Merge branch 'master' into jtc/angle_wraparound_trajectory

ros-controls · Dec 27, 2023 · bfee658 · bfee658
2 parents 7d96b1a + 3c3f614
commit bfee658
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diff --git a/.github/ISSUE_TEMPLATE/good-first-issue.md b/.github/ISSUE_TEMPLATE/good-first-issue.md
@@ -55,6 +55,6 @@ Don’t hesitate to ask questions or to get help if you feel like you are gettin
 Furthermore, you find helpful resources here:
 * [ROS2 Control Contribution Guide](https://control.ros.org/master/doc/contributing/contributing.html)
 * [ROS2 Tutorials](https://docs.ros.org/en/rolling/Tutorials.html)
-* [ROS Answers](https://answers.ros.org/questions/)
+* [Robotics Stack Exchange](https://robotics.stackexchange.com)
 
 **Good luck with your first issue!**
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
@@ -8,7 +8,6 @@ pull_request_rules:
         branches:
           - humble
 
-
   - name: Backport to iron at reviewers discretion
     conditions:
       - base=master
@@ -21,7 +20,31 @@ pull_request_rules:
   - name: Ask to resolve conflict
     conditions:
       - conflict
-      - author!=mergify
+      - author!=mergify[bot]
+      - author!=dependabot[bot]
     actions:
         comment:
           message: This pull request is in conflict. Could you fix it @{{author}}?
+
+  - name: Ask to resolve conflict for backports
+    conditions:
+      - conflict
+      - author=mergify[bot]
+    actions:
+        comment:
+          message: This pull request is in conflict. Could you fix it @bmagyar @dstogl @christophfroehlich?
+
+  - name: development targets master branch
+    conditions:
+      - base!=master
+      - author!=bmagyar
+      - author!=dstogl
+      - author!=christophfroehlich
+      - author!=mergify[bot]
+      - author!=dependabot[bot]
+    actions:
+        comment:
+          message: |
+            @{{author}}, all pull requests must be targeted towards the `master` development branch.
+            Once merged into `master`, it is possible to backport to @{{base}}, but it must be in `master`
+            to have these changes reflected into new distributions.
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
@@ -17,7 +17,7 @@ jobs:
     env:
       ROS_DISTRO: humble
     steps:
-      - uses: ros-tooling/[email protected].0
+      - uses: ros-tooling/[email protected].1
         with:
           required-ros-distributions: ${{ env.ROS_DISTRO }}
       - uses: actions/checkout@v4
@@ -38,6 +38,7 @@ jobs:
             imu_sensor_broadcaster
             joint_state_broadcaster
             joint_trajectory_controller
+            pid_controller
             position_controllers
             range_sensor_broadcaster
             steering_controllers_library
@@ -59,7 +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
@@ -17,7 +17,7 @@ jobs:
     env:
       ROS_DISTRO: iron
     steps:
-      - uses: ros-tooling/[email protected].0
+      - uses: ros-tooling/[email protected].1
         with:
           required-ros-distributions: ${{ env.ROS_DISTRO }}
       - uses: actions/checkout@v4
@@ -38,6 +38,7 @@ jobs:
             imu_sensor_broadcaster
             joint_state_broadcaster
             joint_trajectory_controller
+            pid_controller
             position_controllers
             range_sensor_broadcaster
             steering_controllers_library
@@ -59,7 +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
@@ -17,7 +17,7 @@ jobs:
     env:
       ROS_DISTRO: rolling
     steps:
-      - uses: ros-tooling/[email protected].0
+      - uses: ros-tooling/[email protected].1
         with:
           required-ros-distributions: ${{ env.ROS_DISTRO }}
       - uses: actions/checkout@v4
@@ -38,6 +38,7 @@ jobs:
             imu_sensor_broadcaster
             joint_state_broadcaster
             joint_trajectory_controller
+            pid_controller
             position_controllers
             range_sensor_broadcaster
             steering_controllers_library
@@ -59,7 +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/ci-ros-lint.yml b/.github/workflows/ci-ros-lint.yml
@@ -14,7 +14,7 @@ jobs:
       AMENT_CPPCHECK_ALLOW_SLOW_VERSIONS: true
     steps:
     - uses: actions/checkout@v4
-    - uses: ros-tooling/[email protected].0
+    - uses: ros-tooling/[email protected].1
     - uses: ros-tooling/[email protected]
       with:
         distribution: rolling
@@ -31,6 +31,7 @@ jobs:
           imu_sensor_broadcaster
           joint_state_broadcaster
           joint_trajectory_controller
+          pid_controller
           position_controllers
           range_sensor_broadcaster
           ros2_controllers
@@ -69,6 +70,7 @@ jobs:
           imu_sensor_broadcaster
           joint_state_broadcaster
           joint_trajectory_controller
+          pid_controller
           position_controllers
           range_sensor_broadcaster
           ros2_controllers

diff --git a/.github/workflows/reusable-ros-tooling-source-build.yml b/.github/workflows/reusable-ros-tooling-source-build.yml
@@ -26,7 +26,7 @@ jobs:
     strategy:
       fail-fast: false
     steps:
-      - uses: ros-tooling/[email protected].0
+      - uses: ros-tooling/[email protected].1
         with:
           required-ros-distributions: ${{ inputs.ros_distro }}
       - uses: actions/checkout@v4
@@ -63,7 +63,7 @@ jobs:
             https://raw.githubusercontent.com/ros2/ros2/${{ 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 +2,12 @@
 Changelog for package ackermann_steering_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.2.0 (2023-12-12)
+------------------
+
+4.1.0 (2023-12-01)
+------------------
+
 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 --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>4.0.0</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 +2,12 @@
 Changelog for package admittance_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.2.0 (2023-12-12)
+------------------
+
+4.1.0 (2023-12-01)
+------------------
+
 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 --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>4.0.0</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 +2,12 @@
 Changelog for package bicycle_steering_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.2.0 (2023-12-12)
+------------------
+
+4.1.0 (2023-12-01)
+------------------
+
 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 --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>4.0.0</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 +2,12 @@
 Changelog for package diff_drive_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.2.0 (2023-12-12)
+------------------
+
+4.1.0 (2023-12-01)
+------------------
+
 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 --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>4.0.0</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/doc/controllers_index.rst b/doc/controllers_index.rst
@@ -55,6 +55,7 @@ The controllers are using `common hardware interface definitions`_, and may use
    Forward Command Controller <../forward_command_controller/doc/userdoc.rst>
    Gripper Controller <../gripper_controllers/doc/userdoc.rst>
    Joint Trajectory Controller <../joint_trajectory_controller/doc/userdoc.rst>
+   PID Controller <../pid_controller/doc/userdoc.rst>
    Position Controllers <../position_controllers/doc/userdoc.rst>
    Velocity Controllers <../velocity_controllers/doc/userdoc.rst>
 
@@ -72,3 +73,12 @@ In the sense of ros2_control, broadcasters are still controllers using the same
    IMU Sensor Broadcaster <../imu_sensor_broadcaster/doc/userdoc.rst>
    Joint State Broadcaster <../joint_state_broadcaster/doc/userdoc.rst>
    Range Sensor Broadcaster <../range_sensor_broadcaster/doc/userdoc.rst>
+
+
+Common Controller Parameters
+****************************
+
+Every controller and broadcaster has a few common parameters. They are optional, but if needed they have to be set before ``onConfigure`` transition to ``inactive`` state, see `lifecycle documents <https://design.ros2.org/articles/node_lifecycle.html>`__. Once the controllers are already loaded, this transition is done using the service ``configure_controller`` of the controller_manager.
+
+* ``update_rate``: An unsigned integer parameter representing the rate at which every controller/broadcaster runs its update cycle. When unspecified, they run at the same frequency as the controller_manager.
+* ``is_async``: A boolean parameter that is needed to specify if the controller update needs to run asynchronously.
diff --git a/effort_controllers/CHANGELOG.rst b/effort_controllers/CHANGELOG.rst
@@ -2,6 +2,12 @@
 Changelog for package effort_controllers
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.2.0 (2023-12-12)
+------------------
+
+4.1.0 (2023-12-01)
+------------------
+
 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 --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>4.0.0</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 +2,14 @@
 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>`_)
+* Contributors: Christoph Fröhlich
+
 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 --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>4.0.0</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>