Merge branch 'humble' into mergify/bp/humble/pr-1455

.github/workflows/humble-abi-compatibility.yml

@@ -1,8 +1,6 @@
 name: Humble - ABI Compatibility Check
 on:
  workflow_dispatch:
- branches:
- - humble
  pull_request:
  branches:
  - humble

.github/workflows/rolling-abi-compatibility.yml

@@ -1,8 +1,6 @@
 name: Rolling - ABI Compatibility Check
 on:
  workflow_dispatch:
- branches:
- - master
  pull_request:
  branches:
  - master

.pre-commit-config.yaml

@@ -36,7 +36,7 @@ repos:
 
  # Python hooks
  - repo: https://github.com/asottile/pyupgrade
- rev: v3.16.0
+ rev: v3.17.0
  hooks:
  - id: pyupgrade
  args: [--py36-plus]
@@ -132,7 +132,7 @@ repos:
  exclude: CHANGELOG\.rst|\.(svg|pyc|drawio)$
 
  - repo: https://github.com/python-jsonschema/check-jsonschema
- rev: 0.28.6
+ rev: 0.29.1
  hooks:
  - id: check-github-workflows
  args: ["--verbose"]

codecov.yml

@@ -14,8 +14,6 @@ fixes:
 comment:
  layout: "diff, flags, files"
  behavior: default
-ignore:
- - "**/test"
 flags:
  unittests:
  paths:

controller_interface/CHANGELOG.rst

@@ -2,6 +2,12 @@
 Changelog for package controller_interface
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.42.0 (2024-07-23)
+-------------------
+* [ControllerInterface] Avoid warning about conversion from `int64_t` to `unsigned int` (backport `#1173 <https://github.com/ros-controls/ros2_control/issues/1173>`_) (`#1631 <https://github.com/ros-controls/ros2_control/issues/1631>`_)
+* Fix dependencies for source build (`#1533 <https://github.com/ros-controls/ros2_control/issues/1533>`_) (`#1535 <https://github.com/ros-controls/ros2_control/issues/1535>`_)
+* Contributors: mergify[bot]
+
 2.41.0 (2024-04-30)
 -------------------
 

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>2.41.0</version>
+ <version>2.42.0</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_interface/src/controller_interface_base.cpp

@@ -83,7 +83,7 @@ const rclcpp_lifecycle::State & ControllerInterfaceBase::configure()
  // Other solution is to add check into the LifecycleNode if a transition is valid to trigger
  if (get_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED)
  {
- update_rate_ = get_node()->get_parameter("update_rate").as_int();
+ update_rate_ = static_cast<unsigned int>(get_node()->get_parameter("update_rate").as_int());
  }
 
  return get_node()->configure();

controller_manager/CHANGELOG.rst

@@ -2,6 +2,12 @@
 Changelog for package controller_manager
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.42.0 (2024-07-23)
+-------------------
+* Remove noqa (`#1626 <https://github.com/ros-controls/ros2_control/issues/1626>`_) (`#1628 <https://github.com/ros-controls/ros2_control/issues/1628>`_)
+* Bump version of pre-commit hooks (backport `#1556 <https://github.com/ros-controls/ros2_control/issues/1556>`_) (`#1557 <https://github.com/ros-controls/ros2_control/issues/1557>`_)
+* Contributors: mergify[bot]
+
 2.41.0 (2024-04-30)
 -------------------
 * check for state of the controller node before cleanup (backport `#1363 <https://github.com/ros-controls/ros2_control/issues/1363>`_) (`#1378 <https://github.com/ros-controls/ros2_control/issues/1378>`_)

controller_manager/CMakeLists.txt

@@ -169,11 +169,15 @@ if(BUILD_TESTING)
  ament_add_gmock(
  test_spawner_unspawner
  test/test_spawner_unspawner.cpp
+ TIMEOUT 120
  )
  target_include_directories(test_spawner_unspawner PRIVATE include)
  target_link_libraries(test_spawner_unspawner ${PROJECT_NAME} test_controller)
  ament_target_dependencies(test_spawner_unspawner ros2_control_test_assets)
 
+ install(FILES test/test_controller_spawner_with_type.yaml
+ DESTINATION test)
+
  ament_add_gmock(
  test_hardware_management_srvs
  test/test_hardware_management_srvs.cpp
@@ -185,6 +189,11 @@ if(BUILD_TESTING)
  controller_manager_msgs
  ros2_control_test_assets
  )
+
+ find_package(ament_cmake_pytest REQUIRED)
+ install(FILES test/test_ros2_control_node.yaml
+ DESTINATION test)
+ ament_add_pytest_test(test_ros2_control_node test/test_ros2_control_node_launch.py)
 endif()
 
 # Install Python modules

controller_manager/controller_manager/controller_manager_services.py

@@ -28,15 +28,20 @@
 import rclpy
 
 
-def service_caller(node, service_name, service_type, request, service_timeout=10.0):
+class ServiceNotFoundError(Exception):
+ pass
+
+
+def service_caller(node, service_name, service_type, request, service_timeout=0.0):
  cli = node.create_client(service_type, service_name)
 
- if not cli.service_is_ready():
- node.get_logger().debug(
- f"waiting {service_timeout} seconds for service {service_name} to become available..."
- )
- if not cli.wait_for_service(service_timeout):
- raise RuntimeError(f"Could not contact service {service_name}")
+ while not cli.service_is_ready():
+ node.get_logger().info(f"waiting for service {service_name} to become available...")
+ if service_timeout:
+ if not cli.wait_for_service(service_timeout):
+ raise ServiceNotFoundError(f"Could not contact service {service_name}")
+ elif not cli.wait_for_service(10.0):
+ node.get_logger().warn(f"Could not contact service {service_name}")
 
  node.get_logger().debug(f"requester: making request: {request}\n")
  future = cli.call_async(request)
@@ -47,7 +52,7 @@ def service_caller(node, service_name, service_type, request, service_timeout=10
  raise RuntimeError(f"Exception while calling service: {future.exception()}")
 
 
-def configure_controller(node, controller_manager_name, controller_name, service_timeout=10.0):
+def configure_controller(node, controller_manager_name, controller_name, service_timeout=0.0):
  request = ConfigureController.Request()
  request.name = controller_name
  return service_caller(
@@ -59,7 +64,7 @@ def configure_controller(node, controller_manager_name, controller_name, service
  )
 
 
-def list_controllers(node, controller_manager_name, service_timeout=10.0):
+def list_controllers(node, controller_manager_name, service_timeout=0.0):
  request = ListControllers.Request()
  return service_caller(
  node,
@@ -70,7 +75,7 @@ def list_controllers(node, controller_manager_name, service_timeout=10.0):
  )
 
 
-def list_controller_types(node, controller_manager_name, service_timeout=10.0):
+def list_controller_types(node, controller_manager_name, service_timeout=0.0):
  request = ListControllerTypes.Request()
  return service_caller(
  node,
@@ -81,7 +86,7 @@ def list_controller_types(node, controller_manager_name, service_timeout=10.0):
  )
 
 
-def list_hardware_components(node, controller_manager_name, service_timeout=10.0):
+def list_hardware_components(node, controller_manager_name, service_timeout=0.0):
  request = ListHardwareComponents.Request()
  return service_caller(
  node,
@@ -92,7 +97,7 @@ def list_hardware_components(node, controller_manager_name, service_timeout=10.0
  )
 
 
-def list_hardware_interfaces(node, controller_manager_name, service_timeout=10.0):
+def list_hardware_interfaces(node, controller_manager_name, service_timeout=0.0):
  request = ListHardwareInterfaces.Request()
  return service_caller(
  node,
@@ -103,7 +108,7 @@ def list_hardware_interfaces(node, controller_manager_name, service_timeout=10.0
  )
 
 
-def load_controller(node, controller_manager_name, controller_name, service_timeout=10.0):
+def load_controller(node, controller_manager_name, controller_name, service_timeout=0.0):
  request = LoadController.Request()
  request.name = controller_name
  return service_caller(
@@ -115,7 +120,7 @@ def load_controller(node, controller_manager_name, controller_name, service_time
  )
 
 
-def reload_controller_libraries(node, controller_manager_name, force_kill, service_timeout=10.0):
+def reload_controller_libraries(node, controller_manager_name, force_kill, service_timeout=0.0):
  request = ReloadControllerLibraries.Request()
  request.force_kill = force_kill
  return service_caller(
@@ -127,7 +132,9 @@ def reload_controller_libraries(node, controller_manager_name, force_kill, servi
  )
 
 
-def set_hardware_component_state(node, controller_manager_name, component_name, lifecyle_state):
+def set_hardware_component_state(
+ node, controller_manager_name, component_name, lifecyle_state, service_timeout=0.0
+):
  request = SetHardwareComponentState.Request()
  request.name = component_name
  request.target_state = lifecyle_state
@@ -162,7 +169,7 @@ def switch_controllers(
  )
 
 
-def unload_controller(node, controller_manager_name, controller_name, service_timeout=10.0):
+def unload_controller(node, controller_manager_name, controller_name, service_timeout=0.0):
  request = UnloadController.Request()
  request.name = controller_name
  return service_caller(

controller_manager/controller_manager/hardware_spawner.py

@@ -15,13 +15,15 @@
 
 import argparse
 import sys
-import time
 
-from controller_manager import set_hardware_component_state
+from controller_manager import (
+ list_hardware_components,
+ set_hardware_component_state,
+)
+from controller_manager.controller_manager_services import ServiceNotFoundError
 
 from lifecycle_msgs.msg import State
 import rclpy
-from rclpy.duration import Duration
 from rclpy.node import Node
 from rclpy.signals import SignalHandlerOptions
 
@@ -43,18 +45,6 @@ def first_match(iterable, predicate):
  return next((n for n in iterable if predicate(n)), None)
 
 
-def wait_for_value_or(function, node, timeout, default, description):
- while node.get_clock().now() < timeout:
- result = function()
- if result:
- return result
- node.get_logger().info(
- f"Waiting for {description}", throttle_duration_sec=2, skip_first=True
- )
- time.sleep(0.2)
- return default
-
-
 def combine_name_and_namespace(name_and_namespace):
  node_name, namespace = name_and_namespace
  return namespace + ("" if namespace.endswith("/") else "/") + node_name
@@ -76,35 +66,11 @@ def has_service_names(node, node_name, node_namespace, service_names):
  return all(service in client_names for service in service_names)
 
 
-def wait_for_controller_manager(node, controller_manager, timeout_duration):
- # List of service names from controller_manager we wait for
- service_names = (
- f"{controller_manager}/list_hardware_components",
- f"{controller_manager}/set_hardware_component_state",
- )
-
- # Wait for controller_manager
- timeout = node.get_clock().now() + Duration(seconds=timeout_duration)
- node_and_namespace = wait_for_value_or(
- lambda: find_node_and_namespace(node, controller_manager),
- node,
- timeout,
- None,
- f"'{controller_manager}' node to exist",
- )
-
- # Wait for the services if the node was found
- if node_and_namespace:
- node_name, namespace = node_and_namespace
- return wait_for_value_or(
- lambda: has_service_names(node, node_name, namespace, service_names),
- node,
- timeout,
- False,
- f"'{controller_manager}' services to be available",
- )
-
- return False
+def is_hardware_component_loaded(
+ node, controller_manager, hardware_component, service_timeout=0.0
+):
+ components = list_hardware_components(node, hardware_component, service_timeout).component
+ return any(c.name == hardware_component for c in components)
 
 
 def handle_set_component_state_service_call(
@@ -168,10 +134,9 @@ def main(args=None):
  "--controller-manager-timeout",
  help="Time to wait for the controller manager",
  required=False,
- default=10,
- type=int,
+ default=0,
+ type=float,
  )
-
  # add arguments which are mutually exclusive
  activate_or_confiigure_grp.add_argument(
  "--activate",
@@ -203,13 +168,15 @@ def main(args=None):
  controller_manager_name = f"/{controller_manager_name}"
 
  try:
- if not wait_for_controller_manager(
- node, controller_manager_name, controller_manager_timeout
+ if not is_hardware_component_loaded(
+ node, controller_manager_name, hardware_component, controller_manager_timeout
  ):
- node.get_logger().error("Controller manager not available")
- return 1
-
- if activate:
+ node.get_logger().warn(
+ bcolors.WARNING
+ + "Hardware Component is not loaded - state can not be changed."
+ + bcolors.ENDC
+ )
+ elif activate:
  activate_components(node, controller_manager_name, hardware_component)
  elif configure:
  configure_components(node, controller_manager_name, hardware_component)
@@ -219,6 +186,11 @@ def main(args=None):
  )
  parser.print_help()
  return 0
+ except KeyboardInterrupt:
+ pass
+ except ServiceNotFoundError as err:
+ node.get_logger().fatal(str(err))
+ return 1
  finally:
  rclpy.shutdown()
 

controller_manager/controller_manager/launch_utils.py

@@ -29,7 +29,7 @@ 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')