Merge branch 'master' into hardware_interfaces_getter_setter

.pre-commit-config.yaml

@@ -50,13 +50,13 @@ repos:
       args: ["--ignore=D100,D101,D102,D103,D104,D105,D106,D107,D203,D212,D404"]
 
   - repo: https://github.com/psf/black
-    rev: 24.4.2
+    rev: 24.8.0
     hooks:
       - id: black
         args: ["--line-length=99"]
 
   - repo: https://github.com/pycqa/flake8
-    rev: 7.1.0
+    rev: 7.1.1
     hooks:
     - id: flake8
       args: ["--extend-ignore=E501"]
@@ -133,7 +133,7 @@ repos:
         exclude: CHANGELOG\.rst|\.(svg|pyc|drawio)$
 
   - repo: https://github.com/python-jsonschema/check-jsonschema
-    rev: 0.29.1
+    rev: 0.29.2
     hooks:
       - id: check-github-workflows
         args: ["--verbose"]

controller_interface/CHANGELOG.rst

@@ -2,6 +2,11 @@
 Changelog for package controller_interface
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.17.0 (2024-09-11)
+-------------------
+* Rename `get_state` and `set_state` Functions to `get/set_lifecylce_state` (variant support) (`#1683 <https://github.com/ros-controls/ros2_control/issues/1683>`_)
+* Contributors: Manuel Muth
+
 4.16.1 (2024-08-24)
 -------------------
 

controller_interface/include/controller_interface/controller_interface_base.hpp

@@ -104,13 +104,26 @@ class ControllerInterfaceBase : public rclcpp_lifecycle::node_interfaces::Lifecy
   CONTROLLER_INTERFACE_PUBLIC
   virtual InterfaceConfiguration state_interface_configuration() const = 0;
 
+  /// Method that assigns the Loaned interfaces to the controller.
+  /**
+   * Method used by the controller_manager to assign the interfaces to the controller.
+   * \note When this method is overridden, the user has to also implement the `release_interfaces`
+   * method by overriding it to release the interfaces.
+   *
+   * \param[in] command_interfaces vector of command interfaces to be assigned to the controller.
+   * \param[in] state_interfaces vector of state interfaces to be assigned to the controller.
+   */
   CONTROLLER_INTERFACE_PUBLIC
-  void assign_interfaces(
+  virtual void assign_interfaces(
     std::vector<hardware_interface::LoanedCommandInterface> && command_interfaces,
     std::vector<hardware_interface::LoanedStateInterface> && state_interfaces);
 
+  /// Method that releases the Loaned interfaces from the controller.
+  /**
+   * Method used by the controller_manager to release the interfaces from the controller.
+   */
   CONTROLLER_INTERFACE_PUBLIC
-  void release_interfaces();
+  virtual void release_interfaces();
 
   CONTROLLER_INTERFACE_PUBLIC
   return_type init(

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>4.16.1</version>
+  <version>4.17.0</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_manager/CHANGELOG.rst

@@ -2,6 +2,15 @@
 Changelog for package controller_manager
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.17.0 (2024-09-11)
+-------------------
+* Log exception type when catching the exception (`#1749 <https://github.com/ros-controls/ros2_control/issues/1749>`_)
+* [CM] Handle other exceptions while loading the controller plugin (`#1731 <https://github.com/ros-controls/ros2_control/issues/1731>`_)
+* remove unnecessary log of the CM args (`#1720 <https://github.com/ros-controls/ros2_control/issues/1720>`_)
+* Fix unload of controllers when spawned with `--unload-on-kill` (`#1717 <https://github.com/ros-controls/ros2_control/issues/1717>`_)
+* Rename `get_state` and `set_state` Functions to `get/set_lifecylce_state` (variant support) (`#1683 <https://github.com/ros-controls/ros2_control/issues/1683>`_)
+* Contributors: Manuel Muth, Sai Kishor Kothakota
+
 4.16.1 (2024-08-24)
 -------------------
 * propage a portion of global args to the controller nodes (`#1712 <https://github.com/ros-controls/ros2_control/issues/1712>`_)

controller_manager/controller_manager/controller_manager_services.py

@@ -88,15 +88,23 @@ def service_caller(
     @return The service response
 
     """
-    cli = node.create_client(service_type, service_name)
+    namespace = "" if node.get_namespace() == "/" else node.get_namespace()
+    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)
 
     while not cli.service_is_ready():
-        node.get_logger().info(f"waiting for service {service_name} to become available...")
+        node.get_logger().info(
+            f"waiting for service {fully_qualified_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}")
+                raise ServiceNotFoundError(
+                    f"Could not contact service {fully_qualified_service_name}"
+                )
         elif not cli.wait_for_service(10.0):
-            node.get_logger().warn(f"Could not contact service {service_name}")
+            node.get_logger().warn(f"Could not contact service {fully_qualified_service_name}")
 
     node.get_logger().debug(f"requester: making request: {request}\n")
     future = None
@@ -105,13 +113,13 @@ def service_caller(
         rclpy.spin_until_future_complete(node, future, timeout_sec=call_timeout)
         if future.result() is None:
             node.get_logger().warning(
-                f"Failed getting a result from calling {service_name} in "
+                f"Failed getting a result from calling {fully_qualified_service_name} in "
                 f"{service_timeout}. (Attempt {attempt+1} of {max_attempts}.)"
             )
         else:
             return future.result()
     raise RuntimeError(
-        f"Could not successfully call service {service_name} after {max_attempts} attempts."
+        f"Could not successfully call service {fully_qualified_service_name} after {max_attempts} attempts."
     )
 
 

controller_manager/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_manager</name>
-  <version>4.16.1</version>
+  <version>4.17.0</version>
   <description>Description of controller_manager</description>
   <maintainer email="bence.magyar.robotics@gmail.com">Bence Magyar</maintainer>
   <maintainer email="denis@stoglrobotics.de">Denis Štogl</maintainer>

controller_manager/src/controller_manager.cpp

@@ -467,13 +467,22 @@ controller_interface::ControllerInterfaceBaseSharedPtr ControllerManager::load_c
       controller = chainable_loader_->createSharedInstance(controller_type);
     }
   }
-  catch (const pluginlib::CreateClassException & e)
+  catch (const std::exception & e)
   {
     RCLCPP_ERROR(
-      get_logger(), "Error happened during creation of controller '%s' with type '%s':\n%s",
-      controller_name.c_str(), controller_type.c_str(), e.what());
+      get_logger(),
+      "Caught exception of type : %s while loading the controller '%s' of plugin type '%s':\n%s",
+      typeid(e).name(), controller_name.c_str(), controller_type.c_str(), e.what());
     return nullptr;
   }
+  catch (...)
+  {
+    RCLCPP_ERROR(
+      get_logger(),
+      "Caught unknown exception while loading the controller '%s' of plugin type '%s'",
+      controller_name.c_str(), controller_type.c_str());
+    throw;
+  }
 
   ControllerSpec controller_spec;
   controller_spec.c = controller;
@@ -607,8 +616,9 @@ controller_interface::return_type ControllerManager::unload_controller(
     catch (const std::exception & e)
     {
       RCLCPP_ERROR(
-        get_logger(), "Failed to clean-up the controller '%s' before unloading: %s",
-        controller_name.c_str(), e.what());
+        get_logger(),
+        "Caught exception of type : %s while cleaning up the controller '%s' before unloading: %s",
+        typeid(e).name(), controller_name.c_str(), e.what());
     }
     catch (...)
     {
@@ -712,8 +722,8 @@ controller_interface::return_type ControllerManager::configure_controller(
   catch (const std::exception & e)
   {
     RCLCPP_ERROR(
-      get_logger(), "Caught exception while configuring controller '%s': %s",
-      controller_name.c_str(), e.what());
+      get_logger(), "Caught exception of type : %s while configuring controller '%s': %s",
+      typeid(e).name(), controller_name.c_str(), e.what());
     return controller_interface::return_type::ERROR;
   }
   catch (...)
@@ -1424,8 +1434,8 @@ controller_interface::ControllerInterfaceBaseSharedPtr ControllerManager::add_co
   {
     to.clear();
     RCLCPP_ERROR(
-      get_logger(), "Caught exception while initializing controller '%s': %s",
-      controller.info.name.c_str(), e.what());
+      get_logger(), "Caught exception of type : %s while initializing controller '%s': %s",
+      typeid(e).name(), controller.info.name.c_str(), e.what());
     return nullptr;
   }
   catch (...)
@@ -1500,8 +1510,8 @@ void ControllerManager::deactivate_controllers(
       catch (const std::exception & e)
       {
         RCLCPP_ERROR(
-          get_logger(), "Caught exception while deactivating the  controller '%s': %s",
-          controller_name.c_str(), e.what());
+          get_logger(), "Caught exception of type : %s while deactivating the  controller '%s': %s",
+          typeid(e).name(), controller_name.c_str(), e.what());
         continue;
       }
       catch (...)
@@ -1618,7 +1628,10 @@ void ControllerManager::activate_controllers(
       catch (const std::exception & e)
       {
         RCLCPP_ERROR(
-          get_logger(), "Can't activate controller '%s': %s", controller_name.c_str(), e.what());
+          get_logger(),
+          "Caught exception of type : %s while claiming the command interfaces. Can't activate "
+          "controller '%s': %s",
+          typeid(e).name(), controller_name.c_str(), e.what());
         assignment_successful = false;
         break;
       }
@@ -1653,7 +1666,10 @@ void ControllerManager::activate_controllers(
       catch (const std::exception & e)
       {
         RCLCPP_ERROR(
-          get_logger(), "Can't activate controller '%s': %s", controller_name.c_str(), e.what());
+          get_logger(),
+          "Caught exception of type : %s while claiming the state interfaces. Can't activate "
+          "controller '%s': %s",
+          typeid(e).name(), controller_name.c_str(), e.what());
         assignment_successful = false;
         break;
       }
@@ -1681,8 +1697,8 @@ void ControllerManager::activate_controllers(
     catch (const std::exception & e)
     {
       RCLCPP_ERROR(
-        get_logger(), "Caught exception while activating the controller '%s': %s",
-        controller_name.c_str(), e.what());
+        get_logger(), "Caught exception of type : %s while activating the controller '%s': %s",
+        typeid(e).name(), controller_name.c_str(), e.what());
       continue;
     }
     catch (...)
@@ -2287,8 +2303,8 @@ controller_interface::return_type ControllerManager::update(
         catch (const std::exception & e)
         {
           RCLCPP_ERROR(
-            get_logger(), "Caught exception while updating controller '%s': %s",
-            loaded_controller.info.name.c_str(), e.what());
+            get_logger(), "Caught exception of type : %s while updating controller '%s': %s",
+            typeid(e).name(), loaded_controller.info.name.c_str(), e.what());
           controller_ret = controller_interface::return_type::ERROR;
         }
         catch (...)

controller_manager_msgs/CHANGELOG.rst

@@ -2,6 +2,9 @@
 Changelog for package controller_manager_msgs
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.17.0 (2024-09-11)
+-------------------
+
 4.16.1 (2024-08-24)
 -------------------
 

controller_manager_msgs/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>controller_manager_msgs</name>
-  <version>4.16.1</version>
+  <version>4.17.0</version>
   <description>Messages and services for the controller manager.</description>
   <maintainer email="bence.magyar.robotics@gmail.com">Bence Magyar</maintainer>
   <maintainer email="denis@stoglrobotics.de">Denis Štogl</maintainer>

doc/release_notes.rst

@@ -24,6 +24,7 @@ For details see the controller_manager section.
 * All chainable controllers must implement the method ``export_state_interfaces`` to export the state interfaces, similar to ``export_reference_interfaces`` method that is exporting the reference interfaces.
 * The controllers will now set ``use_global_arguments`` from `NodeOptions <https://docs.ros.org/en/rolling/p/rclcpp/generated/classrclcpp_1_1NodeOptions.html#_CPPv4N6rclcpp11NodeOptions20use_global_argumentsEb>`__ to false, to avoid getting influenced by global arguments (Issue : `#1684 <https://github.com/ros-controls/ros2_control/issues/1684>`_) (`#1694 <https://github.com/ros-controls/ros2_control/pull/1694>`_). From now on, in order to set the parameters to the controller, the ``--param-file`` option from spawner should be used.
 * With (`#1683 <https://github.com/ros-controls/ros2_control/pull/1683>`_) the ``rclcpp_lifecycle::State & get_state()`` and ``void set_state(const rclcpp_lifecycle::State & new_state)`` are replaced by ``rclcpp_lifecycle::State & get_lifecycle_state()`` and ``void set_lifecycle_state(const rclcpp_lifecycle::State & new_state)``. This change affects controllers and hardware. This is related to (`#1240 <https://github.com/ros-controls/ros2_control/pull/1240>`_) as variant support introduces ``get_state`` and ``set_state`` methods for setting/getting state of handles.
+* The ``assign_interfaces`` and ``release_interfaces`` methods are now virtual, so that the user can override them to store the interfaces into custom variable types, so that the user can have the flexibility to take the ownership of the loaned interfaces to the controller (`#1743 <https://github.com/ros-controls/ros2_control/pull/1743>`_)
 
 controller_manager
 ******************
@@ -104,6 +105,7 @@ hardware_interface
 * Access to logger and clock through ``get_logger`` and ``get_clock`` methods in ResourceManager and HardwareComponents ``Actuator``, ``Sensor`` and ``System`` (`#1585 <https://github.com/ros-controls/ros2_control/pull/1585>`_)
 * Added ``get_hardware_info`` method to the hardware components interface to access the ``HardwareInfo`` instead of accessing the variable ``info_`` directly (`#1643 <https://github.com/ros-controls/ros2_control/pull/1643>`_)
 * With (`#1683 <https://github.com/ros-controls/ros2_control/pull/1683>`_) the ``rclcpp_lifecycle::State & get_state()`` and ``void set_state(const rclcpp_lifecycle::State & new_state)`` are replaced by ``rclcpp_lifecycle::State & get_lifecycle_state()`` and ``void set_lifecycle_state(const rclcpp_lifecycle::State & new_state)``. This change affects controllers and hardware. This is related to (`#1240 <https://github.com/ros-controls/ros2_control/pull/1240>`_) as variant support introduces ``get_state`` and ``set_state`` methods for setting/getting state of handles.
+* With (`#1421 <https://github.com/ros-controls/ros2_control/pull/1421>`_) a key-value storage is added to InterfaceInfo. This allows to define extra params with per Command-/StateInterface in the ``.ros2_control.xacro`` file.
 
 joint_limits
 ************
@@ -126,3 +128,15 @@ ros2controlcli
   .. code-block:: bash
 
     ros2 control set_hardware_component_state <hardware_component_name> <state>
+
+* The ``load_controller`` now supports parsing of the params file (`#1703 <https://github.com/ros-controls/ros2_control/pull/1703>`_).
+
+  .. code-block:: bash
+
+    ros2 control load_controller <controller_name> <realtive_or_absolute_file_path>
+
+* All the ros2controlcli verbs now support the namespacing through the ROS 2 standard way (`#1703 <https://github.com/ros-controls/ros2_control/pull/1703>`_).
+
+  .. code-block:: bash
+
+    ros2 control <verb> <arguments> --ros-args -r __ns:=<namespace>

hardware_interface/CHANGELOG.rst

@@ -2,6 +2,14 @@
 Changelog for package hardware_interface
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.17.0 (2024-09-11)
+-------------------
+* Log exception type when catching the exception (`#1749 <https://github.com/ros-controls/ros2_control/issues/1749>`_)
+* Fix spam of logs on failed hardware component initialization (`#1719 <https://github.com/ros-controls/ros2_control/issues/1719>`_)
+* [HWItfs] Add key-value-storage to the InterfaceInfo (`#1421 <https://github.com/ros-controls/ros2_control/issues/1421>`_)
+* Rename `get_state` and `set_state` Functions to `get/set_lifecylce_state` (variant support) (`#1683 <https://github.com/ros-controls/ros2_control/issues/1683>`_)
+* Contributors: Manuel Muth, Sai Kishor Kothakota
+
 4.16.1 (2024-08-24)
 -------------------
 

hardware_interface/doc/hardware_interface_types_userdoc.rst

@@ -9,6 +9,38 @@ The ``ros2_control`` framework provides a set of hardware interface types that c
 a hardware component for a specific robot or device.
 The following sections describe the different hardware interface types and their usage.
 
+Overview
+*****************************
+Hardware in ros2_control is described as URDF and internally parsed and encapsulated as ``HardwareInfo``.
+The definition can be found in the `ros2_control repository <https://github.com/ros-controls/ros2_control/blob/master/hardware_interface/include/hardware_interface/hardware_info.hpp>`_.
+You can check the structs defined there to see what attributes are available for each of the xml tags.
+A generic example which shows the structure is provided below. More specific examples can be found in the Example part below.
+
+.. code:: xml
+
+    <ros2_control name="Name_of_the_hardware" type="system">
+      <hardware>
+        <plugin>library_name/ClassName</plugin>
+        <!-- added to hardware_parameters -->
+        <param name="example_param">value</param>
+      </hardware>
+      <joint name="name_of_the_component">
+        <command_interface name="interface_name">
+          <!-- All of them are optional. `data_type` and `size` are used for GPIOs. Size is length of an array. -->
+          <param name="min">-1</param>
+          <param name="max">1</param>
+          <param name="initial_value">0.0</param>
+          <param name="data_type"></param>
+          <param name="size">5</param>
+           <!-- Optional. Added to the key/value storage parameters -->
+          <param name="own_param_1">some_value</param>
+          <param name="own_param_2">other_value</param>
+        </command_interface>
+        <!-- Short form to define StateInterface. Can be extended like CommandInterface. -->
+        <state_interface name="position"/>
+      </joint>
+    </ros2_control>
+
 Joints
 *****************************
 ``<joint>``-tag groups the interfaces associated with the joints of physical robots and actuators.

hardware_interface/include/hardware_interface/hardware_info.hpp

@@ -46,6 +46,10 @@ struct InterfaceInfo
   int size;
   /// (Optional) enable or disable the limits for the command interfaces
   bool enable_limits;
+  /// (Optional) Key-value pairs of command/stateInterface parameters. This is
+  /// useful for drivers that operate on protocols like modbus, where each
+  /// interface needs own address(register), datatype, etc.
+  std::unordered_map<std::string, std::string> parameters;
 };
 
 /// @brief This structure stores information about a joint that is mimicking another joint