Merge branch 'master' into use_generic_steering_state_msg

ros-controls · Apr 11, 2024 · bfc78b8 · bfc78b8
2 parents dad8b48 + 9e97c00
commit bfc78b8
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diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
@@ -49,7 +49,7 @@ repos:
       args: ["--ignore=D100,D101,D102,D103,D104,D105,D106,D107,D203,D212,D404"]
 
   - repo: https://github.com/psf/black
-    rev: 24.2.0
+    rev: 24.3.0
     hooks:
       - id: black
         args: ["--line-length=99"]
@@ -62,7 +62,7 @@ repos:
 
   # CPP hooks
   - repo: https://github.com/pre-commit/mirrors-clang-format
-    rev: v18.1.0
+    rev: v18.1.1
     hooks:
       - id: clang-format
         args: ['-fallback-style=none', '-i']

diff --git a/ackermann_steering_controller/CHANGELOG.rst b/ackermann_steering_controller/CHANGELOG.rst
@@ -2,6 +2,12 @@
 Changelog for package ackermann_steering_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.7.0 (2024-03-22)
+------------------
+* Fix pid_controller build on ROS 2 Rolling on Ubuntu 24.04 (`#1084 <https://github.com/ros-controls/ros2_controllers/issues/1084>`_)
+* Fix usage of visibility macros (`#1039 <https://github.com/ros-controls/ros2_controllers/issues/1039>`_)
+* Contributors: Chris Lalancette, Silvio Traversaro
+
 4.6.0 (2024-02-12)
 ------------------
 * Add test_depend on `hardware_interface_testing` (`#1018 <https://github.com/ros-controls/ros2_controllers/issues/1018>`_)

diff --git a/ackermann_steering_controller/CMakeLists.txt b/ackermann_steering_controller/CMakeLists.txt
@@ -24,6 +24,8 @@ find_package(backward_ros REQUIRED)
 foreach(Dependency IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS})
   find_package(${Dependency} REQUIRED)
 endforeach()
+add_compile_definitions(RCPPUTILS_VERSION_MAJOR=${rcpputils_VERSION_MAJOR})
+add_compile_definitions(RCPPUTILS_VERSION_MINOR=${rcpputils_VERSION_MINOR})
 
 generate_parameter_library(ackermann_steering_controller_parameters
   src/ackermann_steering_controller.yaml

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>4.6.0</version>
+  <version>4.7.0</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>
@@ -16,6 +16,7 @@
 
   <build_depend>generate_parameter_library</build_depend>
 
+  <depend>backward_ros</depend>
   <depend>control_msgs</depend>
   <depend>controller_interface</depend>
   <depend>hardware_interface</depend>

diff --git a/admittance_controller/CHANGELOG.rst b/admittance_controller/CHANGELOG.rst
@@ -2,6 +2,11 @@
 Changelog for package admittance_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.7.0 (2024-03-22)
+------------------
+* Use CMake target for eigen (`#1058 <https://github.com/ros-controls/ros2_controllers/issues/1058>`_)
+* Contributors: Christoph Fröhlich
+
 4.6.0 (2024-02-12)
 ------------------
 * Add test_depend on `hardware_interface_testing` (`#1018 <https://github.com/ros-controls/ros2_controllers/issues/1018>`_)

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>4.6.0</version>
+  <version>4.7.0</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
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.7.0 (2024-03-22)
+------------------
+* Fix pid_controller build on ROS 2 Rolling on Ubuntu 24.04 (`#1084 <https://github.com/ros-controls/ros2_controllers/issues/1084>`_)
+* Fix usage of visibility macros (`#1039 <https://github.com/ros-controls/ros2_controllers/issues/1039>`_)
+* Contributors: Chris Lalancette, Silvio Traversaro
+
 4.6.0 (2024-02-12)
 ------------------
 * Add test_depend on `hardware_interface_testing` (`#1018 <https://github.com/ros-controls/ros2_controllers/issues/1018>`_)

diff --git a/bicycle_steering_controller/CMakeLists.txt b/bicycle_steering_controller/CMakeLists.txt
@@ -24,6 +24,8 @@ find_package(backward_ros REQUIRED)
 foreach(Dependency IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS})
   find_package(${Dependency} REQUIRED)
 endforeach()
+add_compile_definitions(RCPPUTILS_VERSION_MAJOR=${rcpputils_VERSION_MAJOR})
+add_compile_definitions(RCPPUTILS_VERSION_MINOR=${rcpputils_VERSION_MINOR})
 
 generate_parameter_library(bicycle_steering_controller_parameters
   src/bicycle_steering_controller.yaml

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>4.6.0</version>
+  <version>4.7.0</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>
@@ -16,6 +16,7 @@
 
   <build_depend>generate_parameter_library</build_depend>
 
+  <depend>backward_ros</depend>
   <depend>control_msgs</depend>
   <depend>controller_interface</depend>
   <depend>hardware_interface</depend>

diff --git a/diff_drive_controller/CHANGELOG.rst b/diff_drive_controller/CHANGELOG.rst
@@ -2,6 +2,11 @@
 Changelog for package diff_drive_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.7.0 (2024-03-22)
+------------------
+* added conditioning to have rolling tags compilable in older versions (`#1071 <https://github.com/ros-controls/ros2_controllers/issues/1071>`_)
+* Contributors: Sai Kishor Kothakota
+
 4.6.0 (2024-02-12)
 ------------------
 * Add test_depend on `hardware_interface_testing` also for diff_drive (`#1021 <https://github.com/ros-controls/ros2_controllers/issues/1021>`_)

diff --git a/diff_drive_controller/CMakeLists.txt b/diff_drive_controller/CMakeLists.txt
@@ -25,6 +25,8 @@ find_package(backward_ros REQUIRED)
 foreach(Dependency IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS})
   find_package(${Dependency} REQUIRED)
 endforeach()
+add_compile_definitions(RCPPUTILS_VERSION_MAJOR=${rcpputils_VERSION_MAJOR})
+add_compile_definitions(RCPPUTILS_VERSION_MINOR=${rcpputils_VERSION_MINOR})
 
 generate_parameter_library(diff_drive_controller_parameters
   src/diff_drive_controller_parameter.yaml

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>4.6.0</version>
+  <version>4.7.0</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
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.7.0 (2024-03-22)
+------------------
+
 4.6.0 (2024-02-12)
 ------------------
 * Add test_depend on `hardware_interface_testing` (`#1018 <https://github.com/ros-controls/ros2_controllers/issues/1018>`_)

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>4.6.0</version>
+  <version>4.7.0</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
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.7.0 (2024-03-22)
+------------------
+
 4.6.0 (2024-02-12)
 ------------------
 * Add test_depend on `hardware_interface_testing` (`#1018 <https://github.com/ros-controls/ros2_controllers/issues/1018>`_)

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>4.6.0</version>
+  <version>4.7.0</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
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.7.0 (2024-03-22)
+------------------
+
 4.6.0 (2024-02-12)
 ------------------
 * Add test_depend on `hardware_interface_testing` (`#1018 <https://github.com/ros-controls/ros2_controllers/issues/1018>`_)

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>4.6.0</version>
+  <version>4.7.0</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 +2,11 @@
 Changelog for package gripper_controllers
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.7.0 (2024-03-22)
+------------------
+* Fix usage of visibility macros (`#1039 <https://github.com/ros-controls/ros2_controllers/issues/1039>`_)
+* Contributors: Silvio Traversaro
+
 4.6.0 (2024-02-12)
 ------------------
 * Add test_depend on `hardware_interface_testing` (`#1018 <https://github.com/ros-controls/ros2_controllers/issues/1018>`_)

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>4.6.0</version>
+  <version>4.7.0</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
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.7.0 (2024-03-22)
+------------------
+
 4.6.0 (2024-02-12)
 ------------------
 * Add test_depend on `hardware_interface_testing` (`#1018 <https://github.com/ros-controls/ros2_controllers/issues/1018>`_)

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>4.6.0</version>
+  <version>4.7.0</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 +2,11 @@
 Changelog for package joint_state_broadcaster
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.7.0 (2024-03-22)
+------------------
+* added conditioning to have rolling tags compilable in older versions (`#1071 <https://github.com/ros-controls/ros2_controllers/issues/1071>`_)
+* Contributors: Sai Kishor Kothakota
+
 4.6.0 (2024-02-12)
 ------------------
 * Add test_depend on `hardware_interface_testing` (`#1018 <https://github.com/ros-controls/ros2_controllers/issues/1018>`_)

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>4.6.0</version>
+  <version>4.7.0</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 +2,14 @@
 Changelog for package joint_trajectory_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.7.0 (2024-03-22)
+------------------
+* Remove action_msg dependency (`#1077 <https://github.com/ros-controls/ros2_controllers/issues/1077>`_)
+* Bump version of pre-commit hooks (`#1073 <https://github.com/ros-controls/ros2_controllers/issues/1073>`_)
+* Added conditioning to have rolling tags compilable in older versions (`#1071 <https://github.com/ros-controls/ros2_controllers/issues/1071>`_)
+* Parse URDF for continuous joints (`#949 <https://github.com/ros-controls/ros2_controllers/issues/949>`_)
+* Contributors: Christoph Fröhlich, Sai Kishor Kothakota, github-actions[bot]
+
 4.6.0 (2024-02-12)
 ------------------
 * Fix usage of M_PI on Windows (`#1036 <https://github.com/ros-controls/ros2_controllers/issues/1036>`_)

diff --git a/joint_trajectory_controller/package.xml b/joint_trajectory_controller/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>joint_trajectory_controller</name>
-  <version>4.6.0</version>
+  <version>4.7.0</version>
   <description>Controller for executing joint-space trajectories on a group of joints</description>
   <maintainer email="[email protected]">Bence Magyar</maintainer>
   <maintainer email="[email protected]">Dr. Denis Štogl</maintainer>

diff --git a/joint_trajectory_controller/test/test_trajectory_actions.cpp b/joint_trajectory_controller/test/test_trajectory_actions.cpp
@@ -27,7 +27,6 @@
 #include <thread>
 #include <vector>
 
-#include "action_msgs/msg/goal_status_array.hpp"
 #include "control_msgs/action/detail/follow_joint_trajectory__struct.hpp"
 #include "controller_interface/controller_interface.hpp"
 #include "gtest/gtest.h"

diff --git a/joint_trajectory_controller/test/test_trajectory_controller.cpp b/joint_trajectory_controller/test/test_trajectory_controller.cpp
@@ -51,17 +51,13 @@ using lifecycle_msgs::msg::State;
 using test_trajectory_controllers::TrajectoryControllerTest;
 using test_trajectory_controllers::TrajectoryControllerTestParameterized;
 
-void spin(rclcpp::executors::MultiThreadedExecutor * exe) { exe->spin(); }
-
 TEST_P(TrajectoryControllerTestParameterized, configure_state_ignores_commands)
 {
   rclcpp::executors::MultiThreadedExecutor executor;
   SetUpTrajectoryController(executor);
   traj_controller_->get_node()->set_parameter(
     rclcpp::Parameter("allow_nonzero_velocity_at_trajectory_end", true));
 
-  // const auto future_handle_ = std::async(std::launch::async, spin, &executor);
-
   const auto state = traj_controller_->get_node()->configure();
   ASSERT_EQ(state.id(), State::PRIMARY_STATE_INACTIVE);
 

diff --git a/pid_controller/CHANGELOG.rst b/pid_controller/CHANGELOG.rst
@@ -2,6 +2,13 @@
 Changelog for package pid_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.7.0 (2024-03-22)
+------------------
+* Fix pid_controller build on ROS 2 Rolling on Ubuntu 24.04 (`#1084 <https://github.com/ros-controls/ros2_controllers/issues/1084>`_)
+* Added conditioning to have rolling tags compilable in older versions (`#1071 <https://github.com/ros-controls/ros2_controllers/issues/1071>`_)
+* Fix usage of visibility macros (`#1039 <https://github.com/ros-controls/ros2_controllers/issues/1039>`_)
+* Contributors: Chris Lalancette, Sai Kishor Kothakota, Silvio Traversaro
+
 4.6.0 (2024-02-12)
 ------------------
 * Add test_depend on `hardware_interface_testing` (`#1018 <https://github.com/ros-controls/ros2_controllers/issues/1018>`_)

diff --git a/pid_controller/package.xml b/pid_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>pid_controller</name>
-  <version>4.6.0</version>
+  <version>4.7.0</version>
   <description>Controller based on PID implememenation from control_toolbox package.</description>
   <maintainer email="[email protected]">Bence Magyar</maintainer>
   <maintainer email="[email protected]">Denis Štogl</maintainer>
@@ -14,6 +14,7 @@
   <build_depend>generate_parameter_library</build_depend>
 
   <depend>angles</depend>
+  <depend>backward_ros</depend>
   <depend>control_msgs</depend>
   <depend>control_toolbox</depend>
   <depend>controller_interface</depend>

diff --git a/pid_controller/src/pid_controller.cpp b/pid_controller/src/pid_controller.cpp
@@ -26,6 +26,9 @@
 #include "control_msgs/msg/single_dof_state.hpp"
 #include "controller_interface/helpers.hpp"
 
+#include "rclcpp/rclcpp.hpp"
+#include "rclcpp/version.h"
+
 namespace
 {  // utility
 

diff --git a/position_controllers/CHANGELOG.rst b/position_controllers/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package position_controllers
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.7.0 (2024-03-22)
+------------------
+
 4.6.0 (2024-02-12)
 ------------------
 * Add test_depend on `hardware_interface_testing` (`#1018 <https://github.com/ros-controls/ros2_controllers/issues/1018>`_)

diff --git a/position_controllers/package.xml b/position_controllers/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>position_controllers</name>
-  <version>4.6.0</version>
+  <version>4.7.0</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/range_sensor_broadcaster/CHANGELOG.rst b/range_sensor_broadcaster/CHANGELOG.rst
@@ -2,6 +2,11 @@
 Changelog for package range_sensor_broadcaster
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.7.0 (2024-03-22)
+------------------
+* added conditioning to have rolling tags compilable in older versions (`#1071 <https://github.com/ros-controls/ros2_controllers/issues/1071>`_)
+* Contributors: Sai Kishor Kothakota
+
 4.6.0 (2024-02-12)
 ------------------
 * Add test_depend on `hardware_interface_testing` (`#1018 <https://github.com/ros-controls/ros2_controllers/issues/1018>`_)

diff --git a/range_sensor_broadcaster/package.xml b/range_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>range_sensor_broadcaster</name>
-  <version>4.6.0</version>
+  <version>4.7.0</version>
   <description>Controller to publish readings of Range sensors.</description>
   <maintainer email="[email protected]">Bence Magyar</maintainer>
   <author email="[email protected]">Florent Chretien</author>