Merge branch 'master' into jtc/angle_wraparound_trajectory

ros-controls · Nov 28, 2023 · 7d96b1a · 7d96b1a
2 parents 6756488 + b6841ea
commit 7d96b1a
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diff --git a/.github/workflows/humble-abi-compatibility.yml b/.github/workflows/humble-abi-compatibility.yml
@@ -1,8 +1,6 @@
 name: Humble - ABI Compatibility Check
 on:
   workflow_dispatch:
-    branches:
-      - humble
   pull_request:
     branches:
       - humble
@@ -15,6 +13,6 @@ jobs:
       - uses: ros-industrial/industrial_ci@master
         env:
           ROS_DISTRO: humble
-          ROS_REPO: main
+          ROS_REPO: testing
           ABICHECK_URL: github:${{ github.repository }}#${{ github.base_ref }}
           NOT_TEST_BUILD: true
diff --git a/.github/workflows/iron-abi-compatibility.yml b/.github/workflows/iron-abi-compatibility.yml
@@ -1,8 +1,6 @@
 name: Iron - ABI Compatibility Check
 on:
   workflow_dispatch:
-    branches:
-      - iron
   pull_request:
     branches:
       - iron
@@ -15,6 +13,6 @@ jobs:
       - uses: ros-industrial/industrial_ci@master
         env:
           ROS_DISTRO: iron
-          ROS_REPO: main
+          ROS_REPO: testing
           ABICHECK_URL: github:${{ github.repository }}#${{ github.base_ref }}
           NOT_TEST_BUILD: true
diff --git a/.github/workflows/rolling-abi-compatibility.yml b/.github/workflows/rolling-abi-compatibility.yml
@@ -1,8 +1,6 @@
 name: Rolling - ABI Compatibility Check
 on:
   workflow_dispatch:
-    branches:
-      - master
   pull_request:
     branches:
       - master
@@ -15,6 +13,6 @@ jobs:
       - uses: ros-industrial/industrial_ci@master
         env:
           ROS_DISTRO: rolling
-          ROS_REPO: main
+          ROS_REPO: testing
           ABICHECK_URL: github:${{ github.repository }}#${{ github.base_ref }}
           NOT_TEST_BUILD: true
diff --git a/ackermann_steering_controller/CHANGELOG.rst b/ackermann_steering_controller/CHANGELOG.rst
@@ -2,6 +2,12 @@
 Changelog for package ackermann_steering_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.0.0 (2023-11-21)
+------------------
+* fix tests for API break of passing controller manager update rate in init method (`#854 <https://github.com/ros-controls/ros2_controllers/issues/854>`_)
+* Adjust tests after passing URDF to controllers (`#817 <https://github.com/ros-controls/ros2_controllers/issues/817>`_)
+* Contributors: Bence Magyar, Sai Kishor Kothakota
+
 3.17.0 (2023-10-31)
 -------------------
 * Improve docs (`#785 <https://github.com/ros-controls/ros2_controllers/issues/785>`_)

diff --git a/ackermann_steering_controller/package.xml b/ackermann_steering_controller/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>ackermann_steering_controller</name>
-  <version>3.17.0</version>
+  <version>4.0.0</version>
   <description>Steering controller for Ackermann kinematics. Rear fixed wheels are powering the vehicle and front wheels are steering it.</description>
   <license>Apache License 2.0</license>
   <maintainer email="[email protected]">Bence Magyar</maintainer>

diff --git a/ackermann_steering_controller/test/test_ackermann_steering_controller.hpp b/ackermann_steering_controller/test/test_ackermann_steering_controller.hpp
@@ -147,7 +147,7 @@ class AckermannSteeringControllerFixture : public ::testing::Test
 protected:
   void SetUpController(const std::string controller_name = "test_ackermann_steering_controller")
   {
-    ASSERT_EQ(controller_->init(controller_name, ""), controller_interface::return_type::OK);
+    ASSERT_EQ(controller_->init(controller_name, "", 0), controller_interface::return_type::OK);
 
     if (position_feedback_ == true)
     {

diff --git a/admittance_controller/CHANGELOG.rst b/admittance_controller/CHANGELOG.rst
@@ -2,6 +2,12 @@
 Changelog for package admittance_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.0.0 (2023-11-21)
+------------------
+* fix tests for API break of passing controller manager update rate in init method (`#854 <https://github.com/ros-controls/ros2_controllers/issues/854>`_)
+* Adjust tests after passing URDF to controllers (`#817 <https://github.com/ros-controls/ros2_controllers/issues/817>`_)
+* Contributors: Bence Magyar, Sai Kishor Kothakota
+
 3.17.0 (2023-10-31)
 -------------------
 

diff --git a/admittance_controller/package.xml b/admittance_controller/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>admittance_controller</name>
-  <version>3.17.0</version>
+  <version>4.0.0</version>
   <description>Implementation of admittance controllers for different input and output interface.</description>
   <maintainer email="[email protected]">Denis Štogl</maintainer>
   <maintainer email="[email protected]">Bence Magyar</maintainer>

diff --git a/admittance_controller/test/test_admittance_controller.hpp b/admittance_controller/test/test_admittance_controller.hpp
@@ -185,7 +185,7 @@ class AdmittanceControllerTest : public ::testing::Test
   controller_interface::return_type SetUpControllerCommon(
     const std::string & controller_name, const rclcpp::NodeOptions & options)
   {
-    auto result = controller_->init(controller_name, "", "", options);
+    auto result = controller_->init(controller_name, "", 0, "", options);
 
     controller_->export_reference_interfaces();
     assign_interfaces();

diff --git a/bicycle_steering_controller/CHANGELOG.rst b/bicycle_steering_controller/CHANGELOG.rst
@@ -2,6 +2,12 @@
 Changelog for package bicycle_steering_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.0.0 (2023-11-21)
+------------------
+* fix tests for API break of passing controller manager update rate in init method (`#854 <https://github.com/ros-controls/ros2_controllers/issues/854>`_)
+* Adjust tests after passing URDF to controllers (`#817 <https://github.com/ros-controls/ros2_controllers/issues/817>`_)
+* Contributors: Bence Magyar, Sai Kishor Kothakota
+
 3.17.0 (2023-10-31)
 -------------------
 * Improve docs (`#785 <https://github.com/ros-controls/ros2_controllers/issues/785>`_)

diff --git a/bicycle_steering_controller/package.xml b/bicycle_steering_controller/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>bicycle_steering_controller</name>
-  <version>3.17.0</version>
+  <version>4.0.0</version>
   <description>Steering controller with bicycle kinematics. Rear fixed wheel is powering the vehicle and front wheel is steering.</description>
   <license>Apache License 2.0</license>
   <maintainer email="[email protected]">Bence Magyar</maintainer>

diff --git a/bicycle_steering_controller/test/test_bicycle_steering_controller.hpp b/bicycle_steering_controller/test/test_bicycle_steering_controller.hpp
@@ -144,7 +144,7 @@ class BicycleSteeringControllerFixture : public ::testing::Test
 protected:
   void SetUpController(const std::string controller_name = "test_bicycle_steering_controller")
   {
-    ASSERT_EQ(controller_->init(controller_name, ""), controller_interface::return_type::OK);
+    ASSERT_EQ(controller_->init(controller_name, "", 0), controller_interface::return_type::OK);
 
     if (position_feedback_ == true)
     {

diff --git a/diff_drive_controller/CHANGELOG.rst b/diff_drive_controller/CHANGELOG.rst
@@ -2,6 +2,14 @@
 Changelog for package diff_drive_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.0.0 (2023-11-21)
+------------------
+* fix tests for API break of passing controller manager update rate in init method (`#854 <https://github.com/ros-controls/ros2_controllers/issues/854>`_)
+* [diff_drive_controller] Fixed typos in diff_drive_controller_parameter.yaml. (`#822 <https://github.com/ros-controls/ros2_controllers/issues/822>`_)
+* [diff_drive_controller] Remove non-stamped Twist option (`#812 <https://github.com/ros-controls/ros2_controllers/issues/812>`_)
+* Adjust tests after passing URDF to controllers (`#817 <https://github.com/ros-controls/ros2_controllers/issues/817>`_)
+* Contributors: Bence Magyar, Sai Kishor Kothakota, Tony Baltovski
+
 3.17.0 (2023-10-31)
 -------------------
 

diff --git a/diff_drive_controller/package.xml b/diff_drive_controller/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>diff_drive_controller</name>
-  <version>3.17.0</version>
+  <version>4.0.0</version>
   <description>Controller for a differential drive mobile base.</description>
   <maintainer email="[email protected]">Bence Magyar</maintainer>
   <maintainer email="[email protected]">Jordan Palacios</maintainer>

diff --git a/diff_drive_controller/test/test_diff_drive_controller.cpp b/diff_drive_controller/test/test_diff_drive_controller.cpp
@@ -195,15 +195,15 @@ class TestDiffDriveController : public ::testing::Test
 
 TEST_F(TestDiffDriveController, configure_fails_without_parameters)
 {
-  const auto ret = controller_->init(controller_name, urdf_);
+  const auto ret = controller_->init(controller_name, urdf_, 0);
   ASSERT_EQ(ret, controller_interface::return_type::OK);
 
   ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), CallbackReturn::ERROR);
 }
 
 TEST_F(TestDiffDriveController, configure_fails_with_only_left_or_only_right_side_defined)
 {
-  const auto ret = controller_->init(controller_name, urdf_);
+  const auto ret = controller_->init(controller_name, urdf_, 0);
   ASSERT_EQ(ret, controller_interface::return_type::OK);
 
   controller_->get_node()->set_parameter(
@@ -223,7 +223,7 @@ TEST_F(TestDiffDriveController, configure_fails_with_only_left_or_only_right_sid
 
 TEST_F(TestDiffDriveController, configure_fails_with_mismatching_wheel_side_size)
 {
-  const auto ret = controller_->init(controller_name, urdf_);
+  const auto ret = controller_->init(controller_name, urdf_, 0);
   ASSERT_EQ(ret, controller_interface::return_type::OK);
 
   controller_->get_node()->set_parameter(
@@ -239,7 +239,7 @@ TEST_F(TestDiffDriveController, configure_fails_with_mismatching_wheel_side_size
 
 TEST_F(TestDiffDriveController, configure_succeeds_when_wheels_are_specified)
 {
-  const auto ret = controller_->init(controller_name, urdf_);
+  const auto ret = controller_->init(controller_name, urdf_, 0);
   ASSERT_EQ(ret, controller_interface::return_type::OK);
 
   controller_->get_node()->set_parameter(
@@ -259,7 +259,7 @@ TEST_F(TestDiffDriveController, configure_succeeds_when_wheels_are_specified)
 
 TEST_F(TestDiffDriveController, configure_succeeds_tf_test_prefix_false_no_namespace)
 {
-  const auto ret = controller_->init(controller_name, urdf_);
+  const auto ret = controller_->init(controller_name, urdf_, 0);
   ASSERT_EQ(ret, controller_interface::return_type::OK);
 
   std::string odom_id = "odom";
@@ -292,7 +292,7 @@ TEST_F(TestDiffDriveController, configure_succeeds_tf_test_prefix_false_no_names
 
 TEST_F(TestDiffDriveController, configure_succeeds_tf_test_prefix_true_no_namespace)
 {
-  const auto ret = controller_->init(controller_name, urdf_);
+  const auto ret = controller_->init(controller_name, urdf_, 0);
   ASSERT_EQ(ret, controller_interface::return_type::OK);
 
   std::string odom_id = "odom";
@@ -327,7 +327,7 @@ TEST_F(TestDiffDriveController, configure_succeeds_tf_test_prefix_true_no_namesp
 
 TEST_F(TestDiffDriveController, configure_succeeds_tf_blank_prefix_true_no_namespace)
 {
-  const auto ret = controller_->init(controller_name, urdf_);
+  const auto ret = controller_->init(controller_name, urdf_, 0);
   ASSERT_EQ(ret, controller_interface::return_type::OK);
 
   std::string odom_id = "odom";
@@ -363,7 +363,7 @@ TEST_F(TestDiffDriveController, configure_succeeds_tf_test_prefix_false_set_name
 {
   std::string test_namespace = "/test_namespace";
 
-  const auto ret = controller_->init(controller_name, urdf_, test_namespace);
+  const auto ret = controller_->init(controller_name, urdf_, 0, test_namespace);
   ASSERT_EQ(ret, controller_interface::return_type::OK);
 
   std::string odom_id = "odom";
@@ -398,7 +398,7 @@ TEST_F(TestDiffDriveController, configure_succeeds_tf_test_prefix_true_set_names
 {
   std::string test_namespace = "/test_namespace";
 
-  const auto ret = controller_->init(controller_name, urdf_, test_namespace);
+  const auto ret = controller_->init(controller_name, urdf_, 0, test_namespace);
   ASSERT_EQ(ret, controller_interface::return_type::OK);
 
   std::string odom_id = "odom";
@@ -435,7 +435,7 @@ TEST_F(TestDiffDriveController, configure_succeeds_tf_blank_prefix_true_set_name
 {
   std::string test_namespace = "/test_namespace";
 
-  const auto ret = controller_->init(controller_name, urdf_, test_namespace);
+  const auto ret = controller_->init(controller_name, urdf_, 0, test_namespace);
   ASSERT_EQ(ret, controller_interface::return_type::OK);
 
   std::string odom_id = "odom";
@@ -469,7 +469,7 @@ TEST_F(TestDiffDriveController, configure_succeeds_tf_blank_prefix_true_set_name
 
 TEST_F(TestDiffDriveController, activate_fails_without_resources_assigned)
 {
-  const auto ret = controller_->init(controller_name, urdf_);
+  const auto ret = controller_->init(controller_name, urdf_, 0);
   ASSERT_EQ(ret, controller_interface::return_type::OK);
 
   controller_->get_node()->set_parameter(
@@ -483,7 +483,7 @@ TEST_F(TestDiffDriveController, activate_fails_without_resources_assigned)
 
 TEST_F(TestDiffDriveController, activate_succeeds_with_pos_resources_assigned)
 {
-  const auto ret = controller_->init(controller_name, urdf_);
+  const auto ret = controller_->init(controller_name, urdf_, 0);
   ASSERT_EQ(ret, controller_interface::return_type::OK);
 
   // We implicitly test that by default position feedback is required
@@ -499,7 +499,7 @@ TEST_F(TestDiffDriveController, activate_succeeds_with_pos_resources_assigned)
 
 TEST_F(TestDiffDriveController, activate_succeeds_with_vel_resources_assigned)
 {
-  const auto ret = controller_->init(controller_name, urdf_);
+  const auto ret = controller_->init(controller_name, urdf_, 0);
   ASSERT_EQ(ret, controller_interface::return_type::OK);
 
   controller_->get_node()->set_parameter(
@@ -516,7 +516,7 @@ TEST_F(TestDiffDriveController, activate_succeeds_with_vel_resources_assigned)
 
 TEST_F(TestDiffDriveController, activate_fails_with_wrong_resources_assigned_1)
 {
-  const auto ret = controller_->init(controller_name, urdf_);
+  const auto ret = controller_->init(controller_name, urdf_, 0);
   ASSERT_EQ(ret, controller_interface::return_type::OK);
 
   controller_->get_node()->set_parameter(
@@ -533,7 +533,7 @@ TEST_F(TestDiffDriveController, activate_fails_with_wrong_resources_assigned_1)
 
 TEST_F(TestDiffDriveController, activate_fails_with_wrong_resources_assigned_2)
 {
-  const auto ret = controller_->init(controller_name, urdf_);
+  const auto ret = controller_->init(controller_name, urdf_, 0);
   ASSERT_EQ(ret, controller_interface::return_type::OK);
 
   controller_->get_node()->set_parameter(
@@ -550,7 +550,7 @@ TEST_F(TestDiffDriveController, activate_fails_with_wrong_resources_assigned_2)
 
 TEST_F(TestDiffDriveController, cleanup)
 {
-  const auto ret = controller_->init(controller_name, urdf_);
+  const auto ret = controller_->init(controller_name, urdf_, 0);
   ASSERT_EQ(ret, controller_interface::return_type::OK);
 
   controller_->get_node()->set_parameter(
@@ -599,7 +599,7 @@ TEST_F(TestDiffDriveController, cleanup)
 
 TEST_F(TestDiffDriveController, correct_initialization_using_parameters)
 {
-  const auto ret = controller_->init(controller_name, urdf_);
+  const auto ret = controller_->init(controller_name, urdf_, 0);
   ASSERT_EQ(ret, controller_interface::return_type::OK);
 
   controller_->get_node()->set_parameter(

diff --git a/effort_controllers/CHANGELOG.rst b/effort_controllers/CHANGELOG.rst
@@ -2,6 +2,12 @@
 Changelog for package effort_controllers
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.0.0 (2023-11-21)
+------------------
+* fix tests for API break of passing controller manager update rate in init method (`#854 <https://github.com/ros-controls/ros2_controllers/issues/854>`_)
+* Adjust tests after passing URDF to controllers (`#817 <https://github.com/ros-controls/ros2_controllers/issues/817>`_)
+* Contributors: Bence Magyar, Sai Kishor Kothakota
+
 3.17.0 (2023-10-31)
 -------------------
 

diff --git a/effort_controllers/package.xml b/effort_controllers/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>effort_controllers</name>
-  <version>3.17.0</version>
+  <version>4.0.0</version>
   <description>Generic controller for forwarding commands.</description>
   <maintainer email="[email protected]">Bence Magyar</maintainer>
   <maintainer email="[email protected]">Jordan Palacios</maintainer>

diff --git a/effort_controllers/test/test_joint_group_effort_controller.cpp b/effort_controllers/test/test_joint_group_effort_controller.cpp
@@ -54,7 +54,7 @@ void JointGroupEffortControllerTest::TearDown() { controller_.reset(nullptr); }
 
 void JointGroupEffortControllerTest::SetUpController()
 {
-  const auto result = controller_->init("test_joint_group_effort_controller", "");
+  const auto result = controller_->init("test_joint_group_effort_controller", "", 0);
   ASSERT_EQ(result, controller_interface::return_type::OK);
 
   std::vector<LoanedCommandInterface> command_ifs;

diff --git a/force_torque_sensor_broadcaster/CHANGELOG.rst b/force_torque_sensor_broadcaster/CHANGELOG.rst
@@ -2,6 +2,12 @@
 Changelog for package force_torque_sensor_broadcaster
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.0.0 (2023-11-21)
+------------------
+* fix tests for API break of passing controller manager update rate in init method (`#854 <https://github.com/ros-controls/ros2_controllers/issues/854>`_)
+* Adjust tests after passing URDF to controllers (`#817 <https://github.com/ros-controls/ros2_controllers/issues/817>`_)
+* Contributors: Bence Magyar, Sai Kishor Kothakota
+
 3.17.0 (2023-10-31)
 -------------------
 

diff --git a/force_torque_sensor_broadcaster/package.xml b/force_torque_sensor_broadcaster/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>force_torque_sensor_broadcaster</name>
-  <version>3.17.0</version>
+  <version>4.0.0</version>
   <description>Controller to publish state of force-torque sensors.</description>
   <maintainer email="[email protected]">Bence Magyar</maintainer>
   <maintainer email="[email protected]">Denis Štogl</maintainer>