Merge branch 'master' into get_set_lifecylce_state

ros-controls · Aug 26, 2024 · 9eb43f5 · 9eb43f5
2 parents 1a26869 + 6164883
commit 9eb43f5
Show file tree

Hide file tree

Showing 27 changed files with 165 additions and 24 deletions.
diff --git a/controller_interface/CHANGELOG.rst b/controller_interface/CHANGELOG.rst
@@ -2,6 +2,15 @@
 Changelog for package controller_interface
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.16.1 (2024-08-24)
+-------------------
+
+4.16.0 (2024-08-22)
+-------------------
+* Fix params_file typo in spawner and update release notes for use_global_arguments (`#1701 <https://github.com/ros-controls/ros2_control/issues/1701>`_)
+* Avoid using the global arguments for internal controller nodes (`#1694 <https://github.com/ros-controls/ros2_control/issues/1694>`_)
+* Contributors: Sai Kishor Kothakota
+
 4.15.0 (2024-08-05)
 -------------------
 

diff --git a/controller_interface/package.xml b/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>4.15.0</version>
+ <version>4.16.1</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>

diff --git a/controller_manager/CHANGELOG.rst b/controller_manager/CHANGELOG.rst
@@ -2,6 +2,26 @@
 Changelog for package controller_manager
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+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>`_)
+* Contributors: Sai Kishor Kothakota
+
+4.16.0 (2024-08-22)
+-------------------
+* inform user what reason is for not setting rt policy, inform is policy (`#1705 <https://github.com/ros-controls/ros2_control/issues/1705>`_)
+* Fix params_file typo in spawner and update release notes for use_global_arguments (`#1701 <https://github.com/ros-controls/ros2_control/issues/1701>`_)
+* Fix spawner tests timeout (`#1692 <https://github.com/ros-controls/ros2_control/issues/1692>`_)
+* Refactor spawner to be able to reuse code for ros2controlcli (`#1661 <https://github.com/ros-controls/ros2_control/issues/1661>`_)
+* Robustify controller spawner and add integration test with many controllers (`#1501 <https://github.com/ros-controls/ros2_control/issues/1501>`_)
+* Handle waiting in Spawner and align Hardware Spawner functionality (`#1562 <https://github.com/ros-controls/ros2_control/issues/1562>`_)
+* Make list controller and list hardware components immediately visualize the state. (`#1606 <https://github.com/ros-controls/ros2_control/issues/1606>`_)
+* [CI] Add coveragepy and remove ignore: test (`#1668 <https://github.com/ros-controls/ros2_control/issues/1668>`_)
+* Fix spawner unload on kill test (`#1675 <https://github.com/ros-controls/ros2_control/issues/1675>`_)
+* [CM] Add more logging for easier debugging (`#1645 <https://github.com/ros-controls/ros2_control/issues/1645>`_)
+* refactor SwitchParams to fix the incosistencies in the spawner tests (`#1638 <https://github.com/ros-controls/ros2_control/issues/1638>`_)
+* Contributors: Bence Magyar, Christoph Fröhlich, Dr. Denis, Felix Exner (fexner), Manuel Muth, Sai Kishor Kothakota
+
 4.15.0 (2024-08-05)
 -------------------
 * Add missing include for executors (`#1653 <https://github.com/ros-controls/ros2_control/issues/1653>`_)

diff --git a/controller_manager/include/controller_manager/controller_manager.hpp b/controller_manager/include/controller_manager/controller_manager.hpp
@@ -577,6 +577,7 @@ class ControllerManager : public rclcpp::Node
  std::map<std::string, std::vector<std::string>> controller_chained_reference_interfaces_cache_;
  std::map<std::string, std::vector<std::string>> controller_chained_state_interfaces_cache_;
 
+ rclcpp::NodeOptions cm_node_options_;
  std::string robot_description_;
  rclcpp::Subscription<std_msgs::msg::String>::SharedPtr robot_description_subscription_;
  rclcpp::TimerBase::SharedPtr robot_description_notification_timer_;

diff --git a/controller_manager/package.xml b/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>4.15.0</version>
+ <version>4.16.1</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>

diff --git a/controller_manager/src/controller_manager.cpp b/controller_manager/src/controller_manager.cpp
@@ -24,6 +24,7 @@
 #include "controller_manager_msgs/msg/hardware_component_state.hpp"
 #include "hardware_interface/types/lifecycle_state_names.hpp"
 #include "lifecycle_msgs/msg/state.hpp"
+#include "rcl/arguments.h"
 #include "rclcpp/version.h"
 #include "rclcpp_lifecycle/state.hpp"
 
@@ -198,7 +199,8 @@ ControllerManager::ControllerManager(
  kControllerInterfaceNamespace, kControllerInterfaceClassName)),
  chainable_loader_(
  std::make_shared<pluginlib::ClassLoader<controller_interface::ChainableControllerInterface>>(
- kControllerInterfaceNamespace, kChainableControllerInterfaceClassName))
+ kControllerInterfaceNamespace, kChainableControllerInterfaceClassName)),
+ cm_node_options_(options)
 {
  init_controller_manager();
 }
@@ -218,7 +220,8 @@ ControllerManager::ControllerManager(
  kControllerInterfaceNamespace, kControllerInterfaceClassName)),
  chainable_loader_(
  std::make_shared<pluginlib::ClassLoader<controller_interface::ChainableControllerInterface>>(
- kControllerInterfaceNamespace, kChainableControllerInterfaceClassName))
+ kControllerInterfaceNamespace, kChainableControllerInterfaceClassName)),
+ cm_node_options_(options)
 {
  init_controller_manager();
 }
@@ -235,7 +238,8 @@ ControllerManager::ControllerManager(
  kControllerInterfaceNamespace, kControllerInterfaceClassName)),
  chainable_loader_(
  std::make_shared<pluginlib::ClassLoader<controller_interface::ChainableControllerInterface>>(
- kControllerInterfaceNamespace, kChainableControllerInterfaceClassName))
+ kControllerInterfaceNamespace, kChainableControllerInterfaceClassName)),
+ cm_node_options_(options)
 {
  init_controller_manager();
 }
@@ -2820,29 +2824,56 @@ rclcpp::NodeOptions ControllerManager::determine_controller_node_options(
 
  rclcpp::NodeOptions controller_node_options = controller.c->define_custom_node_options();
  std::vector<std::string> node_options_arguments = controller_node_options.arguments();
- const std::string ros_args_arg = "--ros-args";
+
+ for (const std::string & arg : cm_node_options_.arguments())
+ {
+ if (arg.find("__ns") != std::string::npos || arg.find("__node") != std::string::npos)
+ {
+ if (
+ node_options_arguments.back() == RCL_REMAP_FLAG ||
+ node_options_arguments.back() == RCL_SHORT_REMAP_FLAG)
+ {
+ node_options_arguments.pop_back();
+ }
+ continue;
+ }
+
+ node_options_arguments.push_back(arg);
+ }
+
  if (controller.info.parameters_file.has_value())
  {
- if (!check_for_element(node_options_arguments, ros_args_arg))
+ if (!check_for_element(node_options_arguments, RCL_ROS_ARGS_FLAG))
  {
- node_options_arguments.push_back(ros_args_arg);
+ node_options_arguments.push_back(RCL_ROS_ARGS_FLAG);
  }
- node_options_arguments.push_back("--params-file");
+ node_options_arguments.push_back(RCL_PARAM_FILE_FLAG);
  node_options_arguments.push_back(controller.info.parameters_file.value());
  }
 
  // ensure controller's `use_sim_time` parameter matches controller_manager's
  const rclcpp::Parameter use_sim_time = this->get_parameter("use_sim_time");
  if (use_sim_time.as_bool())
  {
- if (!check_for_element(node_options_arguments, ros_args_arg))
+ if (!check_for_element(node_options_arguments, RCL_ROS_ARGS_FLAG))
  {
- node_options_arguments.push_back(ros_args_arg);
+ node_options_arguments.push_back(RCL_ROS_ARGS_FLAG);
  }
- node_options_arguments.push_back("-p");
+ node_options_arguments.push_back(RCL_PARAM_FLAG);
  node_options_arguments.push_back("use_sim_time:=true");
  }
 
+ std::string arguments;
+ arguments.reserve(1000);
+ for (const auto & arg : node_options_arguments)
+ {
+ arguments.append(arg);
+ arguments.append(" ");
+ }
+ RCLCPP_INFO(
+ get_logger(), "Controller '%s' node arguments: %s", controller.info.name.c_str(),
+ arguments.c_str());
+
  controller_node_options = controller_node_options.arguments(node_options_arguments);
  controller_node_options.use_global_arguments(false);
  return controller_node_options;

diff --git a/controller_manager/src/ros2_control_node.cpp b/controller_manager/src/ros2_control_node.cpp
@@ -41,7 +41,22 @@ int main(int argc, char ** argv)
  std::make_shared<rclcpp::executors::MultiThreadedExecutor>();
  std::string manager_node_name = "controller_manager";
 
- auto cm = std::make_shared<controller_manager::ControllerManager>(executor, manager_node_name);
+ rclcpp::NodeOptions cm_node_options = controller_manager::get_cm_node_options();
+ std::vector<std::string> node_arguments = cm_node_options.arguments();
+ for (int i = 1; i < argc; ++i)
+ {
+ if (node_arguments.empty() && std::string(argv[i]) != "--ros-args")
+ {
+ // A simple way to reject non ros args
+ continue;
+ }
+ RCLCPP_INFO(rclcpp::get_logger("CM args"), "Adding argument: %s", argv[i]);
+ node_arguments.push_back(argv[i]);
+ }
+ cm_node_options.arguments(node_arguments);
+
+ auto cm = std::make_shared<controller_manager::ControllerManager>(
+ executor, manager_node_name, "", cm_node_options);
 
  RCLCPP_INFO(cm->get_logger(), "update rate is %d Hz", cm->get_update_rate());
 

diff --git a/controller_manager_msgs/CHANGELOG.rst b/controller_manager_msgs/CHANGELOG.rst
@@ -2,6 +2,12 @@
 Changelog for package controller_manager_msgs
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.16.1 (2024-08-24)
+-------------------
+
+4.16.0 (2024-08-22)
+-------------------
+
 4.15.0 (2024-08-05)
 -------------------
 

diff --git a/controller_manager_msgs/package.xml b/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>4.15.0</version>
+ <version>4.16.1</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>

diff --git a/hardware_interface/CHANGELOG.rst b/hardware_interface/CHANGELOG.rst
@@ -2,6 +2,17 @@
 Changelog for package hardware_interface
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.16.1 (2024-08-24)
+-------------------
+
+4.16.0 (2024-08-22)
+-------------------
+* Use handle_name\_ variable instead of allocating for every `get_name` call (`#1706 <https://github.com/ros-controls/ros2_control/issues/1706>`_)
+* Introduce Creation of Handles with InterfaceDescription (variant support) (`#1679 <https://github.com/ros-controls/ros2_control/issues/1679>`_)
+* Preparation of Handles for Variant Support (`#1678 <https://github.com/ros-controls/ros2_control/issues/1678>`_)
+* [RM] Decouple read/write cycles of each component with mutex to not block other components (`#1646 <https://github.com/ros-controls/ros2_control/issues/1646>`_)
+* Contributors: Manuel Muth, Sai Kishor Kothakota
+
 4.15.0 (2024-08-05)
 -------------------
 * [RM] Add `get_hardware_info` method to the Hardware Components (`#1643 <https://github.com/ros-controls/ros2_control/issues/1643>`_)

diff --git a/hardware_interface/package.xml b/hardware_interface/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
  <name>hardware_interface</name>
- <version>4.15.0</version>
+ <version>4.16.1</version>
  <description>ros2_control hardware interface</description>
  <maintainer email="bence.magyar.robotics@gmail.com">Bence Magyar</maintainer>
  <maintainer email="denis@stoglrobotics.de">Denis Štogl</maintainer>

diff --git a/hardware_interface_testing/CHANGELOG.rst b/hardware_interface_testing/CHANGELOG.rst
@@ -2,6 +2,12 @@
 Changelog for package hardware_interface_testing
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.16.1 (2024-08-24)
+-------------------
+
+4.16.0 (2024-08-22)
+-------------------
+
 4.15.0 (2024-08-05)
 -------------------
 * [RM] Add `get_hardware_info` method to the Hardware Components (`#1643 <https://github.com/ros-controls/ros2_control/issues/1643>`_)

diff --git a/hardware_interface_testing/package.xml b/hardware_interface_testing/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
  <name>hardware_interface_testing</name>
- <version>4.15.0</version>
+ <version>4.16.1</version>
  <description>ros2_control hardware interface testing</description>
  <maintainer email="bence.magyar.robotics@gmail.com">Bence Magyar</maintainer>
  <maintainer email="denis@stoglrobotics.de">Denis Štogl</maintainer>

diff --git a/joint_limits/CHANGELOG.rst b/joint_limits/CHANGELOG.rst
@@ -2,6 +2,12 @@
 Changelog for package joint_limits
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.16.1 (2024-08-24)
+-------------------
+
+4.16.0 (2024-08-22)
+-------------------
+
 4.15.0 (2024-08-05)
 -------------------
 

diff --git a/joint_limits/package.xml b/joint_limits/package.xml
@@ -1,6 +1,6 @@
 <package format="3">
  <name>joint_limits</name>
- <version>4.15.0</version>
+ <version>4.16.1</version>
  <description>Package with interfaces for handling of joint limits in controllers or in hardware. The package also implements Saturation Joint Limiter for position-velocity-acceleration set and other individual interfaces.</description>
 
  <maintainer email="bence.magyar.robotics@gmail.com">Bence Magyar</maintainer>

diff --git a/ros2_control/CHANGELOG.rst b/ros2_control/CHANGELOG.rst
@@ -2,6 +2,12 @@
 Changelog for package ros2_control
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.16.1 (2024-08-24)
+-------------------
+
+4.16.0 (2024-08-22)
+-------------------
+
 4.15.0 (2024-08-05)
 -------------------
 

diff --git a/ros2_control/package.xml b/ros2_control/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
  <name>ros2_control</name>
- <version>4.15.0</version>
+ <version>4.16.1</version>
  <description>Metapackage for ROS2 control related packages</description>
  <maintainer email="bence.magyar.robotics@gmail.com">Bence Magyar</maintainer>
  <maintainer email="denis@stoglrobotics.de">Denis Štogl</maintainer>

diff --git a/ros2_control_test_assets/CHANGELOG.rst b/ros2_control_test_assets/CHANGELOG.rst
@@ -2,6 +2,12 @@
 Changelog for package ros2_control_test_assets
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.16.1 (2024-08-24)
+-------------------
+
+4.16.0 (2024-08-22)
+-------------------
+
 4.15.0 (2024-08-05)
 -------------------
 

diff --git a/ros2_control_test_assets/package.xml b/ros2_control_test_assets/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>ros2_control_test_assets</name>
- <version>4.15.0</version>
+ <version>4.16.1</version>
  <description>The package provides shared test resources for ros2_control stack
  </description>
  <maintainer email="bence.magyar.robotics@gmail.com">Bence Magyar</maintainer>

diff --git a/ros2controlcli/CHANGELOG.rst b/ros2controlcli/CHANGELOG.rst
@@ -2,6 +2,15 @@
 Changelog for package ros2controlcli
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.16.1 (2024-08-24)
+-------------------
+
+4.16.0 (2024-08-22)
+-------------------
+* Refactor spawner to be able to reuse code for ros2controlcli (`#1661 <https://github.com/ros-controls/ros2_control/issues/1661>`_)
+* Make list controller and list hardware components immediately visualize the state. (`#1606 <https://github.com/ros-controls/ros2_control/issues/1606>`_)
+* Contributors: Dr. Denis, Sai Kishor Kothakota
+
 4.15.0 (2024-08-05)
 -------------------
 

diff --git a/ros2controlcli/package.xml b/ros2controlcli/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>ros2controlcli</name>
- <version>4.15.0</version>
+ <version>4.16.1</version>
  <description>
  The ROS 2 command line tools for ROS2 Control.
  </description>

diff --git a/ros2controlcli/setup.py b/ros2controlcli/setup.py
@@ -19,7 +19,7 @@
 
 setup(
  name=package_name,
- version="4.15.0",
+ version="4.16.1",
  packages=find_packages(exclude=["test"]),
  data_files=[
  ("share/" + package_name, ["package.xml"]),

diff --git a/rqt_controller_manager/CHANGELOG.rst b/rqt_controller_manager/CHANGELOG.rst
@@ -2,6 +2,12 @@
 Changelog for package rqt_controller_manager
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.16.1 (2024-08-24)
+-------------------
+
+4.16.0 (2024-08-22)
+-------------------
+
 4.15.0 (2024-08-05)
 -------------------
 

diff --git a/rqt_controller_manager/package.xml b/rqt_controller_manager/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>rqt_controller_manager</name>
- <version>4.15.0</version>
+ <version>4.16.1</version>
  <description>Graphical frontend for interacting with the controller manager.</description>
  <maintainer email="bence.magyar.robotics@gmail.com">Bence Magyar</maintainer>
  <maintainer email="denis@stoglrobotics.de">Denis Štogl</maintainer>

diff --git a/rqt_controller_manager/setup.py b/rqt_controller_manager/setup.py
@@ -20,7 +20,7 @@
 
 setup(
  name=package_name,
- version="4.15.0",
+ version="4.16.1",
  packages=[package_name],
  data_files=[
  ("share/ament_index/resource_index/packages", ["resource/" + package_name]),