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[CM] Remove deprecated parameters for initial component states. (#1357)
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* Remove deprecated parameters and warnings about getting robot descriptions from the parameter.

---------

Co-authored-by: Felix Exner (fexner) <exner@fzi.de>
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@destogl @fmauch
destogl and fmauch committed Feb 28, 2024
1 parent dbfe9ea commit 69e5e27
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Showing 2 changed files with 14 additions and 112 deletions.
57 changes: 9 additions & 48 deletions controller_manager/src/controller_manager.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -414,56 +414,17 @@ void ControllerManager::init_resource_manager(const std::string & robot_descript
State::PRIMARY_STATE_UNCONFIGURED, hardware_interface::lifecycle_state_names::UNCONFIGURED));

// inactive (configured)
// BEGIN: Keep old functionality on for backwards compatibility (Remove at the end of 2023)
std::vector<std::string> configure_components_on_start = std::vector<std::string>({});
get_parameter("configure_components_on_start", configure_components_on_start);
if (!configure_components_on_start.empty())
{
RCLCPP_WARN(
get_logger(),
"Parameter 'configure_components_on_start' is deprecated. "
"Use 'hardware_components_initial_state.inactive' instead, to set component's initial "
"state to 'inactive'. Don't use this parameters in combination with the new "
"'hardware_components_initial_state' parameter structure.");
set_components_to_state(
"configure_components_on_start",
rclcpp_lifecycle::State(
State::PRIMARY_STATE_INACTIVE, hardware_interface::lifecycle_state_names::INACTIVE));
}
// END: Keep old functionality on humble backwards compatibility (Remove at the end of 2023)
else
{
set_components_to_state(
"hardware_components_initial_state.inactive",
rclcpp_lifecycle::State(
State::PRIMARY_STATE_INACTIVE, hardware_interface::lifecycle_state_names::INACTIVE));
}
set_components_to_state(
"hardware_components_initial_state.inactive",
rclcpp_lifecycle::State(
State::PRIMARY_STATE_INACTIVE, hardware_interface::lifecycle_state_names::INACTIVE));

// BEGIN: Keep old functionality on for backwards compatibility (Remove at the end of 2023)
std::vector<std::string> activate_components_on_start = std::vector<std::string>({});
get_parameter("activate_components_on_start", activate_components_on_start);
rclcpp_lifecycle::State active_state(
State::PRIMARY_STATE_ACTIVE, hardware_interface::lifecycle_state_names::ACTIVE);
if (!activate_components_on_start.empty())
// activate all other components
for (const auto & [component, state] : components_to_activate)
{
RCLCPP_WARN(
get_logger(),
"Parameter 'activate_components_on_start' is deprecated. "
"Components are activated per default. Don't use this parameters in combination with the new "
"'hardware_components_initial_state' parameter structure.");
for (const auto & component : activate_components_on_start)
{
resource_manager_->set_component_state(component, active_state);
}
}
// END: Keep old functionality on humble for backwards compatibility (Remove at the end of 2023)
else
{
// activate all other components
for (const auto & [component, state] : components_to_activate)
{
resource_manager_->set_component_state(component, active_state);
}
rclcpp_lifecycle::State active_state(
State::PRIMARY_STATE_ACTIVE, hardware_interface::lifecycle_state_names::ACTIVE);
resource_manager_->set_component_state(component, active_state);
}
}

Expand Down
69 changes: 5 additions & 64 deletions controller_manager/test/test_hardware_management_srvs.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -207,7 +207,8 @@ class TestControllerManagerHWManagementSrvs : public TestControllerManagerSrvs
TEST_F(TestControllerManagerHWManagementSrvs, list_hardware_components)
{
// Default status after start:
// checks if "configure_components_on_start" and "activate_components_on_start" are correctly read
// checks if "hardware_components_initial_state.unconfigured" and
// "hardware_components_initial_state.inactive" are correctly read

list_hardware_components_and_check(
// actuator, sensor, system
Expand Down Expand Up @@ -395,8 +396,9 @@ class TestControllerManagerHWManagementSrvsWithoutParams

TEST_F(TestControllerManagerHWManagementSrvsWithoutParams, test_default_activation_of_all_hardware)
{
// "configure_components_on_start" and "activate_components_on_start" are not set (empty)
// therefore all hardware components are active
// "hardware_components_initial_state.unconfigured" and
// "hardware_components_initial_state.inactive" are not set (empty). Therefore, all hardware
// components are active.
list_hardware_components_and_check(
// actuator, sensor, system
std::vector<uint8_t>(
Expand All @@ -416,64 +418,3 @@ TEST_F(TestControllerManagerHWManagementSrvsWithoutParams, test_default_activati
{{false, false, false, false}, {false, false, false, false, false, false, false}}, // system
}));
}

// BEGIN: Remove at the end of 2023
class TestControllerManagerHWManagementSrvsOldParameters
: public TestControllerManagerHWManagementSrvs
{
public:
void SetUp() override
{
executor_ = std::make_shared<rclcpp::executors::SingleThreadedExecutor>();
cm_ = std::make_shared<controller_manager::ControllerManager>(
std::make_unique<hardware_interface::ResourceManager>(), executor_, TEST_CM_NAME);
run_updater_ = false;

cm_->set_parameter(
rclcpp::Parameter("robot_description", ros2_control_test_assets::minimal_robot_urdf));
cm_->set_parameter(rclcpp::Parameter(
"activate_components_on_start", std::vector<std::string>({TEST_ACTUATOR_HARDWARE_NAME})));
cm_->set_parameter(rclcpp::Parameter(
"configure_components_on_start", std::vector<std::string>({TEST_SENSOR_HARDWARE_NAME})));

std::string robot_description = "";
cm_->get_parameter("robot_description", robot_description);
if (robot_description.empty())
{
throw std::runtime_error(
"Unable to initialize resource manager, no robot description found.");
}

auto msg = std_msgs::msg::String();
msg.data = robot_description_;
cm_->robot_description_callback(msg);

SetUpSrvsCMExecutor();
}
};

TEST_F(TestControllerManagerHWManagementSrvsOldParameters, list_hardware_components)
{
// Default status after start:
// checks if "configure_components_on_start" and "activate_components_on_start" are correctly read

list_hardware_components_and_check(
// actuator, sensor, system
std::vector<uint8_t>(
{LFC_STATE::PRIMARY_STATE_ACTIVE, LFC_STATE::PRIMARY_STATE_INACTIVE,
LFC_STATE::PRIMARY_STATE_UNCONFIGURED}),
std::vector<std::string>({ACTIVE, INACTIVE, UNCONFIGURED}),
std::vector<std::vector<std::vector<bool>>>({
// is available
{{true, true}, {true, true, true}}, // actuator
{{}, {true}}, // sensor
{{false, false, false, false}, {false, false, false, false, false, false, false}}, // system
}),
std::vector<std::vector<std::vector<bool>>>({
// is claimed
{{false, false}, {false, false, false}}, // actuator
{{}, {false}}, // sensor
{{false, false, false, false}, {false, false, false, false, false, false, false}}, // system
}));
}
// END: Remove at the end of 2023

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