Merge branch 'master' into ci_jazzy

.github/workflows/update-pre-commit.yml

@@ -5,7 +5,7 @@ name: Auto Update pre-commit
 on:
  workflow_dispatch:
  schedule:
- - cron: '0 0 * * 0' # Run every Sunday at midnight
+ - cron: '0 0 1 * *' # Runs at 00:00, on day 1 of the month
 
 jobs:
  auto_update_and_create_pr:

.pre-commit-config.yaml

@@ -49,7 +49,7 @@ repos:
  args: ["--ignore=D100,D101,D102,D103,D104,D105,D106,D107,D203,D212,D404"]
 
  - repo: https://github.com/psf/black
- rev: 24.3.0
+ rev: 24.4.2
  hooks:
  - id: black
  args: ["--line-length=99"]
@@ -62,7 +62,7 @@ repos:
 
  # CPP hooks
  - repo: https://github.com/pre-commit/mirrors-clang-format
- rev: v18.1.3
+ rev: v18.1.4
  hooks:
  - id: clang-format
  args: ['-fallback-style=none', '-i']
@@ -132,7 +132,7 @@ repos:
  exclude: CHANGELOG\.rst|\.(svg|pyc|drawio)$
 
  - repo: https://github.com/python-jsonschema/check-jsonschema
- rev: 0.28.1
+ rev: 0.28.2
  hooks:
  - id: check-github-workflows
  args: ["--verbose"]

controller_interface/CHANGELOG.rst

@@ -2,6 +2,11 @@
 Changelog for package controller_interface
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.9.0 (2024-04-30)
+------------------
+* return the proper const object of the pointer in the const method (`#1494 <https://github.com/ros-controls/ros2_control/issues/1494>`_)
+* Contributors: Sai Kishor Kothakota
+
 4.8.0 (2024-03-27)
 ------------------
 * generate version.h file per package using the ament_generate_version_header (`#1449 <https://github.com/ros-controls/ros2_control/issues/1449>`_)

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>4.8.0</version>
+ <version>4.9.0</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 +2,12 @@
 Changelog for package controller_manager
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.9.0 (2024-04-30)
+------------------
+* Deactivate the controllers when they return error similar to hardware (`#1499 <https://github.com/ros-controls/ros2_control/issues/1499>`_)
+* Component parser: Get mimic information from URDF (`#1256 <https://github.com/ros-controls/ros2_control/issues/1256>`_)
+* Contributors: Christoph Fröhlich, Sai Kishor Kothakota
+
 4.8.0 (2024-03-27)
 ------------------
 * generate version.h file per package using the ament_generate_version_header (`#1449 <https://github.com/ros-controls/ros2_control/issues/1449>`_)

controller_manager/CMakeLists.txt

@@ -190,6 +190,12 @@ if(BUILD_TESTING)
  ros2_control_test_assets::ros2_control_test_assets
  )
 
+ install(FILES test/test_controller_spawner_with_fallback_controllers.yaml
+ DESTINATION test)
+
+ install(FILES test/test_controller_spawner_with_type.yaml
+ DESTINATION test)
+
  ament_add_gmock(test_hardware_management_srvs
  test/test_hardware_management_srvs.cpp
  )

controller_manager/controller_manager/launch_utils.py

@@ -12,6 +12,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+import warnings
 from launch import LaunchDescription
 from launch.actions import DeclareLaunchArgument
 from launch.substitutions import LaunchConfiguration, PythonExpression
@@ -61,6 +62,12 @@ def generate_load_controller_launch_description(
  ]
 
  if controller_type:
+ warnings.warn(
+ "The 'controller_type' argument is deprecated and will be removed in future releases."
+ " Declare the controller type parameter in the param file instead.",
+ DeprecationWarning,
+ stacklevel=2,
+ )
  spawner_arguments += ["--controller-type", controller_type]
 
  if controller_params_file:

controller_manager/controller_manager/spawner.py

@@ -19,6 +19,7 @@
 import sys
 import time
 import warnings
+import yaml
 
 from controller_manager import (
  configure_controller,
@@ -135,6 +136,21 @@ def is_controller_loaded(node, controller_manager, controller_name):
  return any(c.name == controller_name for c in controllers)
 
 
+def get_parameter_from_param_file(controller_name, parameter_file, parameter_name):
+ with open(parameter_file) as f:
+ parameters = yaml.safe_load(f)
+ if controller_name in parameters:
+ value = parameters[controller_name]
+ if not isinstance(value, dict) or "ros__parameters" not in value:
+ raise RuntimeError(
+ f"YAML file : {parameter_file} is not a valid ROS parameter file for controller : {controller_name}"
+ )
+ if parameter_name in parameters[controller_name]["ros__parameters"]:
+ return parameters[controller_name]["ros__parameters"][parameter_name]
+ else:
+ return None
+
+
 def main(args=None):
  rclpy.init(args=args, signal_handler_options=SignalHandlerOptions.NO)
  parser = argparse.ArgumentParser()
@@ -170,7 +186,7 @@ def main(args=None):
  parser.add_argument(
  "-t",
  "--controller-type",
- help="If not provided it should exist in the controller manager namespace",
+ help="If not provided it should exist in the controller manager namespace (deprecated)",
  default=None,
  required=False,
  )
@@ -194,16 +210,31 @@ def main(args=None):
  action="store_true",
  required=False,
  )
+ parser.add_argument(
+ "--fallback_controllers",
+ help="Fallback controllers list are activated as a fallback strategy when the"
+ " spawned controllers fail. When the argument is provided, it takes precedence over"
+ " the fallback_controllers list in the param file",
+ default=None,
+ nargs="+",
+ )
 
  command_line_args = rclpy.utilities.remove_ros_args(args=sys.argv)[1:]
  args = parser.parse_args(command_line_args)
  controller_names = args.controller_names
  controller_manager_name = args.controller_manager
  controller_namespace = args.namespace
  param_file = args.param_file
- controller_type = args.controller_type
  controller_manager_timeout = args.controller_manager_timeout
 
+ if args.controller_type:
+ warnings.filterwarnings("always")
+ warnings.warn(
+ "The '--controller-type' argument is deprecated and will be removed in future releases."
+ " Declare the controller type parameter in the param file instead.",
+ DeprecationWarning,
+ )
+
  if param_file and not os.path.isfile(param_file):
  raise FileNotFoundError(errno.ENOENT, os.strerror(errno.ENOENT), param_file)
 
@@ -226,6 +257,8 @@ def main(args=None):
  return 1
 
  for controller_name in controller_names:
+ fallback_controllers = args.fallback_controllers
+ controller_type = args.controller_type
  prefixed_controller_name = controller_name
  if controller_namespace:
  prefixed_controller_name = controller_namespace + "/" + controller_name
@@ -237,6 +270,10 @@ def main(args=None):
  + bcolors.ENDC
  )
  else:
+ if not controller_type and param_file:
+ controller_type = get_parameter_from_param_file(
+ controller_name, param_file, "type"
+ )
  if controller_type:
  parameter = Parameter()
  parameter.name = prefixed_controller_name + ".type"
@@ -301,6 +338,43 @@ def main(args=None):
  )
  return 1
 
+ if not fallback_controllers and param_file:
+ fallback_controllers = get_parameter_from_param_file(
+ controller_name, param_file, "fallback_controllers"
+ )
+
+ if fallback_controllers:
+ parameter = Parameter()
+ parameter.name = prefixed_controller_name + ".fallback_controllers"
+ parameter.value = get_parameter_value(string_value=str(fallback_controllers))
+
+ response = call_set_parameters(
+ node=node, node_name=controller_manager_name, parameters=[parameter]
+ )
+ assert len(response.results) == 1
+ result = response.results[0]
+ if result.successful:
+ node.get_logger().info(
+ bcolors.OKCYAN
+ + 'Setting fallback_controllers to ["'
+ + ",".join(fallback_controllers)
+ + '"] for '
+ + bcolors.BOLD
+ + prefixed_controller_name
+ + bcolors.ENDC
+ )
+ else:
+ node.get_logger().fatal(
+ bcolors.FAIL
+ + 'Could not set fallback_controllers to ["'
+ + ",".join(fallback_controllers)
+ + '"] for '
+ + bcolors.BOLD
+ + prefixed_controller_name
+ + bcolors.ENDC
+ )
+ return 1
+
  ret = load_controller(node, controller_manager_name, controller_name)
  if not ret.ok:
  node.get_logger().fatal(

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>4.8.0</version>
+ <version>4.9.0</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>