.at>
+
+on:
+  workflow_dispatch:
+  pull_request:
+    branches:
+      - master
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '**.py'
+      - '**.yaml'
+      - '.github/workflows/rolling-semi-binary-downstream-build.yml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros_controls.rolling.repos'
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
+jobs:
+  build-downstream:
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
+    strategy:
+      fail-fast: false
+      matrix:
+        ROS_DISTRO: [rolling]
+    with:
+      ros_distro: ${{ matrix.ROS_DISTRO }}
+      ros_repo: testing
+      ref_for_scheduled_build: master
+      upstream_workspace: ros2_control.${{ matrix.ROS_DISTRO }}.repos
+      # we don't test this repository, we just build it
+      not_test_build: true
+      # we test the downstream packages, which are part of our organization
+      downstream_workspace: ros_controls.${{ matrix.ROS_DISTRO }}.repos
+      not_test_downstream: false
+  build-downstream-3rd-party:
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
+    strategy:
+      fail-fast: false
+      matrix:
+        ROS_DISTRO: [rolling]
+    with:
+      ros_distro: ${{ matrix.ROS_DISTRO }}
+      ros_repo: testing
+      ref_for_scheduled_build: master
+      upstream_workspace: ros2_control.${{ matrix.ROS_DISTRO }}.repos
+      # we don't test this repository, we just build it
+      not_test_build: true
+      # we don't test the downstream packages, which are outside of our organization
+      downstream_workspace: downstream.${{ matrix.ROS_DISTRO }}.repos
+      not_test_downstream: true

controller_manager/CMakeLists.txt

@@ -222,6 +222,9 @@ if(BUILD_TESTING)
   install(FILES test/test_controller_overriding_parameters.yaml
     DESTINATION test)
 
+  install(FILES test/test_controller_spawner_wildcard_entries.yaml
+    DESTINATION test)
+
   ament_add_gmock(test_hardware_management_srvs
     test/test_hardware_management_srvs.cpp
   )

controller_manager/controller_manager/controller_manager_services.py

@@ -55,6 +55,35 @@ class ServiceNotFoundError(Exception):
     pass
 
 
+class SingletonServiceCaller:
+    """
+    Singleton class to call services of controller manager.
+
+    This class is used to create a service client for a given service name.
+    If the service client already exists, it returns the existing client.
+    It is used to avoid creating multiple service clients for the same service name.
+
+    It needs Node object, service type and fully qualified service name to create a service client.
+
+    """
+
+    _clients = {}
+
+    def __new__(cls, node, service_type, fully_qualified_service_name):
+        if (node, fully_qualified_service_name) not in cls._clients:
+            cls._clients[(node, fully_qualified_service_name)] = node.create_client(
+                service_type, fully_qualified_service_name
+            )
+            node.get_logger().debug(
+                f"{bcolors.MAGENTA}Creating a new service client : {fully_qualified_service_name} with node : {node.get_name()}{bcolors.ENDC}"
+            )
+
+        node.get_logger().debug(
+            f"{bcolors.OKBLUE}Returning the existing service client : {fully_qualified_service_name} for node : {node.get_name()}{bcolors.ENDC}"
+        )
+        return cls._clients[(node, fully_qualified_service_name)]
+
+
 def service_caller(
     node,
     service_name,
@@ -92,7 +121,7 @@ def service_caller(
     fully_qualified_service_name = (
         f"{namespace}/{service_name}" if not service_name.startswith("/") else service_name
     )
-    cli = node.create_client(service_type, fully_qualified_service_name)
+    cli = SingletonServiceCaller(node, service_type, fully_qualified_service_name)
 
     while not cli.service_is_ready():
         node.get_logger().info(
@@ -296,6 +325,7 @@ def get_params_files_with_controller_parameters(
                 f"/{controller_name}" if namespace == "/" else f"{namespace}/{controller_name}"
             )
             WILDCARD_KEY = "/**"
+            ROS_PARAMS_KEY = "ros__parameters"
             parameters = yaml.safe_load(f)
             # check for the parameter in 'controller_name' or 'namespaced_controller' or '/**/namespaced_controller' or '/**/controller_name'
             for key in [
@@ -304,6 +334,8 @@ def get_params_files_with_controller_parameters(
                 f"{WILDCARD_KEY}/{controller_name}",
                 f"{WILDCARD_KEY}{namespaced_controller}",
             ]:
+                if parameter_file in controller_parameter_files:
+                    break
                 if key in parameters:
                     if key == controller_name and namespace != "/":
                         node.get_logger().fatal(
@@ -314,6 +346,8 @@ def get_params_files_with_controller_parameters(
 
                 if WILDCARD_KEY in parameters and key in parameters[WILDCARD_KEY]:
                     controller_parameter_files.append(parameter_file)
+                if WILDCARD_KEY in parameters and ROS_PARAMS_KEY in parameters[WILDCARD_KEY]:
+                    controller_parameter_files.append(parameter_file)
     return controller_parameter_files
 
 
@@ -346,6 +380,8 @@ def get_parameter_from_param_files(
 
                 if WILDCARD_KEY in parameters and key in parameters[WILDCARD_KEY]:
                     controller_param_dict = parameters[WILDCARD_KEY][key]
+                if WILDCARD_KEY in parameters and ROS_PARAMS_KEY in parameters[WILDCARD_KEY]:
+                    controller_param_dict = parameters[WILDCARD_KEY]
 
                 if controller_param_dict and (
                     not isinstance(controller_param_dict, dict)

controller_manager/controller_manager/spawner.py

@@ -342,6 +342,7 @@ def main(args=None):
         node.get_logger().fatal(str(err))
         return 1
     finally:
+        node.destroy_node()
         rclpy.shutdown()
 
 

controller_manager/doc/userdoc.rst

@@ -171,57 +171,77 @@ There are two scripts to interact with controller manager from launch files:
 
 The parsed controller config file can follow the same conventions as the typical ROS 2 parameter file format. Now, the spawner can handle config files with wildcard entries and also the controller name in the absolute namespace. See the following examples on the config files:
 
+ .. code-block:: yaml
+
+    /**:
+      ros__parameters:
+        type: joint_trajectory_controller/JointTrajectoryController
+
+        command_interfaces:
+          - position
+          .....
+
+    position_trajectory_controller_joint1:
+      ros__parameters:
+        joints:
+          - joint1
+
+    position_trajectory_controller_joint2:
+      ros__parameters:
+        joints:
+          - joint2
+
  .. code-block:: yaml
 
     /**/position_trajectory_controller:
-    ros__parameters:
-      type: joint_trajectory_controller/JointTrajectoryController
-      joints:
-        - joint1
-        - joint2
+      ros__parameters:
+        type: joint_trajectory_controller/JointTrajectoryController
+        joints:
+          - joint1
+          - joint2
 
-      command_interfaces:
-        - position
-        .....
+        command_interfaces:
+          - position
+          .....
 
  .. code-block:: yaml
 
     /position_trajectory_controller:
-    ros__parameters:
-      type: joint_trajectory_controller/JointTrajectoryController
-      joints:
-        - joint1
-        - joint2
+      ros__parameters:
+        type: joint_trajectory_controller/JointTrajectoryController
+        joints:
+          - joint1
+          - joint2
 
-      command_interfaces:
-        - position
-        .....
+        command_interfaces:
+          - position
+          .....
 
  .. code-block:: yaml
 
     position_trajectory_controller:
-    ros__parameters:
-      type: joint_trajectory_controller/JointTrajectoryController
-      joints:
-        - joint1
-        - joint2
+      ros__parameters:
+        type: joint_trajectory_controller/JointTrajectoryController
+        joints:
+          - joint1
+          - joint2
 
-      command_interfaces:
-        - position
-        .....
+        command_interfaces:
+          - position
+          .....
 
  .. code-block:: yaml
 
     /rrbot_1/position_trajectory_controller:
-    ros__parameters:
-      type: joint_trajectory_controller/JointTrajectoryController
-      joints:
-        - joint1
-        - joint2
-
-      command_interfaces:
-        - position
-        .....
+      ros__parameters:
+        type: joint_trajectory_controller/JointTrajectoryController
+        joints:
+          - joint1
+          - joint2
+
+        command_interfaces:
+          - position
+          .....
 
 ``unspawner``
 ^^^^^^^^^^^^^^^^

controller_manager/src/controller_manager.cpp

@@ -2367,17 +2367,16 @@ controller_interface::return_type ControllerManager::update(
   update_loop_counter_ %= update_rate_;
 
   // Check for valid time
-  if (
-    !get_clock()->started() &&
-    time == rclcpp::Time(0, 0, this->get_node_clock_interface()->get_clock()->get_clock_type()))
-  {
-    throw std::runtime_error(
-      "No clock received, and time argument is zero. Check your controller_manager node's "
-      "clock configuration (use_sim_time parameter) and if a valid clock source is "
-      "available. Also pass a proper time argument to the update method.");
-  }
-  else
+  if (!get_clock()->started())
   {
+    if (time == rclcpp::Time(0, 0, this->get_node_clock_interface()->get_clock()->get_clock_type()))
+    {
+      throw std::runtime_error(
+        "No clock received, and time argument is zero. Check your controller_manager node's "
+        "clock configuration (use_sim_time parameter) and if a valid clock source is "
+        "available. Also pass a proper time argument to the update method.");
+    }
+
     // this can happen with use_sim_time=true until the /clock is received
     rclcpp::Clock clock = rclcpp::Clock();
     RCLCPP_WARN_THROTTLE(