Merge branch 'humble' into mergify/bp/humble/pr-434

ros-controls · Jul 15, 2024 · 9d78d2c · 9d78d2c
2 parents 5eb6df8 + 143bfc9
commit 9d78d2c
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diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
@@ -37,7 +37,7 @@ repos:
 
   # Python hooks
   - repo: https://github.com/asottile/pyupgrade
-    rev: v3.15.2
+    rev: v3.16.0
     hooks:
     -   id: pyupgrade
         args: [--py36-plus]
@@ -56,14 +56,14 @@ repos:
         args: ["--line-length=99"]
 
   - repo: https://github.com/pycqa/flake8
-    rev: 7.0.0
+    rev: 7.1.0
     hooks:
     - id: flake8
       args: ["--extend-ignore=E501"]
 
   # CPP hooks
   - repo: https://github.com/pre-commit/mirrors-clang-format
-    rev: v18.1.5
+    rev: v18.1.8
     hooks:
       - id: clang-format
         args: ['-fallback-style=none', '-i']
@@ -133,7 +133,7 @@ repos:
         exclude: CHANGELOG\.rst|\.(svg|pyc|drawio)$
 
   - repo: https://github.com/python-jsonschema/check-jsonschema
-    rev: 0.28.4
+    rev: 0.28.6
     hooks:
       - id: check-github-workflows
         args: ["--verbose"]

diff --git a/ackermann_steering_controller/CHANGELOG.rst b/ackermann_steering_controller/CHANGELOG.rst
@@ -2,6 +2,12 @@
 Changelog for package ackermann_steering_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.36.0 (2024-07-09)
+-------------------
+* [Steering controllers library] Reference interfaces are body twist (`#1168 <https://github.com/ros-controls/ros2_controllers/issues/1168>`_) (`#1173 <https://github.com/ros-controls/ros2_controllers/issues/1173>`_)
+* Fix steering controllers library code documentation and naming (`#1149 <https://github.com/ros-controls/ros2_controllers/issues/1149>`_) (`#1164 <https://github.com/ros-controls/ros2_controllers/issues/1164>`_)
+* Contributors: mergify[bot]
+
 2.35.0 (2024-05-22)
 -------------------
 * Add parameter check for geometric values (backport `#1120 <https://github.com/ros-controls/ros2_controllers/issues/1120>`_) (`#1125 <https://github.com/ros-controls/ros2_controllers/issues/1125>`_)

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>2.35.0</version>
+  <version>2.36.0</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.cpp b/ackermann_steering_controller/test/test_ackermann_steering_controller.cpp
@@ -84,7 +84,7 @@ TEST_F(AckermannSteeringControllerTest, check_exported_interfaces)
     controller_->front_wheels_state_names_[1] + "/" + steering_interface_name_);
   EXPECT_EQ(state_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL);
 
-  // check ref itfsTIME
+  // check ref itfs
   auto reference_interfaces = controller_->export_reference_interfaces();
   ASSERT_EQ(reference_interfaces.size(), joint_reference_interfaces_.size());
   for (size_t i = 0; i < joint_reference_interfaces_.size(); ++i)
@@ -173,6 +173,7 @@ TEST_F(AckermannSteeringControllerTest, test_update_logic)
     controller_->update(rclcpp::Time(0, 0, RCL_ROS_TIME), rclcpp::Duration::from_seconds(0.01)),
     controller_interface::return_type::OK);
 
+  // we test with open_loop=false, but steering angle was not updated (is zero) -> same commands
   EXPECT_NEAR(
     controller_->command_interfaces_[CMD_TRACTION_RIGHT_WHEEL].get_value(), 0.22222222222222224,
     COMMON_THRESHOLD);
@@ -211,8 +212,9 @@ TEST_F(AckermannSteeringControllerTest, test_update_logic_chained)
   ASSERT_EQ(
     controller_->update(rclcpp::Time(0, 0, RCL_ROS_TIME), rclcpp::Duration::from_seconds(0.01)),
     controller_interface::return_type::OK);
-  EXPECT_NEAR(
 
+  // we test with open_loop=false, but steering angle was not updated (is zero) -> same commands
+  EXPECT_NEAR(
     controller_->command_interfaces_[STATE_TRACTION_RIGHT_WHEEL].get_value(), 0.22222222222222224,
     COMMON_THRESHOLD);
   EXPECT_NEAR(
@@ -261,6 +263,7 @@ TEST_F(AckermannSteeringControllerTest, receive_message_and_publish_updated_stat
     controller_->update(rclcpp::Time(0, 0, RCL_ROS_TIME), rclcpp::Duration::from_seconds(0.01)),
     controller_interface::return_type::OK);
 
+  // we test with open_loop=false, but steering angle was not updated (is zero) -> same commands
   EXPECT_NEAR(
     controller_->command_interfaces_[CMD_TRACTION_RIGHT_WHEEL].get_value(), 0.22222222222222224,
     COMMON_THRESHOLD);
@@ -276,6 +279,7 @@ TEST_F(AckermannSteeringControllerTest, receive_message_and_publish_updated_stat
 
   subscribe_and_get_messages(msg);
 
+  // we test with open_loop=false, but steering angle was not updated (is zero) -> same commands
   EXPECT_NEAR(
     msg.linear_velocity_command[CMD_TRACTION_RIGHT_WHEEL], 0.22222222222222224, COMMON_THRESHOLD);
   EXPECT_NEAR(

diff --git a/ackermann_steering_controller/test/test_ackermann_steering_controller.hpp b/ackermann_steering_controller/test/test_ackermann_steering_controller.hpp
@@ -301,7 +301,7 @@ class AckermannSteeringControllerFixture : public ::testing::Test
 
   std::array<double, 4> joint_state_values_ = {0.5, 0.5, 0.0, 0.0};
   std::array<double, 4> joint_command_values_ = {1.1, 3.3, 2.2, 4.4};
-  std::array<std::string, 2> joint_reference_interfaces_ = {"linear/velocity", "angular/position"};
+  std::array<std::string, 2> joint_reference_interfaces_ = {"linear/velocity", "angular/velocity"};
   std::string steering_interface_name_ = "position";
   // defined in setup
   std::string traction_interface_name_ = "";

diff --git a/admittance_controller/CHANGELOG.rst b/admittance_controller/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package admittance_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.36.0 (2024-07-09)
+-------------------
+
 2.35.0 (2024-05-22)
 -------------------
 

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>2.35.0</version>
+  <version>2.36.0</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/bicycle_steering_controller/CHANGELOG.rst b/bicycle_steering_controller/CHANGELOG.rst
@@ -2,6 +2,12 @@
 Changelog for package bicycle_steering_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.36.0 (2024-07-09)
+-------------------
+* [Steering controllers library] Reference interfaces are body twist (`#1168 <https://github.com/ros-controls/ros2_controllers/issues/1168>`_) (`#1173 <https://github.com/ros-controls/ros2_controllers/issues/1173>`_)
+* Fix steering controllers library code documentation and naming (`#1149 <https://github.com/ros-controls/ros2_controllers/issues/1149>`_) (`#1164 <https://github.com/ros-controls/ros2_controllers/issues/1164>`_)
+* Contributors: mergify[bot]
+
 2.35.0 (2024-05-22)
 -------------------
 * Add parameter check for geometric values (backport `#1120 <https://github.com/ros-controls/ros2_controllers/issues/1120>`_) (`#1125 <https://github.com/ros-controls/ros2_controllers/issues/1125>`_)

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>2.35.0</version>
+  <version>2.36.0</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.cpp b/bicycle_steering_controller/test/test_bicycle_steering_controller.cpp
@@ -68,7 +68,7 @@ TEST_F(BicycleSteeringControllerTest, check_exported_interfaces)
     controller_->front_wheels_state_names_[0] + "/" + steering_interface_name_);
   EXPECT_EQ(state_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL);
 
-  // check ref itfsTIME
+  // check ref itfs
   auto reference_interfaces = controller_->export_reference_interfaces();
   ASSERT_EQ(reference_interfaces.size(), joint_reference_interfaces_.size());
   for (size_t i = 0; i < joint_reference_interfaces_.size(); ++i)
@@ -158,7 +158,7 @@ TEST_F(BicycleSteeringControllerTest, test_update_logic)
     controller_interface::return_type::OK);
 
   EXPECT_NEAR(
-    controller_->command_interfaces_[CMD_TRACTION_WHEEL].get_value(), 0.253221, COMMON_THRESHOLD);
+    controller_->command_interfaces_[CMD_TRACTION_WHEEL].get_value(), 0.1 / 0.45, COMMON_THRESHOLD);
   EXPECT_NEAR(
     controller_->command_interfaces_[CMD_STEER_WHEEL].get_value(), 1.4179821977774734,
     COMMON_THRESHOLD);
@@ -190,7 +190,7 @@ TEST_F(BicycleSteeringControllerTest, test_update_logic_chained)
     controller_interface::return_type::OK);
 
   EXPECT_NEAR(
-    controller_->command_interfaces_[CMD_TRACTION_WHEEL].get_value(), 0.253221, COMMON_THRESHOLD);
+    controller_->command_interfaces_[CMD_TRACTION_WHEEL].get_value(), 0.1 / 0.45, COMMON_THRESHOLD);
   EXPECT_NEAR(
     controller_->command_interfaces_[CMD_STEER_WHEEL].get_value(), 1.4179821977774734,
     COMMON_THRESHOLD);
@@ -237,22 +237,22 @@ TEST_F(BicycleSteeringControllerTest, receive_message_and_publish_updated_status
   EXPECT_EQ(msg.linear_velocity_command[0], 1.1);
   EXPECT_EQ(msg.steering_angle_command[0], 2.2);
 
-  publish_commands();
+  publish_commands(0.1, 0.2);
   ASSERT_TRUE(controller_->wait_for_commands(executor));
 
   ASSERT_EQ(
     controller_->update(rclcpp::Time(0, 0, RCL_ROS_TIME), rclcpp::Duration::from_seconds(0.01)),
     controller_interface::return_type::OK);
 
   EXPECT_NEAR(
-    controller_->command_interfaces_[CMD_TRACTION_WHEEL].get_value(), 0.253221, COMMON_THRESHOLD);
+    controller_->command_interfaces_[CMD_TRACTION_WHEEL].get_value(), 0.1 / 0.45, COMMON_THRESHOLD);
   EXPECT_NEAR(
     controller_->command_interfaces_[CMD_STEER_WHEEL].get_value(), 1.4179821977774734,
     COMMON_THRESHOLD);
 
   subscribe_and_get_messages(msg);
 
-  EXPECT_NEAR(msg.linear_velocity_command[0], 0.253221, COMMON_THRESHOLD);
+  EXPECT_NEAR(msg.linear_velocity_command[0], 0.1 / 0.45, COMMON_THRESHOLD);
   EXPECT_NEAR(msg.steering_angle_command[0], 1.4179821977774734, COMMON_THRESHOLD);
 }
 

diff --git a/bicycle_steering_controller/test/test_bicycle_steering_controller.hpp b/bicycle_steering_controller/test/test_bicycle_steering_controller.hpp
@@ -265,7 +265,7 @@ class BicycleSteeringControllerFixture : public ::testing::Test
 
   std::array<double, 2> joint_state_values_ = {3.3, 0.5};
   std::array<double, 2> joint_command_values_ = {1.1, 2.2};
-  std::array<std::string, 2> joint_reference_interfaces_ = {"linear/velocity", "angular/position"};
+  std::array<std::string, 2> joint_reference_interfaces_ = {"linear/velocity", "angular/velocity"};
   std::string steering_interface_name_ = "position";
 
   // defined in setup

diff --git a/diff_drive_controller/CHANGELOG.rst b/diff_drive_controller/CHANGELOG.rst
@@ -2,6 +2,12 @@
 Changelog for package diff_drive_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.36.0 (2024-07-09)
+-------------------
+* Add mobile robot kinematics 101 and improve steering library docs (`#954 <https://github.com/ros-controls/ros2_controllers/issues/954>`_) (`#1160 <https://github.com/ros-controls/ros2_controllers/issues/1160>`_)
+* Bump version of pre-commit hooks (`#1157 <https://github.com/ros-controls/ros2_controllers/issues/1157>`_) (`#1158 <https://github.com/ros-controls/ros2_controllers/issues/1158>`_)
+* Contributors: mergify[bot]
+
 2.35.0 (2024-05-22)
 -------------------
 * Add parameter check for geometric values (backport `#1120 <https://github.com/ros-controls/ros2_controllers/issues/1120>`_) (`#1125 <https://github.com/ros-controls/ros2_controllers/issues/1125>`_)

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>2.35.0</version>
+  <version>2.36.0</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/doc/controllers_index.rst b/doc/controllers_index.rst
@@ -16,9 +16,9 @@ Guidelines and Best Practices
 
 .. toctree::
    :titlesonly:
-   :glob:
 
-   *
+   mobile_robot_kinematics.rst
+   writing_new_controller.rst
 
 
 Controllers for Wheeled Mobile Robots

diff --git a/doc/migration.rst b/doc/migration.rst
@@ -0,0 +1,13 @@
+:github_url: https://github.com/ros-controls/ros2_controllers/blob/{REPOS_FILE_BRANCH}/doc/migration.rst
+
+Migration Guides: Galactic to Humble
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+This list summarizes important changes between Galactic (previous) and Humble (current) releases, where changes to user code might be necessary.
+
+.. note::
+
+  This list was created in July 2024, earlier changes are not included.
+
+joint_trajectory_controller
+*****************************
+  * Tolerances sent with the action goal were not used before, but are now processed and used for the upcoming action. (`#716 <https://github.com/ros-controls/ros2_controllers/pull/716>`_). Adaptions to the action goal might be necessary.
diff --git a/doc/release_notes.rst b/doc/release_notes.rst
@@ -0,0 +1,53 @@
+:github_url: https://github.com/ros-controls/ros2_controllers/blob/{REPOS_FILE_BRANCH}/doc/release_notes.rst
+
+Release Notes: Galactic to Humble
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+This list summarizes the changes between Galactic (previous) and Humble (current) releases. Bugfixes are not included in this list.
+
+.. note::
+
+  This list was created in July 2024, earlier changes may not be included.
+
+diff_drive_controller
+*****************************
+* Remove unused parameter ``wheels_per_side`` (`#958 <https://github.com/ros-controls/ros2_controllers/pull/958>`_).
+
+joint_trajectory_controller
+*****************************
+
+* Activate update of dynamic parameters (`#761 <https://github.com/ros-controls/ros2_controllers/pull/761>`_ and `#849 <https://github.com/ros-controls/ros2_controllers/pull/849>`_).
+* Continue with last trajectory-point on success, instead of hold-position from current state (`#842 <https://github.com/ros-controls/ros2_controllers/pull/842>`_).
+* Add console output for tolerance checks (`#932 <https://github.com/ros-controls/ros2_controllers/pull/932>`_):
+
+  .. code::
+
+    [tolerances]: State tolerances failed for joint 2:
+    [tolerances]: Position Error: 0.020046, Position Tolerance: 0.010000
+    [trajectory_controllers]: Aborted due goal_time_tolerance exceeding by 1.010000 seconds
+
+* Goals are now cancelled in ``on_deactivate`` transition (`#962 <https://github.com/ros-controls/ros2_controllers/pull/962>`_).
+* Empty trajectory messages are discarded (`#902 <https://github.com/ros-controls/ros2_controllers/pull/902>`_).
+* Action field ``error_string`` is now filled with meaningful strings (`#887 <https://github.com/ros-controls/ros2_controllers/pull/887>`_).
+* Angle wraparound behavior (continuous joints) was added from the current state to the first segment of the incoming trajectory (`#796 <https://github.com/ros-controls/ros2_controllers/pull/796>`_).
+* Tolerances sent with the action goal are now processed and used for the action. (`#716 <https://github.com/ros-controls/ros2_controllers/pull/716>`_). For details, see the `JointTolerance message <https://github.com/ros-controls/control_msgs/blob/master/control_msgs/msg/JointTolerance.msg>`_:
+
+  .. code-block:: markdown
+
+    The tolerances specify the amount the position, velocity, and
+    accelerations can vary from the setpoints.  For example, in the case
+    of trajectory control, when the actual position varies beyond
+    (desired position + position tolerance), the trajectory goal may
+    abort.
+
+    There are two special values for tolerances:
+     * 0 - The tolerance is unspecified and will remain at whatever the default is
+     * -1 - The tolerance is "erased".  If there was a default, the joint will be
+            allowed to move without restriction.
+
+pid_controller
+************************
+* 🚀 The PID controller was added 🎉 (`#434 <https://github.com/ros-controls/ros2_controllers/pull/434>`_).
+
+steering_controllers_library
+********************************
+* Changing default int values to double in steering controller's yaml file. The controllers should now initialize successfully without specifying these parameters (`#927 <https://github.com/ros-controls/ros2_controllers/pull/927>`_).
diff --git a/effort_controllers/CHANGELOG.rst b/effort_controllers/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package effort_controllers
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.36.0 (2024-07-09)
+-------------------
+
 2.35.0 (2024-05-22)
 -------------------
 

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>2.35.0</version>
+  <version>2.36.0</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/force_torque_sensor_broadcaster/CHANGELOG.rst b/force_torque_sensor_broadcaster/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package force_torque_sensor_broadcaster
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.36.0 (2024-07-09)
+-------------------
+
 2.35.0 (2024-05-22)
 -------------------
 

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>2.35.0</version>
+  <version>2.36.0</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>

diff --git a/forward_command_controller/CHANGELOG.rst b/forward_command_controller/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package forward_command_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.36.0 (2024-07-09)
+-------------------
+
 2.35.0 (2024-05-22)
 -------------------
 

diff --git a/forward_command_controller/package.xml b/forward_command_controller/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>forward_command_controller</name>
-  <version>2.35.0</version>
+  <version>2.36.0</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/gripper_controllers/CHANGELOG.rst b/gripper_controllers/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package gripper_controllers
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.36.0 (2024-07-09)
+-------------------
+
 2.35.0 (2024-05-22)
 -------------------
 

diff --git a/gripper_controllers/package.xml b/gripper_controllers/package.xml
@@ -4,7 +4,7 @@
   schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>gripper_controllers</name>
-  <version>2.35.0</version>
+  <version>2.36.0</version>
   <description>The gripper_controllers package</description>
   <maintainer email="[email protected]">Bence Magyar</maintainer>