Merge branch 'master' into tpo-add_semantic_cmd_interface

.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/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(

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()
 
 

downstream.humble.repos

@@ -0,0 +1,13 @@
+repositories:
+  UniversalRobots/Universal_Robots_ROS2_Driver:
+    type: git
+    url: https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver.git
+    version: humble
+  webots/webots_ros2:
+    type: git
+    url: https://github.com/cyberbotics/webots_ros2.git
+    version: master
+  PickNikRobotics/topic_based_ros2_control:
+    type: git
+    url: https://github.com/PickNikRobotics/topic_based_ros2_control.git
+    version: main

downstream.jazzy.repos

@@ -0,0 +1,13 @@
+repositories:
+  UniversalRobots/Universal_Robots_ROS2_Driver:
+    type: git
+    url: https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver.git
+    version: main
+  webots/webots_ros2:
+    type: git
+    url: https://github.com/cyberbotics/webots_ros2.git
+    version: master
+  PickNikRobotics/topic_based_ros2_control:
+    type: git
+    url: https://github.com/PickNikRobotics/topic_based_ros2_control.git
+    version: main

downstream.rolling.repos

@@ -0,0 +1,13 @@
+repositories:
+  UniversalRobots/Universal_Robots_ROS2_Driver:
+    type: git
+    url: https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver.git
+    version: main
+  webots/webots_ros2:
+    type: git
+    url: https://github.com/cyberbotics/webots_ros2.git
+    version: master
+  PickNikRobotics/topic_based_ros2_control:
+    type: git
+    url: https://github.com/PickNikRobotics/topic_based_ros2_control.git
+    version: main

ros_controls.humble.repos

@@ -0,0 +1,17 @@
+repositories:
+  ros-controls/gazebo_ros2_control:
+    type: git
+    url: https://github.com/ros-controls/gazebo_ros2_control.git
+    version: humble
+  ros-controls/gz_ros2_control:
+    type: git
+    url: https://github.com/ros-controls/gz_ros2_control.git
+    version: humble
+  ros-controls/ros2_control_demos:
+    type: git
+    url: https://github.com/ros-controls/ros2_control_demos.git
+    version: humble
+  ros-controls/ros2_controllers:
+    type: git
+    url: https://github.com/ros-controls/ros2_controllers.git
+    version: humble

ros_controls.jazzy.repos

@@ -0,0 +1,13 @@
+repositories:
+  ros-controls/gz_ros2_control:
+    type: git
+    url: https://github.com/ros-controls/gz_ros2_control.git
+    version: jazzy
+  ros-controls/ros2_control_demos:
+    type: git
+    url: https://github.com/ros-controls/ros2_control_demos.git
+    version: master
+  ros-controls/ros2_controllers:
+    type: git
+    url: https://github.com/ros-controls/ros2_controllers.git
+    version: master

ros_controls.rolling.repos

@@ -0,0 +1,13 @@
+repositories:
+  ros-controls/gz_ros2_control:
+    type: git
+    url: https://github.com/ros-controls/gz_ros2_control.git
+    version: rolling
+  ros-controls/ros2_control_demos:
+    type: git
+    url: https://github.com/ros-controls/ros2_control_demos.git
+    version: master
+  ros-controls/ros2_controllers:
+    type: git
+    url: https://github.com/ros-controls/ros2_controllers.git
+    version: master