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Add header to import limits from standard URDF definition #1298

Merged
merged 4 commits into from
Jan 23, 2024
Merged

Add header to import limits from standard URDF definition #1298

merged 4 commits into from
Jan 23, 2024

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saikishor
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@saikishor saikishor commented Jan 15, 2024 •
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Add a helper header similar to the one of ROS1 : https://github.com/ros-controls/ros_control/blob/noetic-devel/joint_limits_interface/include/joint_limits_interface/joint_limits_urdf.h to import limits from the standard URDF model (no limits from ros2_control tag are retrieved)

I will parse these first and later in another upcoming PR, I will be parsing the limits from the ros2_control tag within the hardware_interface package

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codecov bot commented Jan 15, 2024 •
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Codecov Report

All modified and coverable lines are covered by tests ✅

Comparison is base (3309c6d) 48.02% compared to head (e2bf4ce) 48.02%.

Additional details and impacted files 
@@           Coverage Diff           @@
##           master    #1298   +/-   ##
=======================================
  Coverage   48.02%   48.02%           
=======================================
  Files          41       41           
  Lines        3525     3525           
  Branches     1912     1912           
=======================================
  Hits         1693     1693           
  Misses        442      442           
  Partials     1390     1390
Flag Coverage Δ
unittests 48.02% <ø> (ø)

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The failed test seems to be the spawner_unspawner_test from the controller_manager, and it has nothing to do with PR

    [ RUN      ] TestLoadController.spawner_test_type_in_param
    [WARN] [1705338080.796966528] [test_controller_manager]: 'update_rate' parameter not set, using default value.
    [INFO] [1705338080.797378297] [test_controller_manager]: Subscribing to '/test_controller_manager/robot_description' topic for robot description.
    [INFO] [1705338080.797444630] [test_controller_manager]: Received robot description from topic.
    [INFO] [1705338080.797629435] [resource_manager]: Loading hardware 'TestActuatorHardware' 
    [INFO] [1705338080.798542048] [resource_manager]: Initialize hardware 'TestActuatorHardware' 
    [INFO] [1705338080.798712716] [resource_manager]: Successful initialization of hardware 'TestActuatorHardware'
    [INFO] [1705338080.798879688] [resource_manager]: Loading hardware 'TestSensorHardware' 
    [INFO] [1705338080.799084660] [resource_manager]: Initialize hardware 'TestSensorHardware' 
    [INFO] [1705338080.799134904] [resource_manager]: Successful initialization of hardware 'TestSensorHardware'
    [INFO] [1705338080.799165211] [resource_manager]: Loading hardware 'TestSystemHardware' 
    [INFO] [1705338080.799315351] [resource_manager]: Initialize hardware 'TestSystemHardware' 
    [INFO] [1705338080.799348893] [resource_manager]: Successful initialization of hardware 'TestSystemHardware'
    [INFO] [1705338080.799456784] [resource_manager]: 'configure' hardware 'TestSystemHardware' 
    [INFO] [1705338080.799474588] [resource_manager]: Successful 'configure' of hardware 'TestSystemHardware'
    [INFO] [1705338080.799490417] [resource_manager]: 'activate' hardware 'TestSystemHardware' 
    [INFO] [1705338080.799497881] [resource_manager]: Successful 'activate' of hardware 'TestSystemHardware'
    [INFO] [1705338080.799512198] [resource_manager]: 'configure' hardware 'TestSensorHardware' 
    [INFO] [1705338080.799519411] [resource_manager]: Successful 'configure' of hardware 'TestSensorHardware'
    [INFO] [1705338080.799527797] [resource_manager]: 'activate' hardware 'TestSensorHardware' 
    [INFO] [1705338080.799533648] [resource_manager]: Successful 'activate' of hardware 'TestSensorHardware'
    [INFO] [1705338080.799543727] [resource_manager]: 'configure' hardware 'TestActuatorHardware' 
    [INFO] [1705338080.799550329] [resource_manager]: Successful 'configure' of hardware 'TestActuatorHardware'
    [INFO] [1705338080.799561079] [resource_manager]: 'activate' hardware 'TestActuatorHardware' 
    [INFO] [1705338080.799567190] [resource_manager]: Successful 'activate' of hardware 'TestActuatorHardware'
    [INFO] [1705338081.514385291] [test_controller_manager]: Loading controller 'ctrl_1'
    [INFO] [1705338081.548206615] [spawner_ctrl_1]: [NON-XML-CHAR-0x1B][94mLoaded [NON-XML-CHAR-0x1B][1mctrl_1[NON-XML-CHAR-0x1B][0m
    [INFO] [1705338081.549248422] [test_controller_manager]: Configuring controller 'ctrl_1'
    [INFO] [1705338081.566170350] [spawner_ctrl_1]: [NON-XML-CHAR-0x1B][92mConfigured and activated [NON-XML-CHAR-0x1B][1mctrl_1[NON-XML-CHAR-0x1B][0m
    [WARN] [1705338082.061765117] [spawner_ctrl_1]: [NON-XML-CHAR-0x1B][93mController already loaded, skipping load_controller[NON-XML-CHAR-0x1B][0m
    [INFO] [1705338082.062589451] [test_controller_manager]: Configuring controller 'ctrl_1'
Error: ROR] [1705338082.062665934] [test_controller_manager]: Controller 'ctrl_1' can not be configured from 'active' state.
Error: ROR] [1705338082.063424384] [spawner_ctrl_1]: [NON-XML-CHAR-0x1B][91mFailed to configure controller[NON-XML-CHAR-0x1B][0m
    [ros2run]: Process exited with failure 1
    [WARN] [1705338082.567358039] [spawner_ctrl_1]: [NON-XML-CHAR-0x1B][93mController already loaded, skipping load_controller[NON-XML-CHAR-0x1B][0m
    [INFO] [1705338082.568251702] [test_controller_manager]: Configuring controller 'ctrl_1'
    terminate called without an active exception
    Stack trace (most recent call last) in thread 21001:
    #31   Object "/home/runner/work/ros2_control/ros2_control/.work/target_ws/build/controller_manager/test_spawner_unspawner", at 0x5631e5b0e54f, in std::thread::_Invoker<std::tuple<void (std::__future_base::_Async_state_impl<std::thread::_Invoker<std::tuple<TestLoadController::SetUp()::{lambda()#2}> >, void>::*)(), std::__future_base::_Async_state_impl<std::thread::_Invoker<std::tuple<TestLoadController::SetUp()::{lambda()#2}> >, void>*> >::operator()()
    #30   Object "/home/runner/work/ros2_control/ros2_control/.work/target_ws/build/controller_manager/test_spawner_unspawner", at 0x5631e5b0e87a, in void std::thread::_Invoker<std::tuple<void (std::__future_base::_Async_state_impl<std::thread::_Invoker<std::tuple<TestLoadController::SetUp()::{lambda()#2}> >, void>::*)(), std::__future_base::_Async_state_impl<std::thread::_Invoker<std::tuple<TestLoadController::SetUp()::{lambda()#2}> >, void>*> >::_M_invoke<0ul, 1ul>(std::_Index_tuple<0ul, 1ul>)
    #29   Object "/home/runner/work/ros2_control/ros2_control/.work/target_ws/build/controller_manager/test_spawner_unspawner", at 0x5631e5b0eb42, in std::__invoke_result<void (std::__future_base::_Async_state_impl<std::thread::_Invoker<std::tuple<TestLoadController::SetUp()::{lambda()#2}> >, void>::*)(), std::__future_base::_Async_state_impl<std::thread::_Invoker<std::tuple<TestLoadController::SetUp()::{lambda()#2}> >, void>*>::type std::__invoke<void (std::__future_base::_Async_state_impl<std::thread::_Invoker<std::tuple<TestLoadController::SetUp()::{lambda()#2}> >, void>::*)(), std::__future_base::_Async_state_impl<std::thread::_Invoker<std::tuple<TestLoadController::SetUp()::{lambda()#2}> >, void>*>(void (std::__future_base::_Async_state_impl<std::thread::_Invoker<std::tuple<TestLoadController::SetUp()::{lambda()#2}> >, void>::*&&)(), std::__future_base::_Async_state_impl<std::thread::_Invoker<std::tuple<TestLoadController::SetUp()::{lambda()#2}> >, void>*&&)
    #28   Object "/home/runner/work/ros2_control/ros2_control/.work/target_ws/build/controller_manager/test_spawner_unspawner", at 0x5631e5b0ecca, in void std::__invoke_impl<void, void (std::__future_base::_Async_state_impl<std::thread::_Invoker<std::tuple<TestLoadController::SetUp()::{lambda()#2}> >, void>::*)(), std::__future_base::_Async_state_impl<std::thread::_Invoker<std::tuple<TestLoadController::SetUp()::{lambda()#2}> >, void>*>(std::__invoke_memfun_deref, void (std::__future_base::_Async_state_impl<std::thread::_Invoker<std::tuple<TestLoadController::SetUp()::{lambda()#2}> >, void>::*&&)(), std::__future_base::_Async_state_impl<std::thread::_Invoker<std::tuple<TestLoadController::SetUp()::{lambda()#2}> >, void>*&&)
    #27   Object "/home/runner/work/ros2_control/ros2_control/.work/target_ws/build/controller_manager/test_spawner_unspawner", at 0x5631e5b0b7b9, in std::__future_base::_Async_state_impl<std::thread::_Invoker<std::tuple<TestLoadController::SetUp()::{lambda()#2}> >, void>::_M_run()
    #26   Object "/home/runner/work/ros2_control/ros2_control/.work/target_ws/build/controller_manager/test_spawner_unspawner", at 0x5631e5afb02a, in std::__future_base::_State_baseV2::_M_set_result(std::function<std::unique_ptr<std::__future_base::_Result_base, std::__future_base::_Result_base::_Deleter> ()>, bool)
    #25   Object "/home/runner/work/ros2_control/ros2_control/.work/target_ws/build/controller_manager/test_spawner_unspawner", at 0x5631e5afd85c, in void std::call_once<void (std::__future_base::_State_baseV2::*)(std::function<std::unique_ptr<std::__future_base::_Result_base, std::__future_base::_Result_base::_Deleter> ()>*, bool*), std::__future_base::_State_baseV2*, std::function<std::unique_ptr<std::__future_base::_Result_base, std::__future_base::_Result_base::_Deleter> ()>*, bool*>(std::once_flag&, void (std::__future_base::_State_baseV2::*&&)(std::function<std::unique_ptr<std::__future_base::_Result_base, std::__future_base::_Result_base::_Deleter> ()>*, bool*), std::__future_base::_State_baseV2*&&, std::function<std::unique_ptr<std::__future_base::_Result_base, std::__future_base::_Result_base::_Deleter> ()>*&&, bool*&&)
    #24   Object "/home/runner/work/ros2_control/ros2_control/.work/target_ws/build/controller_manager/test_spawner_unspawner", at 0x5631e5af0905, in __gthread_once(int*, void (*)())
    #23   Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff2f69fbee7, in 
    #22   Object "/home/runner/work/ros2_control/ros2_control/.work/target_ws/build/controller_manager/test_spawner_unspawner", at 0x5631e5b00871, in std::once_flag::_Prepare_execution::_Prepare_execution<std::call_once<void (std::__future_base::_State_baseV2::*)(std::function<std::unique_ptr<std::__future_base::_Result_base, std::__future_base::_Result_base::_Deleter> ()>*, bool*), std::__future_base::_State_baseV2*, std::function<std::unique_ptr<std::__future_base::_Result_base, std::__future_base::_Result_base::_Deleter> ()>*, bool*>(std::once_flag&, void (std::__future_base::_State_baseV2::*&&)(std::function<std::unique_ptr<std::__future_base::_Result_base, std::__future_base::_Result_base::_Deleter> ()>*, bool*), std::__future_base::_State_baseV2*&&, std::function<std::unique_ptr<std::__future_base::_Result_base, std::__future_base::_Result_base::_Deleter> ()>*&&, bool*&&)::{lambda()#1}>(void (std::__future_base::_State_baseV2::*&)(std::function<std::unique_ptr<std::__future_base::_Result_base, std::__future_base::_Result_base::_Deleter> ()>*, bool*))::{lambda()#1}::_FUN()
    #21   Object "/home/runner/work/ros2_control/ros2_control/.work/target_ws/build/controller_manager/test_spawner_unspawner", at 0x5631e5b0085c, in std::once_flag::_Prepare_execution::_Prepare_execution<std::call_once<void (std::__future_base::_State_baseV2::*)(std::function<std::unique_ptr<std::__future_base::_Result_base, std::__future_base::_Result_base::_Deleter> ()>*, bool*), std::__future_base::_State_baseV2*, std::function<std::unique_ptr<std::__future_base::_Result_base, std::__future_base::_Result_base::_Deleter> ()>*, bool*>(std::once_flag&, void (std::__future_base::_State_baseV2::*&&)(std::function<std::unique_ptr<std::__future_base::_Result_base, std::__future_base::_Result_base::_Deleter> ()>*, bool*), std::__future_base::_State_baseV2*&&, std::function<std::unique_ptr<std::__future_base::_Result_base, std::__future_base::_Result_base::_Deleter> ()>*&&, bool*&&)::{lambda()#1}>(void (std::__future_base::_State_baseV2::*&)(std::function<std::unique_ptr<std::__future_base::_Result_base, std::__future_base::_Result_base::_Deleter> ()>*, bool*))::{lambda()#1}::operator()() const
    #20   Object "/home/runner/work/ros2_control/ros2_control/.work/target_ws/build/controller_manager/test_spawner_unspawner", at 0x5631e5afd7d7, in std::call_once<void (std::__future_base::_State_baseV2::*)(std::function<std::unique_ptr<std::__future_base::_Result_base, std::__future_base::_Result_base::_Deleter> ()>*, bool*), std::__future_base::_State_baseV2*, std::function<std::unique_ptr<std::__future_base::_Result_base, std::__future_base::_Result_base::_Deleter> ()>*, bool*>(std::once_flag&, void (std::__future_base::_State_baseV2::*&&)(std::function<std::unique_ptr<std::__future_base::_Result_base, std::__future_base::_Result_base::_Deleter> ()>*, bool*), std::__future_base::_State_baseV2*&&, std::function<std::unique_ptr<std::__future_base::_Result_base, std::__future_base::_Result_base::_Deleter> ()>*&&, bool*&&)::{lambda()#1}::operator()() const
    #19   Object "/home/runner/work/ros2_control/ros2_control/.work/target_ws/build/controller_manager/test_spawner_unspawner", at 0x5631e5b0082c, in std::__invoke_result<void (std::__future_base::_State_baseV2::*)(std::function<std::unique_ptr<std::__future_base::_Result_base, std::__future_base::_Result_base::_Deleter> ()>*, bool*), std::__future_base::_State_baseV2*, std::function<std::unique_ptr<std::__future_base::_Result_base, std::__future_base::_Result_base::_Deleter> ()>*, bool*>::type std::__invoke<void (std::__future_base::_State_baseV2::*)(std::function<std::unique_ptr<std::__future_base::_Result_base, std::__future_base::_Result_base::_Deleter> ()>*, bool*), std::__future_base::_State_baseV2*, std::function<std::unique_ptr<std::__future_base::_Result_base, std::__future_base::_Result_base::_Deleter> ()>*, bool*>(void (std::__future_base::_State_baseV2::*&&)(std::function<std::unique_ptr<std::__future_base::_Result_base, std::__future_base::_Result_base::_Deleter> ()>*, bool*), std::__future_base::_State_baseV2*&&, std::function<std::unique_ptr<std::__future_base::_Result_base, std::__future_base::_Result_base::_Deleter> ()>*&&, bool*&&)
    #18   Object "/home/runner/work/ros2_control/ros2_control/.work/target_ws/build/controller_manager/test_spawner_unspawner", at 0x5631e5b0331e, in void std::__invoke_impl<void, void (std::__future_base::_State_baseV2::*)(std::function<std::unique_ptr<std::__future_base::_Result_base, std::__future_base::_Result_base::_Deleter> ()>*, bool*), std::__future_base::_State_baseV2*, std::function<std::unique_ptr<std::__future_base::_Result_base, std::__future_base::_Result_base::_Deleter> ()>*, bool*>(std::__invoke_memfun_deref, void (std::__future_base::_State_baseV2::*&&)(std::function<std::unique_ptr<std::__future_base::_Result_base, std::__future_base::_Result_base::_Deleter> ()>*, bool*), std::__future_base::_State_baseV2*&&, std::function<std::unique_ptr<std::__future_base::_Result_base, std::__future_base::_Result_base::_Deleter> ()>*&&, bool*&&)
    #17   Object "/home/runner/work/ros2_control/ros2_control/.work/target_ws/build/controller_manager/test_spawner_unspawner", at 0x5631e5afb257, in std::__future_base::_State_baseV2::_M_do_set(std::function<std::unique_ptr<std::__future_base::_Result_base, std::__future_base::_Result_base::_Deleter> ()>*, bool*)
    #16   Object "/home/runner/work/ros2_control/ros2_control/.work/target_ws/build/controller_manager/test_spawner_unspawner", at 0x5631e5afda49, in std::function<std::unique_ptr<std::__future_base::_Result_base, std::__future_base::_Result_base::_Deleter> ()>::operator()() const
    #15   Object "/home/runner/work/ros2_control/ros2_control/.work/target_ws/build/controller_manager/test_spawner_unspawner", at 0x5631e5b0c16d, in std::_Function_handler<std::unique_ptr<std::__future_base::_Result_base, std::__future_base::_Result_base::_Deleter> (), std::__future_base::_Task_setter<std::unique_ptr<std::__future_base::_Result<void>, std::__future_base::_Result_base::_Deleter>, std::thread::_Invoker<std::tuple<TestLoadController::SetUp()::{lambda()#2}> >, void> >::_M_invoke(std::_Any_data const&)
    #14   Object "/home/runner/work/ros2_control/ros2_control/.work/target_ws/build/controller_manager/test_spawner_unspawner", at 0x5631e5b0c374, in std::enable_if<is_invocable_r_v<std::unique_ptr<std::__future_base::_Result_base, std::__future_base::_Result_base::_Deleter>, std::__future_base::_Task_setter<std::unique_ptr<std::__future_base::_Result<void>, std::__future_base::_Result_base::_Deleter>, std::thread::_Invoker<std::tuple<TestLoadController::SetUp()::{lambda()#2}> >, void>&>, std::unique_ptr<std::__future_base::_Result_base, std::__future_base::_Result_base::_Deleter> >::type std::__invoke_r<std::unique_ptr<std::__future_base::_Result_base, std::__future_base::_Result_base::_Deleter>, std::__future_base::_Task_setter<std::unique_ptr<std::__future_base::_Result<void>, std::__future_base::_Result_base::_Deleter>, std::thread::_Invoker<std::tuple<TestLoadController::SetUp()::{lambda()#2}> >, void>&>(std::__future_base::_Task_setter<std::unique_ptr<std::__future_base::_Result<void>, std::__future_base::_Result_base::_Deleter>, std::thread::_Invoker<std::tuple<TestLoadController::SetUp()::{lambda()#2}> >, void>&)
    #13   Object "/home/runner/work/ros2_control/ros2_control/.work/target_ws/build/controller_manager/test_spawner_unspawner", at 0x5631e5b0c54a, in std::unique_ptr<std::__future_base::_Result<void>, std::__future_base::_Result_base::_Deleter> std::__invoke_impl<std::unique_ptr<std::__future_base::_Result<void>, std::__future_base::_Result_base::_Deleter>, std::__future_base::_Task_setter<std::unique_ptr<std::__future_base::_Result<void>, std::__future_base::_Result_base::_Deleter>, std::thread::_Invoker<std::tuple<TestLoadController::SetUp()::{lambda()#2}> >, void>&>(std::__invoke_other, std::__future_base::_Task_setter<std::unique_ptr<std::__future_base::_Result<void>, std::__future_base::_Result_base::_Deleter>, std::thread::_Invoker<std::tuple<TestLoadController::SetUp()::{lambda()#2}> >, void>&)
    #12   Object "/home/runner/work/ros2_control/ros2_control/.work/target_ws/build/controller_manager/test_spawner_unspawner", at 0x5631e5b0c647, in std::__future_base::_Task_setter<std::unique_ptr<std::__future_base::_Result<void>, std::__future_base::_Result_base::_Deleter>, std::thread::_Invoker<std::tuple<TestLoadController::SetUp()::{lambda()#2}> >, void>::operator()() const
    #11   Object "/home/runner/work/ros2_control/ros2_control/.work/target_ws/build/controller_manager/test_spawner_unspawner", at 0x5631e5b0c819, in std::thread::_Invoker<std::tuple<TestLoadController::SetUp()::{lambda()#2}> >::operator()()
    #10   Object "/home/runner/work/ros2_control/ros2_control/.work/target_ws/build/controller_manager/test_spawner_unspawner", at 0x5631e5b0c877, in void std::thread::_Invoker<std::tuple<TestLoadController::SetUp()::{lambda()#2}> >::_M_invoke<0ul>(std::_Index_tuple<0ul>)
    #9    Object "/home/runner/work/ros2_control/ros2_control/.work/target_ws/build/controller_manager/test_spawner_unspawner", at 0x5631e5b0c8d6, in std::__invoke_result<TestLoadController::SetUp()::{lambda()#2}>::type std::__invoke<TestLoadController::SetUp()::{lambda()#2}>(TestLoadController::SetUp()::{lambda()#2}&&)
    #8    Object "/home/runner/work/ros2_control/ros2_control/.work/target_ws/build/controller_manager/test_spawner_unspawner", at 0x5631e5b0c91b, in void std::__invoke_impl<void, TestLoadController::SetUp()::{lambda()#2}>(std::__invoke_other, TestLoadController::SetUp()::{lambda()#2}&&)
    #7    Object "/home/runner/work/ros2_control/ros2_control/.work/target_ws/build/controller_manager/test_spawner_unspawner", at 0x5631e5afc1c7, in TestLoadController::SetUp()::{lambda()#2}::operator()() const
    #6    Object "/opt/ros/rolling/lib/librclcpp.so", at 0x7ff2f6ec87b3, in rclcpp::executors::MultiThreadedExecutor::spin()
    #5    Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7ff2f6c39276, in std::terminate()
    #4    Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7ff2f6c3920b, in 
    #3    Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7ff2f6c2db9d, in 
    #2    Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff2f698a7f2, in abort
    #1    Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff2f69a4475, in raise
    #0    Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff2f69f89fc, in pthread_kill
    Aborted (Signal sent by tkill() 20906 0)
  >>>
build/controller_manager/test_results/controller_manager/test_spawner_unspawner.gtest.xml: 1 test, 1 error, 0 failures, 0 skipped
- controller_manager test_spawner_unspawner.gtest.missing_result
  <<< error message
    The test
    ``` 
    
</details>

@saikishor
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If it's fine, can we get this PR merged?
Most likely, this won't affect other packages as this is completely a new header.

@bmagyar bmagyar merged commit f3ffb56 into ros-controls:master Jan 23, 2024
13 checks passed
@christophfroehlich christophfroehlich mentioned this pull request Feb 26, 2024
Closed
@saikishor saikishor added backport-humble This label should be used by maintaines only! Label triggers PR backport to ROS2 humble. backport-iron This label should be used by maintaines only! Label triggers PR backport to ROS2 Iron. labels Feb 26, 2024
mergify bot pushed a commit that referenced this pull request Feb 26, 2024
@saikishor @mergify
Add header to import limits from standard URDF definition (#1298)
550fe91 
(cherry picked from commit f3ffb56)

# Conflicts:
#	joint_limits/CMakeLists.txt
@mergify mergify bot mentioned this pull request Feb 26, 2024
Closed
mergify bot pushed a commit that referenced this pull request Feb 26, 2024
@saikishor @mergify
Add header to import limits from standard URDF definition (#1298)
3899a77 
(cherry picked from commit f3ffb56)
@mergify mergify bot mentioned this pull request Feb 26, 2024
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bmagyar pushed a commit that referenced this pull request Feb 27, 2024
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Add header to import limits from standard URDF definition (#1298) (#1418
705e75b 
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@bmagyar bmagyar bmagyar approved these changes

@aprotyas aprotyas aprotyas approved these changes

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@saikishor @bmagyar @aprotyas