Merge branch 'master' into jtc/dof_independent

ros-controls · Jan 2, 2024 · bc606f7 · bc606f7
2 parents ea50f0f + f14396c
commit bc606f7
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diff --git a/.github/dependabot.yml b/.github/dependabot.yml
@@ -11,3 +11,17 @@ updates:
     directory: "/"
     schedule:
       interval: "weekly"
+  - package-ecosystem: "github-actions"
+    # Workflow files stored in the
+    # default location of `.github/workflows`
+    directory: "/"
+    schedule:
+      interval: "weekly"
+    target-branch: "humble"
+  - package-ecosystem: "github-actions"
+    # Workflow files stored in the
+    # default location of `.github/workflows`
+    directory: "/"
+    schedule:
+      interval: "weekly"
+    target-branch: "iron"
diff --git a/.github/mergify.yml b/.github/mergify.yml
@@ -21,6 +21,7 @@ pull_request_rules:
     conditions:
       - conflict
       - author!=mergify[bot]
+      - author!=dependabot[bot]
     actions:
         comment:
           message: This pull request is in conflict. Could you fix it @{{author}}?
@@ -40,6 +41,7 @@ pull_request_rules:
       - author!=dstogl
       - author!=christophfroehlich
       - author!=mergify[bot]
+      - author!=dependabot[bot]
     actions:
         comment:
           message: |

diff --git a/.github/reviewer-lottery.yml b/.github/reviewer-lottery.yml
@@ -13,28 +13,21 @@ groups:
   - name: reviewers
     reviewers: 5
     usernames:
-      - rosterloh
-      - progtologist
+      - aprotyas
       - arne48
+      - bijoua29
       - christophfroehlich
       - DasRoteSkelett
-      - sgmurray
-      - harderthan
-      - jaron-l
-      - malapatiravi
+      - duringhof
       - erickisos
-      - sachinkum0009
-      - qiayuanliao
-      - homalozoa
-      - anfemosa
-      - jackcenter
-      - VX792
-      - mhubii
+      - fmauch
+      - jaron-l
       - livanov93
-      - aprotyas
+      - mcbed
+      - moriarty
+      - olivier-stasse
       - peterdavidfagan
-      - duringhof
+      - progtologist
+      - saikishor
       - VanshGehlot
-      - bijoua29
-      - LukasMacha97
-      - mcbed
+      - VX792
diff --git a/.github/workflows/ci-coverage-build-humble.yml b/.github/workflows/ci-coverage-build-humble.yml
@@ -60,7 +60,7 @@ jobs:
           file: ros_ws/lcov/total_coverage.info
           flags: unittests
           name: codecov-umbrella
-      - uses: actions/upload-artifact@v3.1.3
+      - uses: actions/upload-artifact@v4.0.0
         with:
           name: colcon-logs-coverage-humble
           path: ros_ws/log
diff --git a/.github/workflows/ci-coverage-build-iron.yml b/.github/workflows/ci-coverage-build-iron.yml
@@ -60,7 +60,7 @@ jobs:
           file: ros_ws/lcov/total_coverage.info
           flags: unittests
           name: codecov-umbrella
-      - uses: actions/upload-artifact@v3.1.3
+      - uses: actions/upload-artifact@v4.0.0
         with:
           name: colcon-logs-coverage-iron
           path: ros_ws/log
diff --git a/.github/workflows/ci-coverage-build.yml b/.github/workflows/ci-coverage-build.yml
@@ -60,7 +60,7 @@ jobs:
           file: ros_ws/lcov/total_coverage.info
           flags: unittests
           name: codecov-umbrella
-      - uses: actions/upload-artifact@v3.1.3
+      - uses: actions/upload-artifact@v4.0.0
         with:
           name: colcon-logs-coverage-rolling
           path: ros_ws/log
diff --git a/.github/workflows/ci-format.yml b/.github/workflows/ci-format.yml
@@ -12,7 +12,7 @@ jobs:
     runs-on: ubuntu-latest
     steps:
     - uses: actions/checkout@v4
-    - uses: actions/setup-python@v4.7.1
+    - uses: actions/setup-python@v5.0.0
       with:
         python-version: '3.10'
     - name: Install system hooks

diff --git a/.github/workflows/reusable-ros-tooling-source-build.yml b/.github/workflows/reusable-ros-tooling-source-build.yml
@@ -63,7 +63,7 @@ jobs:
             https://raw.githubusercontent.com/ros2/ros2/${{ inputs.ros2_repo_branch }}/ros2.repos
             https://raw.githubusercontent.com/${{ github.repository }}/${{ github.sha }}/ros2_controllers.${{ inputs.ros_distro }}.repos?token=${{ secrets.GITHUB_TOKEN }}
           colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
-      - uses: actions/upload-artifact@v3.1.3
+      - uses: actions/upload-artifact@v4.0.0
         with:
           name: colcon-logs-ubuntu-22.04
           path: ros_ws/log
diff --git a/.github/workflows/reviewer_lottery.yml b/.github/workflows/reviewer_lottery.yml
@@ -6,6 +6,7 @@ on:
 jobs:
   test:
     runs-on: ubuntu-latest
+    if: github.actor != 'dependabot[bot]' && github.actor != 'mergify[bot]'
     steps:
     - uses: actions/checkout@v4
     - uses: uesteibar/reviewer-lottery@v3

diff --git a/ackermann_steering_controller/CHANGELOG.rst b/ackermann_steering_controller/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package ackermann_steering_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.2.0 (2023-12-12)
+------------------
+
 4.1.0 (2023-12-01)
 ------------------
 

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>4.1.0</version>
+  <version>4.2.0</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/admittance_controller/CHANGELOG.rst b/admittance_controller/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package admittance_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.2.0 (2023-12-12)
+------------------
+
 4.1.0 (2023-12-01)
 ------------------
 

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>4.1.0</version>
+  <version>4.2.0</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 +2,9 @@
 Changelog for package bicycle_steering_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.2.0 (2023-12-12)
+------------------
+
 4.1.0 (2023-12-01)
 ------------------
 

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>4.1.0</version>
+  <version>4.2.0</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/diff_drive_controller/CHANGELOG.rst b/diff_drive_controller/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package diff_drive_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.2.0 (2023-12-12)
+------------------
+
 4.1.0 (2023-12-01)
 ------------------
 

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>4.1.0</version>
+  <version>4.2.0</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/effort_controllers/CHANGELOG.rst b/effort_controllers/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package effort_controllers
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.2.0 (2023-12-12)
+------------------
+
 4.1.0 (2023-12-01)
 ------------------
 

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>4.1.0</version>
+  <version>4.2.0</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
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.2.0 (2023-12-12)
+------------------
+
 4.1.0 (2023-12-01)
 ------------------
 * Increase test coverage of interface configuration getters (`#856 <https://github.com/ros-controls/ros2_controllers/issues/856>`_)

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>4.1.0</version>
+  <version>4.2.0</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
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.2.0 (2023-12-12)
+------------------
+
 4.1.0 (2023-12-01)
 ------------------
 * Increase test coverage of interface configuration getters (`#856 <https://github.com/ros-controls/ros2_controllers/issues/856>`_)

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>4.1.0</version>
+  <version>4.2.0</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
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.2.0 (2023-12-12)
+------------------
+
 4.1.0 (2023-12-01)
 ------------------
 * Increase test coverage of interface configuration getters (`#856 <https://github.com/ros-controls/ros2_controllers/issues/856>`_)

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>4.1.0</version>
+  <version>4.2.0</version>
   <description>The gripper_controllers package</description>
   <maintainer email="[email protected]">Bence Magyar</maintainer>
 

diff --git a/imu_sensor_broadcaster/CHANGELOG.rst b/imu_sensor_broadcaster/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package imu_sensor_broadcaster
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.2.0 (2023-12-12)
+------------------
+
 4.1.0 (2023-12-01)
 ------------------
 * Increase test coverage of interface configuration getters (`#856 <https://github.com/ros-controls/ros2_controllers/issues/856>`_)

diff --git a/imu_sensor_broadcaster/package.xml b/imu_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>imu_sensor_broadcaster</name>
-  <version>4.1.0</version>
+  <version>4.2.0</version>
   <description>Controller to publish readings of IMU sensors.</description>
   <maintainer email="[email protected]">Bence Magyar</maintainer>
   <maintainer email="[email protected]">Denis Štogl</maintainer>

diff --git a/joint_state_broadcaster/CHANGELOG.rst b/joint_state_broadcaster/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package joint_state_broadcaster
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.2.0 (2023-12-12)
+------------------
+
 4.1.0 (2023-12-01)
 ------------------
 * Increase test coverage of interface configuration getters (`#856 <https://github.com/ros-controls/ros2_controllers/issues/856>`_)

diff --git a/joint_state_broadcaster/package.xml b/joint_state_broadcaster/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>joint_state_broadcaster</name>
-  <version>4.1.0</version>
+  <version>4.2.0</version>
   <description>Broadcaster to publish joint state</description>
   <maintainer email="[email protected]">Bence Magyar</maintainer>
   <maintainer email="[email protected]">Denis Stogl</maintainer>

diff --git a/joint_trajectory_controller/CHANGELOG.rst b/joint_trajectory_controller/CHANGELOG.rst
@@ -2,6 +2,12 @@
 Changelog for package joint_trajectory_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.2.0 (2023-12-12)
+------------------
+* Cleanup package.xml und clarify tests of JTC. (`#889 <https://github.com/ros-controls/ros2_controllers/issues/889>`_)
+* Fix floating point comparison in JTC (`#879 <https://github.com/ros-controls/ros2_controllers/issues/879>`_)
+* Contributors: Abishalini Sivaraman, Dr. Denis
+
 4.1.0 (2023-12-01)
 ------------------
 * [JTC] Continue with last trajectory-point on success (`#842 <https://github.com/ros-controls/ros2_controllers/issues/842>`_)

diff --git a/joint_trajectory_controller/doc/userdoc.rst b/joint_trajectory_controller/doc/userdoc.rst
@@ -193,6 +193,7 @@ Further information
 
    Trajectory Representation <trajectory.rst>
    joint_trajectory_controller Parameters <parameters.rst>
+   rqt_joint_trajectory_controller <../../rqt_joint_trajectory_controller/doc/userdoc.rst>
 
 
 .. rubric:: Footnote

diff --git a/...trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller.hpp b/...trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller.hpp
@@ -16,10 +16,9 @@
 #define JOINT_TRAJECTORY_CONTROLLER__JOINT_TRAJECTORY_CONTROLLER_HPP_
 
 #include <chrono>
+#include <functional>  // for std::reference_wrapper
 #include <memory>
-#include <mutex>
 #include <string>
-#include <utility>
 #include <vector>
 
 #include "control_msgs/action/follow_joint_trajectory.hpp"
@@ -30,15 +29,15 @@
 #include "hardware_interface/types/hardware_interface_type_values.hpp"
 #include "joint_trajectory_controller/interpolation_methods.hpp"
 #include "joint_trajectory_controller/tolerances.hpp"
+#include "joint_trajectory_controller/trajectory.hpp"
 #include "joint_trajectory_controller/visibility_control.h"
 #include "rclcpp/duration.hpp"
 #include "rclcpp/subscription.hpp"
 #include "rclcpp/time.hpp"
 #include "rclcpp/timer.hpp"
 #include "rclcpp_action/server.hpp"
-#include "rclcpp_action/types.hpp"
-#include "rclcpp_lifecycle/lifecycle_publisher.hpp"
 #include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp"
+#include "rclcpp_lifecycle/state.hpp"
 #include "realtime_tools/realtime_buffer.h"
 #include "realtime_tools/realtime_publisher.h"
 #include "realtime_tools/realtime_server_goal_handle.h"
@@ -50,19 +49,8 @@
 
 using namespace std::chrono_literals;  // NOLINT
 
-namespace rclcpp_action
-{
-template <typename ActionT>
-class ServerGoalHandle;
-}  // namespace rclcpp_action
-namespace rclcpp_lifecycle
-{
-class State;
-}  // namespace rclcpp_lifecycle
-
 namespace joint_trajectory_controller
 {
-class Trajectory;
 
 class JointTrajectoryController : public controller_interface::ControllerInterface
 {