Merge branch 'master' into add-simple-joint-limiter

.github/mergify.yml

@@ -8,6 +8,15 @@ pull_request_rules:
         branches:
           - humble
 
+  - name: Backport to iron at reviewers discretion
+    conditions:
+      - base=master
+      - "label=backport-iron"
+    actions:
+      backport:
+        branches:
+          - iron
+
   - name: Ask to resolve conflict
     conditions:
       - conflict

.github/workflows/ci-coverage-build.yml

@@ -1,8 +1,6 @@
 name: Coverage Build
 on:
   workflow_dispatch:
-    branches:
-      - master
   push:
     branches:
       - master
@@ -23,19 +21,15 @@ jobs:
         with:
           required-ros-distributions: ${{ env.ROS_DISTRO }}
       - uses: actions/checkout@v4
-      - uses: ros-tooling/action-ros-ci@0.3.4
+      - uses: ros-tooling/action-ros-ci@0.3.5
         with:
           target-ros2-distro: ${{ env.ROS_DISTRO }}
           import-token: ${{ secrets.GITHUB_TOKEN }}
           # build all packages listed in the meta package
           package-name:
             controller_interface
             controller_manager
-            controller_manager_msgs
             hardware_interface
-            ros2controlcli
-            ros2_control
-            ros2_control_test_assets
             transmission_interface
 
           vcs-repo-file-url: |

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

@@ -2,10 +2,10 @@ name: Iron - ABI Compatibility Check
 on:
   workflow_dispatch:
     branches:
-      - master
+      - iron
   pull_request:
     branches:
-      - master
+      - iron
 
 jobs:
   abi_check:

.github/workflows/iron-binary-build-main.yml

@@ -5,13 +5,13 @@ name: Iron Binary Build - main
 on:
   workflow_dispatch:
     branches:
-      - master
+      - iron
   pull_request:
     branches:
-      - master
+      - iron
   push:
     branches:
-      - master
+      - iron
   schedule:
     # Run every morning to detect flakiness and broken dependencies
     - cron: '03 1 * * *'
@@ -23,4 +23,4 @@ jobs:
       ros_distro: iron
       ros_repo: main
       upstream_workspace: ros2_control-not-released.iron.repos
-      ref_for_scheduled_build: master
+      ref_for_scheduled_build: iron

.github/workflows/iron-binary-build-testing.yml

@@ -5,13 +5,13 @@ name: Iron Binary Build - testing
 on:
   workflow_dispatch:
     branches:
-      - master
+      - iron
   pull_request:
     branches:
-      - master
+      - iron
   push:
     branches:
-      - master
+      - iron
   schedule:
     # Run every morning to detect flakiness and broken dependencies
     - cron: '03 1 * * *'
@@ -23,4 +23,4 @@ jobs:
       ros_distro: iron
       ros_repo: testing
       upstream_workspace: ros2_control-not-released.iron.repos
-      ref_for_scheduled_build: master
+      ref_for_scheduled_build: iron

.github/workflows/iron-semi-binary-build-main.yml

@@ -4,13 +4,13 @@ name: Iron Semi-Binary Build - main
 on:
   workflow_dispatch:
     branches:
-      - master
+      - iron
   pull_request:
     branches:
-      - master
+      - iron
   push:
     branches:
-      - master
+      - iron
   schedule:
     # Run every morning to detect flakiness and broken dependencies
     - cron: '33 1 * * *'
@@ -22,4 +22,4 @@ jobs:
       ros_distro: iron
       ros_repo: main
       upstream_workspace: ros2_control.iron.repos
-      ref_for_scheduled_build: master
+      ref_for_scheduled_build: iron

.github/workflows/iron-semi-binary-build-testing.yml

@@ -4,13 +4,13 @@ name: Iron Semi-Binary Build - testing
 on:
   workflow_dispatch:
     branches:
-      - master
+      - iron
   pull_request:
     branches:
-      - master
+      - iron
   push:
     branches:
-      - master
+      - iron
   schedule:
     # Run every morning to detect flakiness and broken dependencies
     - cron: '33 1 * * *'
@@ -22,4 +22,4 @@ jobs:
       ros_distro: iron
       ros_repo: testing
       upstream_workspace: ros2_control.iron.repos
-      ref_for_scheduled_build: master
+      ref_for_scheduled_build: iron

.github/workflows/iron-source-build.yml

@@ -2,10 +2,10 @@ name: Iron Source Build
 on:
   workflow_dispatch:
     branches:
-      - master
+      - iron
   push:
     branches:
-      - master
+      - iron
   schedule:
     # Run every day to detect flakiness and broken dependencies
     - cron: '03 3 * * *'
@@ -15,5 +15,5 @@ jobs:
     uses: ./.github/workflows/reusable-ros-tooling-source-build.yml
     with:
       ros_distro: iron
-      ref: master
+      ref: iron
       ros2_repo_branch: iron

.github/workflows/reusable-ros-tooling-source-build.yml

@@ -32,7 +32,7 @@ jobs:
       - uses: actions/checkout@v4
         with:
           ref: ${{ inputs.ref }}
-      - uses: ros-tooling/action-ros-ci@0.3.4
+      - uses: ros-tooling/action-ros-ci@0.3.5
         with:
           target-ros2-distro: ${{ inputs.ros_distro }}
           # build all packages listed in the meta package

README.md

@@ -1,6 +1,7 @@
 # ros2_control
 
 [![Licence](https://img.shields.io/badge/License-Apache%202.0-blue.svg)](https://opensource.org/licenses/Apache-2.0)
+[![codecov](https://codecov.io/gh/ros-controls/ros2_control/graph/badge.svg?token=idvm1zJXOf)](https://codecov.io/gh/ros-controls/ros2_control)
 
 This package is a part of the ros2_control framework.
 For more, please check the [documentation](https://control.ros.org/).
@@ -11,7 +12,7 @@ For more, please check the [documentation](https://control.ros.org/).
 ROS2 Distro | Branch | Build status | Documentation | Released packages
 :---------: | :----: | :----------: | :-----------: | :---------------:
 **Rolling** | [`master`](https://github.com/ros-controls/ros2_control/tree/master) | [![Rolling Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/rolling-binary-build-main.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control/actions/workflows/rolling-binary-build-main.yml?branch=master) <br /> [![Rolling Semi-Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/rolling-semi-binary-build-main.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control/actions/workflows/rolling-semi-binary-build-main.yml?branch=master) | [Documentation](https://control.ros.org/master/index.html) <br /> [API Reference](https://control.ros.org/master/doc/api/index.html) | [ros2_control](https://index.ros.org/p/ros2_control/#rolling)
-**Iron** | [`master`](https://github.com/ros-controls/ros2_control/tree/master) | [![Iron Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/iron-binary-build-main.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control/actions/workflows/iron-binary-build-main.yml?branch=master) <br /> [![Iron Semi-Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/iron-semi-binary-build-main.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control/actions/workflows/iron-semi-binary-build-main.yml?branch=master) | [Documentation](https://control.ros.org/master/index.html) <br /> [API Reference](https://control.ros.org/master/doc/api/index.html) | [ros2_control](https://index.ros.org/p/ros2_control/#iron)
+**Iron** | [`iron`](https://github.com/ros-controls/ros2_control/tree/iron) | [![Iron Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/iron-binary-build-main.yml/badge.svg?branch=iron)](https://github.com/ros-controls/ros2_control/actions/workflows/iron-binary-build-main.yml?branch=iron) <br /> [![Iron Semi-Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/iron-semi-binary-build-main.yml/badge.svg?branch=iron)](https://github.com/ros-controls/ros2_control/actions/workflows/iron-semi-binary-build-main.yml?branch=iron) | [Documentation](https://control.ros.org/iron/index.html) <br /> [API Reference](https://control.ros.org/iron/doc/api/index.html) | [ros2_control](https://index.ros.org/p/ros2_control/#iron)
 **Humble** | [`humble`](https://github.com/ros-controls/ros2_control/tree/humble) | [![Humble Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/humble-binary-build-main.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control/actions/workflows/humble-binary-build-main.yml?branch=master) <br /> [![Humble Semi-Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/humble-semi-binary-build-main.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control/actions/workflows/humble-semi-binary-build-main.yml?branch=master) | [Documentation](https://control.ros.org/humble/index.html) <br /> [API Reference](https://control.ros.org/humble/doc/api/index.html) | [ros2_control](https://index.ros.org/p/ros2_control/#humble)
 
 [Detailed build status](.github/workflows/README.md)

codecov.yml

@@ -14,12 +14,12 @@ fixes:
 comment:
   layout: "diff, flags, files"
   behavior: default
+ignore:
+  - "**/test"
 flags:
   unittests:
     paths:
       - controller_interface
       - controller_manager
       - hardware_interface
-      - joint_limits_interface
-      - test_robot_hardware
       - transmission_interface

controller_interface/CHANGELOG.rst

@@ -2,6 +2,15 @@
 Changelog for package controller_interface
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.0.0 (2023-11-21)
+------------------
+* Pass controller manager update rate on the init of the controller interface  (`#1141 <https://github.com/ros-controls/ros2_control/issues/1141>`_)
+* Pass URDF to controllers on init (`#1088 <https://github.com/ros-controls/ros2_control/issues/1088>`_)
+* Contributors: Bence Magyar, Sai Kishor Kothakota
+
+3.21.0 (2023-11-06)
+-------------------
+
 3.20.0 (2023-10-31)
 -------------------
 

controller_interface/include/controller_interface/controller_interface_base.hpp

@@ -114,7 +114,8 @@ class ControllerInterfaceBase : public rclcpp_lifecycle::node_interfaces::Lifecy
 
   CONTROLLER_INTERFACE_PUBLIC
   virtual return_type init(
-    const std::string & controller_name, const std::string & namespace_ = "",
+    const std::string & controller_name, const std::string & urdf, unsigned int cm_update_rate,
+    const std::string & namespace_ = "",
     const rclcpp::NodeOptions & node_options = rclcpp::NodeOptions().enable_logger_service(true));
 
   /// Custom configure method to read additional parameters for controller-nodes
@@ -155,6 +156,9 @@ class ControllerInterfaceBase : public rclcpp_lifecycle::node_interfaces::Lifecy
   CONTROLLER_INTERFACE_PUBLIC
   bool is_async() const;
 
+  CONTROLLER_INTERFACE_PUBLIC
+  const std::string & get_robot_description() const;
+
   /// Declare and initialize a parameter with a type.
   /**
    *
@@ -223,6 +227,7 @@ class ControllerInterfaceBase : public rclcpp_lifecycle::node_interfaces::Lifecy
   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_;

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>3.20.0</version>
+  <version>4.0.0</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

@@ -25,15 +25,16 @@
 namespace controller_interface
 {
 return_type ControllerInterfaceBase::init(
-  const std::string & controller_name, const std::string & namespace_,
-  const rclcpp::NodeOptions & node_options)
+  const std::string & controller_name, const std::string & urdf, unsigned int cm_update_rate,
+  const std::string & namespace_, const rclcpp::NodeOptions & node_options)
 {
   node_ = std::make_shared<rclcpp_lifecycle::LifecycleNode>(
     controller_name, namespace_, node_options, false);  // disable LifecycleNode service interfaces
+  urdf_ = urdf;
 
   try
   {
-    auto_declare<int>("update_rate", 0);
+    auto_declare<int>("update_rate", cm_update_rate);
     auto_declare<bool>("is_async", false);
   }
   catch (const std::exception & e)
@@ -132,4 +133,6 @@ unsigned int ControllerInterfaceBase::get_update_rate() const { return update_ra
 
 bool ControllerInterfaceBase::is_async() const { return is_async_; }
 
+const std::string & ControllerInterfaceBase::get_robot_description() const { return urdf_; }
+
 }  // namespace controller_interface

controller_interface/test/test_chainable_controller_interface.cpp

@@ -21,7 +21,7 @@ TEST_F(ChainableControllerInterfaceTest, default_returns)
   TestableChainableControllerInterface controller;
 
   // initialize, create node
-  ASSERT_EQ(controller.init(TEST_CONTROLLER_NAME), controller_interface::return_type::OK);
+  ASSERT_EQ(controller.init(TEST_CONTROLLER_NAME, "", 50.0), controller_interface::return_type::OK);
   ASSERT_NO_THROW(controller.get_node());
 
   EXPECT_TRUE(controller.is_chainable());
@@ -33,7 +33,7 @@ TEST_F(ChainableControllerInterfaceTest, export_reference_interfaces)
   TestableChainableControllerInterface controller;
 
   // initialize, create node
-  ASSERT_EQ(controller.init(TEST_CONTROLLER_NAME), controller_interface::return_type::OK);
+  ASSERT_EQ(controller.init(TEST_CONTROLLER_NAME, "", 50.0), controller_interface::return_type::OK);
   ASSERT_NO_THROW(controller.get_node());
 
   auto reference_interfaces = controller.export_reference_interfaces();
@@ -50,7 +50,7 @@ TEST_F(ChainableControllerInterfaceTest, reference_interfaces_storage_not_correc
   TestableChainableControllerInterface controller;
 
   // initialize, create node
-  ASSERT_EQ(controller.init(TEST_CONTROLLER_NAME), controller_interface::return_type::OK);
+  ASSERT_EQ(controller.init(TEST_CONTROLLER_NAME, "", 50.0), controller_interface::return_type::OK);
   ASSERT_NO_THROW(controller.get_node());
 
   // expect empty return because storage is not resized
@@ -64,7 +64,7 @@ TEST_F(ChainableControllerInterfaceTest, reference_interfaces_prefix_is_not_node
   TestableChainableControllerInterface controller;
 
   // initialize, create node
-  ASSERT_EQ(controller.init(TEST_CONTROLLER_NAME), controller_interface::return_type::OK);
+  ASSERT_EQ(controller.init(TEST_CONTROLLER_NAME, "", 50.0), controller_interface::return_type::OK);
   ASSERT_NO_THROW(controller.get_node());
 
   controller.set_name_prefix_of_reference_interfaces("some_not_correct_interface_prefix");
@@ -79,7 +79,7 @@ TEST_F(ChainableControllerInterfaceTest, setting_chained_mode)
   TestableChainableControllerInterface controller;
 
   // initialize, create node
-  ASSERT_EQ(controller.init(TEST_CONTROLLER_NAME), controller_interface::return_type::OK);
+  ASSERT_EQ(controller.init(TEST_CONTROLLER_NAME, "", 50.0), controller_interface::return_type::OK);
   ASSERT_NO_THROW(controller.get_node());
 
   auto reference_interfaces = controller.export_reference_interfaces();
@@ -126,7 +126,7 @@ TEST_F(ChainableControllerInterfaceTest, test_update_logic)
   TestableChainableControllerInterface controller;
 
   // initialize, create node
-  ASSERT_EQ(controller.init(TEST_CONTROLLER_NAME), controller_interface::return_type::OK);
+  ASSERT_EQ(controller.init(TEST_CONTROLLER_NAME, "", 50.0), controller_interface::return_type::OK);
   ASSERT_NO_THROW(controller.get_node());
 
   EXPECT_FALSE(controller.is_in_chained_mode());

controller_interface/test/test_controller_interface.cpp

@@ -38,15 +38,15 @@ TEST(TestableControllerInterface, init)
   ASSERT_THROW(controller.get_node(), std::runtime_error);
 
   // initialize, create node
-  ASSERT_EQ(controller.init(TEST_CONTROLLER_NAME), controller_interface::return_type::OK);
+  ASSERT_EQ(controller.init(TEST_CONTROLLER_NAME, "", 10.0), controller_interface::return_type::OK);
   ASSERT_NO_THROW(controller.get_node());
 
   // update_rate is set to default 0
   ASSERT_EQ(controller.get_update_rate(), 0u);
 
-  // Even after configure is 0
+  // Even after configure is 10
   controller.configure();
-  ASSERT_EQ(controller.get_update_rate(), 0u);
+  ASSERT_EQ(controller.get_update_rate(), 10u);
 
   rclcpp::shutdown();
 }
@@ -60,7 +60,7 @@ TEST(TestableControllerInterface, setting_update_rate_in_configure)
 
   TestableControllerInterface controller;
   // initialize, create node
-  ASSERT_EQ(controller.init(TEST_CONTROLLER_NAME), controller_interface::return_type::OK);
+  ASSERT_EQ(controller.init(TEST_CONTROLLER_NAME, "", 1.0), controller_interface::return_type::OK);
 
   // initialize executor to be able to get parameter update
   auto executor =
@@ -122,7 +122,8 @@ TEST(TestableControllerInterfaceInitError, init_with_error)
   TestableControllerInterfaceInitError controller;
 
   // initialize, create node
-  ASSERT_EQ(controller.init(TEST_CONTROLLER_NAME), controller_interface::return_type::ERROR);
+  ASSERT_EQ(
+    controller.init(TEST_CONTROLLER_NAME, "", 100.0), controller_interface::return_type::ERROR);
 
   rclcpp::shutdown();
 }
@@ -136,7 +137,8 @@ TEST(TestableControllerInterfaceInitFailure, init_with_failure)
   TestableControllerInterfaceInitFailure controller;
 
   // initialize, create node
-  ASSERT_EQ(controller.init(TEST_CONTROLLER_NAME), controller_interface::return_type::ERROR);
+  ASSERT_EQ(
+    controller.init(TEST_CONTROLLER_NAME, "", 50.0), controller_interface::return_type::ERROR);
 
   rclcpp::shutdown();
 }