…ntrols#385)

* Parameter loading fixup

* Lint

…es. (ros-controls#334)

Signed-off-by: Tyler Weaver <[email protected]>

…reaking

Co-authored-by: Denis Štogl <[email protected]>

This use of `auto` is causing a static assert on RHEL. Explicitly
specifying the type seems to resolve the failure and allow the test to
be compiled.

variables in JTC to not clutter other PR with them.
fixes of updating parameters on renewed configuration of JTC that were missed

…oal (ros-controls#368)

* hold position if tolerance is violated even during non-active goal

* rename abort

Co-authored-by: Michael Wiznitzer <[email protected]>

* Remove old CI setup.

* Adding adjusted CI configurationt to ros2_control repository.

* Fixup line for private repositories.

* Run format only on PR.

* Adjust repos files.

* Fix correct_initialization_using_parameters
* Fix configure_state_ignores_command
* Re-enable incorrect_initialization_using_interface_parameters
* Re-enable cleanup and activate tests
* Port gtest to gmock

Co-authored-by: Denis Štogl <[email protected]>

ros-controls#409)

Signed-off-by: Tyler Weaver <[email protected]>

- there is no foxy rhel docker image because it osrf doesn't publish rhel packages for foxy

…istency (ros-controls#415)

- fixes pre-commit pipeline

…for following controllers in a chain. (ros-controls#380)

* [JTC] Add additional parameter to enable configuration of interfaces for following controllers in a chain.
* Use command_joint_states correctly in parameters depending on joint states.
* Fixup tests.

Signed-off-by: Tyler Weaver <[email protected]>

* Use "steady" clocks when measuring changes in time
* Check if the "publish rate" tests pass now

…ros-controls#425)

… test node. (ros-controls#389)

Co-authored-by: Bence Magyar <[email protected]>

… of joints (ros-controls#431)

Co-authored-by: Denis Štogl <[email protected]>

* Change type cast wall timer period from second to nanoseconds.
    create_wall_timer() expects delay in nanoseconds (duration object) however the type cast to seconds will result in 0 (if duration is less than 1s) and thus causing timer to be fired non stop resulting in very high CPU usage.

* Reset smartpointer so that create_wall_timer() call can destroy previous trajectory timer.
   node->create_wall_timer() first removes timers associated with expired smartpointers before servicing current request.  The JTC timer pointer gets overwrite only after the create_wall_timer() returns and thus not able to remove previous trajectory timer resulting in upto two timers running for JTC during trajectory execution.  Althougth the previous timer does nothing but still get fired.

Signed-off-by: Arshad Mehmood <[email protected]>

Signed-off-by: Arshad Mehmood <[email protected]>

* Add missing parameter declaration in the joint state broadcaster.
* Fix unsensible test in IMU Sensor Broadcaster.

…ols#442)

- Add new variable to reusable workflow to set unique name for the cache
- Variable cannot be used in the container definition

…ols#384)

* generate_parameter_library for jtc

Signed-off-by: Tyler Weaver <[email protected]>

* Update to latest generator

Signed-off-by: Tyler Weaver <[email protected]>

* Use __map_joints feature

Signed-off-by: Tyler Weaver <[email protected]>

* Update joint_trajectory_controller/src/joint_trajectory_controller_parameters.yaml

Co-authored-by: AndyZe <[email protected]>

* Respond to feedback

Signed-off-by: Tyler Weaver <[email protected]>

* Fix cppcheck errors

Signed-off-by: Tyler Weaver <[email protected]>

* Add to repos file for CI

Signed-off-by: Tyler Weaver <[email protected]>

* put ff_velocity_scale back to avoid changing the interface

Signed-off-by: Tyler Weaver <[email protected]>

* update custom parameter validators

Signed-off-by: Tyler Weaver <[email protected]>
Signed-off-by: Tyler Weaver <[email protected]>

* command_interfaces may not be empty.

* Make joint names unique and not empty.

* Apply suggestions from code review

* Apply suggestions from code review

* Fixup the tests and finish the merge.

* Fixup linters.

* Fixup bug.

* Use executor in all cases to avoid test timeouts on the CI.

* Add missing parameter declaration in the joint state broadcaster.

* Fix unsensible test in IMU Sensor Broadcaster.

* Update ros2_controllers.rolling.repos

* Update ros2_controllers.humble.repos

* Update ros2_controllers-not-released.humble.repos

* Update ros2_controllers-not-released.rolling.repos

* Update ros2_controllers.humble.repos

* Update ros2_controllers-not-released.humble.repos

* Update ros2_controllers-not-released.humble.repos

* Remove using generate_parameters_library from source.

Signed-off-by: Tyler Weaver <[email protected]>
Signed-off-by: Tyler Weaver <[email protected]>
Signed-off-by: Tyler Weaver <[email protected]>
Co-authored-by: AndyZe <[email protected]>
Co-authored-by: Denis Štogl <[email protected]>
Co-authored-by: Denis Štogl <[email protected]>
Co-authored-by: Bence Magyar <[email protected]>

Co-authored-by: Bence Magyar <[email protected]>

…controls#445)

Co-authored-by: AndyZe <[email protected]>
Co-authored-by: Denis Štogl <[email protected]>

* Generate params for ForwardCommandController

Signed-off-by: Tyler Weaver <[email protected]>

* Clean up CMake

Signed-off-by: Tyler Weaver <[email protected]>
Co-authored-by: Denis Štogl <[email protected]>
Co-authored-by: Bence Magyar <[email protected]>

…es. (ros-controls#455)

ros-controls#456)

…terfaces understandable. (ros-controls#371)

…trols#465)

We need a concrete implementation of `kinematics_interface` for tests to work. We use `kinematics_interface_kdl` implementation in the tests.

…#452)

Adds multiplying feedback by wheel radius so that it can be in rad/s (which should be expected unit)

Co-authored-by: Maciej Stępień <[email protected]>
Co-authored-by: Bence Magyar <[email protected]>
Co-authored-by: Denis Štogl <[email protected]>

Co-authored-by: Denis Štogl <[email protected]>
Co-authored-by: Bence Magyar <[email protected]>

…eak #behavior-break (ros-controls#468)


Co-authored-by: Denis Štogl <[email protected]>

…ls#476)

* [JTC] Remove deprecation from parameters validation file.

* Add new dependencies.

* Add missing dependencies

* Update package.xml

* Remove workflows for distros not supported on master

* Revert "Remove workflows for distros not supported on master"

This reverts commit e916af3.

* Don't run humble workflows on master

…ols#490)

* Allow ff_velocity_scale=0 without deprecated warning

* Remove deprecated warning for old ff_velocity_scale param

…s#492)

* Use pydocstyle instead of pep257 because it replaces it. Bump versions of hooks.

* Remove fixed python version from formatting action. Fix action warnings about Node.js 12 by updating them. Bump version of clang-format.

* Fixup formatting.

* Bump clang-format version.

* Update .pre-commit-config.yaml

* Add pid gain structure to documentation

* Remove trailing whitespace

* Remove trailing colons

changed default value from `odom` -> `base_link`

Bumps [actions/setup-python](https://github.com/actions/setup-python) from 4.4.0 to 4.5.0.
- [Release notes](https://github.com/actions/setup-python/releases)
- [Commits](actions/setup-python@v4.4.0...v4.5.0)

---
updated-dependencies:
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  dependency-type: direct:production
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Signed-off-by: dependabot[bot] <[email protected]>

Signed-off-by: dependabot[bot] <[email protected]>
Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com>

Bumps [ros-tooling/setup-ros](https://github.com/ros-tooling/setup-ros) from 0.3.4 to 0.4.2.
- [Release notes](https://github.com/ros-tooling/setup-ros/releases)
- [Commits](ros-tooling/setup-ros@0.3.4...0.4.2)

---
updated-dependencies:
- dependency-name: ros-tooling/setup-ros
  dependency-type: direct:production
  update-type: version-update:semver-minor
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Signed-off-by: dependabot[bot] <[email protected]>

Signed-off-by: dependabot[bot] <[email protected]>
Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com>

Bumps [codecov/codecov-action](https://github.com/codecov/codecov-action) from 3.1.0 to 3.1.1.
- [Release notes](https://github.com/codecov/codecov-action/releases)
- [Changelog](https://github.com/codecov/codecov-action/blob/main/CHANGELOG.md)
- [Commits](codecov/codecov-action@v3.1.0...v3.1.1)

---
updated-dependencies:
- dependency-name: codecov/codecov-action
  dependency-type: direct:production
  update-type: version-update:semver-patch
...

Signed-off-by: dependabot[bot] <[email protected]>

Signed-off-by: dependabot[bot] <[email protected]>
Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com>

Bumps [ros-tooling/action-ros-ci](https://github.com/ros-tooling/action-ros-ci) from 0.2.6 to 0.2.7.
- [Release notes](https://github.com/ros-tooling/action-ros-ci/releases)
- [Commits](ros-tooling/action-ros-ci@0.2.6...0.2.7)

---
updated-dependencies:
- dependency-name: ros-tooling/action-ros-ci
  dependency-type: direct:production
  update-type: version-update:semver-patch
...

Signed-off-by: dependabot[bot] <[email protected]>

Signed-off-by: dependabot[bot] <[email protected]>
Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com>

Bumps [pat-s/always-upload-cache](https://github.com/pat-s/always-upload-cache) from 2.1.5 to 3.0.11.
- [Release notes](https://github.com/pat-s/always-upload-cache/releases)
- [Changelog](https://github.com/pat-s/always-upload-cache/blob/main/RELEASES.md)
- [Commits](pat-s/always-upload-cache@v2.1.5...v3.0.11)

---
updated-dependencies:
- dependency-name: pat-s/always-upload-cache
  dependency-type: direct:production
  update-type: version-update:semver-major
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Signed-off-by: dependabot[bot] <[email protected]>

Signed-off-by: dependabot[bot] <[email protected]>
Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com>

This reverts commit fd6a1d9.

…ntrols#491)

* Use the same variables for state feedback and PID loop

* Make joint_error normalization configurable

* Activate test for only velocity controller

* Allow ff_velocity_scale=0 without deprecated warning

* Add test for setpoint due to normalized position error

* Update comments in test

Co-authored-by: Bence Magyar <[email protected]>

Bumps [actions/upload-artifact](https://github.com/actions/upload-artifact) from 3.1.0 to 3.1.2.
- [Release notes](https://github.com/actions/upload-artifact/releases)
- [Commits](actions/upload-artifact@v3.1.0...v3.1.2)

---
updated-dependencies:
- dependency-name: actions/upload-artifact
  dependency-type: direct:production
  update-type: version-update:semver-patch
...

Signed-off-by: dependabot[bot] <[email protected]>

Signed-off-by: dependabot[bot] <[email protected]>
Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com>

…trols#494)

…os-controls#481)

* ported the joint_trajectory_controller query_state service to ROS2

* reiterate over the implementation and simplify it

* updated test for long past time and some comments on service

* address PR review changes

Co-authored-by: Bence Magyar <[email protected]>

* Changing to_chrono to use nanoseconds

Previously std::chrono::seconds, which rounds to 0 if action_monitor_period_ < 1

* Reset gripper action goal timer to match JTC impl