Merge branch 'master' into issue-759

ros-controls · Feb 2, 2024 · 4d4ed45 · 4d4ed45
2 parents bcb013d + 786d5b5
commit 4d4ed45
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Showing 70 changed files with 634 additions and 1,242 deletions.
diff --git a/.github/workflows/ci-coverage-build.yml b/.github/workflows/ci-coverage-build.yml
@@ -21,7 +21,7 @@ jobs:
         with:
           required-ros-distributions: ${{ env.ROS_DISTRO }}
       - uses: actions/checkout@v4
-      - uses: ros-tooling/action-ros-ci@0.3.5
+      - uses: ros-tooling/action-ros-ci@0.3.6
         with:
           target-ros2-distro: ${{ env.ROS_DISTRO }}
           import-token: ${{ secrets.GITHUB_TOKEN }}
@@ -30,6 +30,7 @@ jobs:
             controller_interface
             controller_manager
             hardware_interface
+            hardware_interface_testing
             transmission_interface
 
           vcs-repo-file-url: |
@@ -41,12 +42,12 @@ jobs:
               }
             }
           colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
-      - uses: codecov/codecov-action@v3.1.4
+      - uses: codecov/codecov-action@v3.1.5
         with:
           file: ros_ws/lcov/total_coverage.info
           flags: unittests
           name: codecov-umbrella
-      - uses: actions/upload-artifact@v4.2.0
+      - uses: actions/upload-artifact@v4.3.0
         with:
           name: colcon-logs-ubuntu-22.04-coverage-rolling
           path: ros_ws/log
diff --git a/.github/workflows/ci-ros-lint.yml b/.github/workflows/ci-ros-lint.yml
@@ -24,6 +24,7 @@ jobs:
           controller_manager
           controller_manager_msgs
           hardware_interface
+          hardware_interface_testing
           ros2controlcli
           ros2_control
           ros2_control_test_assets
@@ -49,6 +50,7 @@ jobs:
           controller_manager
           controller_manager_msgs
           hardware_interface
+          hardware_interface_testing
           ros2controlcli
           ros2_control
           ros2_control_test_assets

diff --git a/.github/workflows/humble-debian-build.yml b/.github/workflows/humble-debian-build.yml
@@ -0,0 +1,30 @@
+name: Debian Humble Build
+on:
+  workflow_dispatch:
+  pull_request:
+    branches:
+      - humble
+  schedule:
+    # Run every day to detect flakiness and broken dependencies
+    - cron: '03 1 * * *'
+
+
+jobs:
+  humble_debian:
+    name: Humble debian build
+    runs-on: ubuntu-latest
+    env:
+      ROS_DISTRO: humble
+    container: ghcr.io/ros-controls/ros:humble-debian
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          path: src/ros2_control
+      - name: Build and test
+        shell: bash
+        run: |
+          source /opt/ros2_ws/install/setup.bash
+          vcs import src < src/ros2_control/ros2_control.${{ env.ROS_DISTRO }}.repos
+          colcon build --packages-skip rqt_controller_manager
+          colcon test --packages-skip rqt_controller_manager control_msgs controller_manager_msgs
+          colcon test-result --verbose
diff --git a/.github/workflows/humble-rhel-binary-build.yml b/.github/workflows/humble-rhel-binary-build.yml
@@ -1,9 +1,6 @@
-name: Humble RHEL Binary Build
+name: RHEL Humble Binary Build
 on:
   workflow_dispatch:
-  push:
-    branches:
-      - humble
   pull_request:
     branches:
       - humble
@@ -22,10 +19,14 @@ jobs:
       - uses: actions/checkout@v4
         with:
           path: src/ros2_control
-      - run: |
+      - name: Install dependencies
+        run: |
           rosdep update
           rosdep install -iyr --from-path src/ros2_control || true
+      - name: Build and test
+        run: |
           source /opt/ros/${{ env.ROS_DISTRO }}/setup.bash
+          source /opt/ros2_ws/install/setup.bash
           colcon build --packages-skip rqt_controller_manager
           colcon test --packages-skip rqt_controller_manager ros2controlcli
-          colcon test-result
+          colcon test-result --verbose
diff --git a/.github/workflows/iron-debian-build.yml b/.github/workflows/iron-debian-build.yml
@@ -0,0 +1,30 @@
+name: Debian Iron Build
+on:
+  workflow_dispatch:
+  pull_request:
+    branches:
+      - iron
+  schedule:
+    # Run every day to detect flakiness and broken dependencies
+    - cron: '03 1 * * *'
+
+
+jobs:
+  iron_debian:
+    name: Iron debian build
+    runs-on: ubuntu-latest
+    env:
+      ROS_DISTRO: iron
+    container: ghcr.io/ros-controls/ros:iron-debian
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          path: src/ros2_control
+      - name: Build and test
+        shell: bash
+        run: |
+          source /opt/ros2_ws/install/setup.bash
+          vcs import src < src/ros2_control/ros2_control.${{ env.ROS_DISTRO }}.repos
+          colcon build --packages-skip rqt_controller_manager
+          colcon test --packages-skip rqt_controller_manager control_msgs controller_manager_msgs
+          colcon test-result --verbose
diff --git a/.github/workflows/iron-rhel-binary-build.yml b/.github/workflows/iron-rhel-binary-build.yml
@@ -1,9 +1,6 @@
-name: Iron RHEL Binary Build
+name: RHEL Iron Binary Build
 on:
   workflow_dispatch:
-  push:
-    branches:
-      - iron
   pull_request:
     branches:
       - iron
@@ -23,10 +20,14 @@ jobs:
       - uses: actions/checkout@v4
         with:
           path: src/ros2_control
-      - run: |
+      - name: Install dependencies
+        run: |
           rosdep update
           rosdep install -iyr --from-path src/ros2_control || true
+      - name: Build and test
+        run: |
           source /opt/ros/${{ env.ROS_DISTRO }}/setup.bash
+          source /opt/ros2_ws/install/setup.bash
           colcon build --packages-skip rqt_controller_manager
           colcon test --packages-skip rqt_controller_manager ros2controlcli
-          colcon test-result
+          colcon test-result --verbose
diff --git a/.github/workflows/reusable-ros-tooling-source-build.yml b/.github/workflows/reusable-ros-tooling-source-build.yml
@@ -32,7 +32,7 @@ jobs:
       - uses: actions/checkout@v4
         with:
           ref: ${{ inputs.ref }}
-      - uses: ros-tooling/action-ros-ci@0.3.5
+      - uses: ros-tooling/action-ros-ci@0.3.6
         with:
           target-ros2-distro: ${{ inputs.ros_distro }}
           # build all packages listed in the meta package
@@ -50,7 +50,7 @@ jobs:
             https://raw.githubusercontent.com/ros2/ros2/${{ inputs.ros2_repo_branch }}/ros2.repos
             https://raw.githubusercontent.com/${{ github.repository }}/${{ github.sha }}/ros2_control.${{ inputs.ros_distro }}.repos?token=${{ secrets.GITHUB_TOKEN }}
           colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
-      - uses: actions/upload-artifact@v4.2.0
+      - uses: actions/upload-artifact@v4.3.0
         with:
           name: colcon-logs-ubuntu-22.04
           path: ros_ws/log
diff --git a/.github/workflows/rolling-debian-build.yml b/.github/workflows/rolling-debian-build.yml
@@ -0,0 +1,30 @@
+name: Debian Rolling Build
+on:
+  workflow_dispatch:
+  pull_request:
+    branches:
+      - master
+  schedule:
+    # Run every day to detect flakiness and broken dependencies
+    - cron: '03 1 * * *'
+
+
+jobs:
+  rolling_debian:
+    name: Rolling debian build
+    runs-on: ubuntu-latest
+    env:
+      ROS_DISTRO: rolling
+    container: ghcr.io/ros-controls/ros:rolling-debian
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          path: src/ros2_control
+      - name: Build and test
+        shell: bash
+        run: |
+          source /opt/ros2_ws/install/setup.bash
+          vcs import src < src/ros2_control/ros2_control.${{ env.ROS_DISTRO }}.repos
+          colcon build --packages-skip rqt_controller_manager
+          colcon test --packages-skip rqt_controller_manager
+          colcon test-result --verbose
diff --git a/.github/workflows/rolling-rhel-binary-build.yml b/.github/workflows/rolling-rhel-binary-build.yml
@@ -1,9 +1,6 @@
-name: Rolling RHEL Binary Build
+name: RHEL Rolling Binary Build
 on:
   workflow_dispatch:
-  push:
-    branches:
-      - master
   pull_request:
     branches:
       - master
@@ -23,10 +20,14 @@ jobs:
       - uses: actions/checkout@v4
         with:
           path: src/ros2_control
-      - run: |
+      - name: Install dependencies
+        run: |
           rosdep update
           rosdep install -iyr --from-path src/ros2_control || true
+      - name: Build and test
+        run: |
           source /opt/ros/${{ env.ROS_DISTRO }}/setup.bash
+          source /opt/ros2_ws/install/setup.bash
           colcon build --packages-skip rqt_controller_manager
           colcon test --packages-skip rqt_controller_manager ros2controlcli
-          colcon test-result
+          colcon test-result --verbose
diff --git a/controller_interface/CHANGELOG.rst b/controller_interface/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package controller_interface
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.4.0 (2024-01-31)
+------------------
+
 4.3.0 (2024-01-20)
 ------------------
 * Issue 695: Changing 'namespace\_' variables to 'node_namespace' to make it more explicit (`#1239 <https://github.com/ros-controls/ros2_control/issues/1239>`_)

diff --git a/controller_interface/CMakeLists.txt b/controller_interface/CMakeLists.txt
@@ -40,6 +40,8 @@ if(BUILD_TESTING)
   )
 
   ament_add_gmock(test_controller_with_options test/test_controller_with_options.cpp)
+  install(FILES test/test_controller_node_options.yaml
+      DESTINATION test)
   target_link_libraries(test_controller_with_options
     controller_interface
   )

diff --git a/controller_interface/include/controller_interface/controller_interface_base.hpp b/controller_interface/include/controller_interface/controller_interface_base.hpp
@@ -113,10 +113,9 @@ class ControllerInterfaceBase : public rclcpp_lifecycle::node_interfaces::Lifecy
   void release_interfaces();
 
   CONTROLLER_INTERFACE_PUBLIC
-  virtual return_type init(
+  return_type init(
     const std::string & controller_name, const std::string & urdf, unsigned int cm_update_rate,
-    const std::string & node_namespace = "",
-    const rclcpp::NodeOptions & node_options = rclcpp::NodeOptions().enable_logger_service(true));
+    const std::string & node_namespace, const rclcpp::NodeOptions & node_options);
 
   /// Custom configure method to read additional parameters for controller-nodes
   /*
@@ -159,6 +158,23 @@ class ControllerInterfaceBase : public rclcpp_lifecycle::node_interfaces::Lifecy
   CONTROLLER_INTERFACE_PUBLIC
   const std::string & get_robot_description() const;
 
+  /**
+   * Method used by the controller_manager for base NodeOptions to instantiate the Lifecycle node
+   * of the controller upon loading the controller.
+   *
+   * \note The controller_manager will modify these NodeOptions in case a params file is passed
+   * by the spawner to load the controller parameters or when controllers are loaded in simulation
+   * (see ros2_control#1311, ros2_controllers#698 , ros2_controllers#795,ros2_controllers#966 for
+   * more details)
+   *
+   * @returns NodeOptions required for the configuration of the controller lifecycle node
+   */
+  CONTROLLER_INTERFACE_PUBLIC
+  virtual rclcpp::NodeOptions define_custom_node_options() const
+  {
+    return rclcpp::NodeOptions().enable_logger_service(true);
+  }
+
   /// Declare and initialize a parameter with a type.
   /**
    *

diff --git a/controller_interface/package.xml b/controller_interface/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="2">
   <name>controller_interface</name>
-  <version>4.3.0</version>
+  <version>4.4.0</version>
   <description>Description of controller_interface</description>
   <maintainer email="bence.magyar.robotics@gmail.com">Bence Magyar</maintainer>
   <maintainer email="denis@stoglrobotics.de">Denis Štogl</maintainer>

diff --git a/controller_interface/src/controller_interface_base.cpp b/controller_interface/src/controller_interface_base.cpp
@@ -28,10 +28,10 @@ return_type ControllerInterfaceBase::init(
   const std::string & controller_name, const std::string & urdf, unsigned int cm_update_rate,
   const std::string & node_namespace, const rclcpp::NodeOptions & node_options)
 {
+  urdf_ = urdf;
   node_ = std::make_shared<rclcpp_lifecycle::LifecycleNode>(
     controller_name, node_namespace, node_options,
     false);  // disable LifecycleNode service interfaces
-  urdf_ = urdf;
 
   try
   {

diff --git a/controller_interface/test/test_chainable_controller_interface.cpp b/controller_interface/test/test_chainable_controller_interface.cpp
@@ -21,7 +21,10 @@ TEST_F(ChainableControllerInterfaceTest, default_returns)
   TestableChainableControllerInterface controller;
 
   // initialize, create node
-  ASSERT_EQ(controller.init(TEST_CONTROLLER_NAME, "", 50.0), controller_interface::return_type::OK);
+  const auto node_options = controller.define_custom_node_options();
+  ASSERT_EQ(
+    controller.init(TEST_CONTROLLER_NAME, "", 50.0, "", node_options),
+    controller_interface::return_type::OK);
   ASSERT_NO_THROW(controller.get_node());
 
   EXPECT_TRUE(controller.is_chainable());
@@ -33,7 +36,10 @@ TEST_F(ChainableControllerInterfaceTest, export_reference_interfaces)
   TestableChainableControllerInterface controller;
 
   // initialize, create node
-  ASSERT_EQ(controller.init(TEST_CONTROLLER_NAME, "", 50.0), controller_interface::return_type::OK);
+  const auto node_options = controller.define_custom_node_options();
+  ASSERT_EQ(
+    controller.init(TEST_CONTROLLER_NAME, "", 50.0, "", node_options),
+    controller_interface::return_type::OK);
   ASSERT_NO_THROW(controller.get_node());
 
   auto reference_interfaces = controller.export_reference_interfaces();
@@ -50,7 +56,10 @@ TEST_F(ChainableControllerInterfaceTest, reference_interfaces_storage_not_correc
   TestableChainableControllerInterface controller;
 
   // initialize, create node
-  ASSERT_EQ(controller.init(TEST_CONTROLLER_NAME, "", 50.0), controller_interface::return_type::OK);
+  const auto node_options = controller.define_custom_node_options();
+  ASSERT_EQ(
+    controller.init(TEST_CONTROLLER_NAME, "", 50.0, "", node_options),
+    controller_interface::return_type::OK);
   ASSERT_NO_THROW(controller.get_node());
 
   // expect empty return because storage is not resized
@@ -64,7 +73,10 @@ TEST_F(ChainableControllerInterfaceTest, reference_interfaces_prefix_is_not_node
   TestableChainableControllerInterface controller;
 
   // initialize, create node
-  ASSERT_EQ(controller.init(TEST_CONTROLLER_NAME, "", 50.0), controller_interface::return_type::OK);
+  const auto node_options = controller.define_custom_node_options();
+  ASSERT_EQ(
+    controller.init(TEST_CONTROLLER_NAME, "", 50.0, "", node_options),
+    controller_interface::return_type::OK);
   ASSERT_NO_THROW(controller.get_node());
 
   controller.set_name_prefix_of_reference_interfaces("some_not_correct_interface_prefix");
@@ -79,7 +91,10 @@ TEST_F(ChainableControllerInterfaceTest, setting_chained_mode)
   TestableChainableControllerInterface controller;
 
   // initialize, create node
-  ASSERT_EQ(controller.init(TEST_CONTROLLER_NAME, "", 50.0), controller_interface::return_type::OK);
+  const auto node_options = controller.define_custom_node_options();
+  ASSERT_EQ(
+    controller.init(TEST_CONTROLLER_NAME, "", 50.0, "", node_options),
+    controller_interface::return_type::OK);
   ASSERT_NO_THROW(controller.get_node());
 
   auto reference_interfaces = controller.export_reference_interfaces();
@@ -126,7 +141,10 @@ TEST_F(ChainableControllerInterfaceTest, test_update_logic)
   TestableChainableControllerInterface controller;
 
   // initialize, create node
-  ASSERT_EQ(controller.init(TEST_CONTROLLER_NAME, "", 50.0), controller_interface::return_type::OK);
+  const auto node_options = controller.define_custom_node_options();
+  ASSERT_EQ(
+    controller.init(TEST_CONTROLLER_NAME, "", 50.0, "", node_options),
+    controller_interface::return_type::OK);
   ASSERT_NO_THROW(controller.get_node());
 
   EXPECT_FALSE(controller.is_in_chained_mode());