[CM] Remove support for the description parameter and use only `robot_description` topic #1358

destogl · 2024-02-01T19:44:26Z

Part of the #1237.

Has to be adjusted after #1354 is merged.

…topic.

fmauch · 2024-02-01T20:44:14Z

May I raise the question (has probably been discussed elsewhere, but I couldn't find a note in #940): Why do we subscribe to ~/robot_description? Isn't the usual workflow that we have /robot_state_publisher and /controller_manager, where /robot_state_publisher publishes /robot_description? This would leave everyone having to remap controller_manager/robot_description in their launchfiles. Am I missing something or is this intended behavior?

If we instead subscribed to robot_description there would not necessarily be any migration necessary, once we merge this, as CM will silently use the description topic from the joint state publisher instead of the parameter that people might still send to the CM node. In that case they just would have to remove the parameter and that's it.

destogl · 2024-02-02T15:32:26Z

May I raise the question (has probably been discussed elsewhere, but I couldn't find a note in #940): Why do we subscribe to ~/robot_description? Isn't the usual workflow that we have /robot_state_publisher and /controller_manager, where /robot_state_publisher publishes /robot_description? This would leave everyone having to remap controller_manager/robot_description in their launchfiles. Am I missing something or is this intended behavior?

This is intended, but soley by myself :)

The idea was to work with the local namespace. Reading your comment, you are right. for the cases where one has multiple controller managers, one should remap those instead making people to do remapping by default.

fmauch · 2024-02-02T15:59:25Z

so... should we change that?

destogl · 2024-02-02T17:15:02Z

so... should we change that?

I'll adjust!

saikishor · 2024-02-02T17:38:14Z

So when using multiple controller managers, we remap the topic within the launch file like this?

remappings=[
            ('/robot_description', '/custom_1/robot_description'),
        ]

Am I right?

destogl · 2024-02-02T17:41:59Z

So when using multiple controller managers, we remap the topic within the launch file like this?
remappings=[
            ('/robot_description', '/custom_1/robot_description'),
        ]
Am I right?

That's the idea.

mergify · 2024-02-25T09:01:04Z

This pull request is in conflict. Could you fix it @destogl?

fmauch · 2024-02-28T16:00:56Z

This pull request is in conflict. Could you fix it @destogl?

I'll make a PR to this PR's branch as mentioned in #1410

Edit: Looking into the conflicts present, my changes seem to be causing only minor issues so I think we should wait for #1354 and then fix all conflicts at once.

christophfroehlich

Please add migration notes to https://github.com/ros-controls/ros2_control/blob/master/doc/migration/Iron.rst

mergify · 2024-04-29T12:57:08Z

This pull request is in conflict. Could you fix it @destogl?

bmagyar · 2024-06-25T11:03:59Z

Now conflicting

…cription-from-param

fmauch · 2024-07-09T09:46:28Z

I've resolved the conflicts on my fork: fmauch@7418dbb I could either make a PR to this PR's branch, or I could make a new PR replacing this or a maintainer could push my merge commit to this PR's branch. I think the latter is the best option, as then the history of this PR will be retained and git history will stay somehow understandable.

The tests run fine and I tested the UR driver against this locally.

…-param Merge current master into cm-remove-robot-description

christophfroehlich

LGTM
fyi @fmauch I've added a commit and added this change to the migration guide.

* [ResourceManager] Make destructor virtual for use in derived classes (#1607) * Fix typos in test_resource_manager.cpp (#1609) * [CM] Remove support for the description parameter and use only `robot_description` topic (#1358) --------- Co-authored-by: Felix Exner <exner@fzi.de> Co-authored-by: Christoph Froehlich <christoph.froehlich@ait.ac.at> * move critical variables to the private context (#1623) * Fix controller starting with later load of robot description test (#1624) * Fix the duplicated restart of the controller_manager services initialization * Scope the ControllerManagerRunner to avoid malloc and other test issues * reorder the tests for consistent log at the end * Remove noqa (#1626) * Unused header cleanup (#1627) * Create debugging.rst (#1625) --------- Co-authored-by: Sai Kishor Kothakota <saisastra3@gmail.com> Co-authored-by: Christoph Froehlich <christoph.froehlich@ait.ac.at> * Update changelogs * 4.14.0 * add missing rclcpp logging include for Humble compatibility build (#1635) * [CM] Remove deprecated spawner args (#1639) * Add a pytest launch file to test ros2_control_node (#1636) * Fix rst markup (#1642) * Fix rqt_cm paragraph * Fix indent * CM: Add missing includes (#1641) * [RM] Add `get_hardware_info` method to the Hardware Components (#1643) * Fix the namespaced controller_manager spawner + added tests (#1640) * Bump version of pre-commit hooks (#1649) Co-authored-by: christophfroehlich <3367244+christophfroehlich@users.noreply.github.com> * Add missing include for executors (#1653) * Update changelogs * 4.15.0 * refactor SwitchParams to fix the incosistencies in the spawner tests (#1638) * Modify test with missing CM to have a timeout * Catch exception when CM services are not found And print the error and exit in the application * Exit with code 1 on unreached CM --------- Co-authored-by: Sai Kishor Kothakota <sai.kishor@pal-robotics.com> Co-authored-by: Parker Drouillard <parker@pepcorp.ca> Co-authored-by: Dr. Denis <denis@stoglrobotics.de> Co-authored-by: Christoph Froehlich <christoph.froehlich@ait.ac.at> Co-authored-by: Christoph Fröhlich <christophfroehlich@users.noreply.github.com> Co-authored-by: Henry Moore <henry.moore@picknik.ai> Co-authored-by: Lennart Nachtigall <firesurfer127@gmail.com> Co-authored-by: Sai Kishor Kothakota <saisastra3@gmail.com> Co-authored-by: Bence Magyar <bence.magyar.robotics@gmail.com> Co-authored-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com> Co-authored-by: christophfroehlich <3367244+christophfroehlich@users.noreply.github.com>

destogl added 5 commits February 1, 2024 20:18

Remove support for getting robot description from the parameter in CM.

4b5d5ff

Added functionality and tests for getting robot description from the …

d46c412

…topic.

Fix tests.

bf3c96a

Add small behavior fixes.

760c0df

Revert changes on RM tests.

e5056e5

destogl added the enhancement label Feb 1, 2024

destogl self-assigned this Feb 1, 2024

github-actions bot requested review from bmagyar, DasRoteSkelett, fmauch, jaron-l, livanov93 and VanshGehlot February 1, 2024 19:44

destogl mentioned this pull request Feb 19, 2024

Description topic in controller manager not configurable #1138

Closed

fmauch mentioned this pull request Feb 21, 2024

[BREAKING CHANGE] Use robot_description topic instead of ~/robot_description and update docs regarding this #1410

Merged

fmauch mentioned this pull request Feb 29, 2024

Update all demos using the description from topic rather than the parameter ros-controls/ros2_control_demos#456

Merged

christophfroehlich requested changes Apr 4, 2024

View reviewed changes

Merge remote-tracking branch 'origin/master' into cm-remove-robot-des…

7418dbb

…cription-from-param

fmauch mentioned this pull request Jul 9, 2024

Merge current master into cm-remove-robot-description #1608

Merged

Merge pull request #1608 from fmauch/cm-remove-robot-description-from…

e61a17f

…-param Merge current master into cm-remove-robot-description

christophfroehlich changed the title ~~[CM] Remove support for the description parameter and use only ~/robot_description topic~~ [CM] Remove support for the description parameter and use only robot_description topic Jul 14, 2024

christophfroehlich and others added 2 commits July 15, 2024 14:36

Merge branch 'master' into cm-remove-robot-description-from-param

da41b5b

Update migration notes

8a3056a

christophfroehlich approved these changes Jul 15, 2024

View reviewed changes

destogl merged commit 9d1aff9 into master Jul 17, 2024
13 of 20 checks passed

destogl deleted the cm-remove-robot-description-from-param branch July 17, 2024 17:35

saikishor mentioned this pull request Jul 19, 2024

Fix controller starting with later load of robot description test #1624

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[CM] Remove support for the description parameter and use only `robot_description` topic #1358

[CM] Remove support for the description parameter and use only `robot_description` topic #1358

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[CM] Remove support for the description parameter and use only robot_description topic #1358

[CM] Remove support for the description parameter and use only robot_description topic #1358

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[CM] Remove support for the description parameter and use only `robot_description` topic #1358

[CM] Remove support for the description parameter and use only `robot_description` topic #1358

destogl commented Feb 1, 2024 •

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fmauch commented Feb 28, 2024 •

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fmauch commented Jul 9, 2024 •

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