Merge branch 'master' into imu_sensor_broadcaster_parameters

ros-controls · Oct 1, 2022 · 2b3c82b · 2b3c82b
2 parents d81e35a + b157c0d
commit 2b3c82b
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diff --git a/.github/workflows/ci-ros-lint.yml b/.github/workflows/ci-ros-lint.yml
@@ -19,6 +19,17 @@ jobs:
         linter: ${{ matrix.linter }}
         package-name:
           diff_drive_controller
+          effort_controllers
+          force_torque_sensor_broadcaster
+          forward_command_controller
+          joint_state_broadcaster
+          joint_trajectory_controller
+          gripper_controllers
+          position_controllers
+          ros2_controllers
+          ros2_controllers_test_nodes
+          tricycle_controller
+          velocity_controllers
 
 
   ament_lint_100:
@@ -38,4 +49,14 @@ jobs:
         arguments: "--linelength=100 --filter=-whitespace/newline"
         package-name:
           diff_drive_controller
+          effort_controllers
+          force_torque_sensor_broadcaster
+          forward_command_controller
+          joint_state_broadcaster
+          joint_trajectory_controller
+          gripper_controllers
+          position_controllers
           ros2_controllers
+          ros2_controllers_test_nodes
+          tricycle_controller
+          velocity_controllers
diff --git a/.github/workflows/galactic-rhel-binary-build.yml b/.github/workflows/galactic-rhel-binary-build.yml
@@ -20,7 +20,7 @@ jobs:
     runs-on: ubuntu-latest
     env:
       ROS_DISTRO: galactic
-    container: jaronl/ros:galactic-alma
+    container: ghcr.io/ros-controls/ros:galactic-rhel
     steps:
       - uses: actions/checkout@v3
         with:

diff --git a/.github/workflows/humble-rhel-binary-build.yml b/.github/workflows/humble-rhel-binary-build.yml
@@ -20,7 +20,7 @@ jobs:
     runs-on: ubuntu-latest
     env:
       ROS_DISTRO: humble
-    container: jaronl/ros:humble-alma
+    container: ghcr.io/ros-controls/ros:humble-rhel
     steps:
       - uses: actions/checkout@v3
         with:

diff --git a/.github/workflows/humble-source-build.yml b/.github/workflows/humble-source-build.yml
@@ -16,4 +16,4 @@ jobs:
     with:
       ros_distro: humble
       ref: master
-      ros2_repo_branch: master-humble
+      ros2_repo_branch: humble
diff --git a/.github/workflows/reusable-industrial-ci-with-cache.yml b/.github/workflows/reusable-industrial-ci-with-cache.yml
@@ -54,7 +54,7 @@ jobs:
     env:
       CCACHE_DIR: ${{ github.workspace }}/${{ inputs.ccache_dir }}
       BASEDIR: ${{ github.workspace }}/${{ inputs.basedir }}
-      CACHE_PREFIX: ${{ inputs.ros_distro }}-${{ inputs.os_code_name }}-${{ inputs.ros_repo }}-${{ github.job }}
+      CACHE_PREFIX: ${{ inputs.ros_distro }}-${{ inputs.upstream_workspace }}-${{ inputs.ros_repo }}-${{ github.job }}
     steps:
       - name: Checkout ${{ inputs.ref }} when build is not scheduled
         if: ${{ github.event_name != 'schedule' }}

diff --git a/.github/workflows/rolling-rhel-binary-build.yml b/.github/workflows/rolling-rhel-binary-build.yml
@@ -20,7 +20,7 @@ jobs:
     runs-on: ubuntu-latest
     env:
       ROS_DISTRO: rolling
-    container: jaronl/ros:rolling-alma
+    container: ghcr.io/ros-controls/ros:rolling-rhel
     steps:
       - uses: actions/checkout@v3
         with:

diff --git a/.github/workflows/rolling-source-build.yml b/.github/workflows/rolling-source-build.yml
@@ -16,4 +16,4 @@ jobs:
     with:
       ros_distro: rolling
       ref: master
-      ros2_repo_branch: master-rolling
+      ros2_repo_branch: rolling
diff --git a/diff_drive_controller/CHANGELOG.rst b/diff_drive_controller/CHANGELOG.rst
@@ -2,6 +2,11 @@
 Changelog for package diff_drive_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.12.0 (2022-09-01)
+-------------------
+* Fix formatting CI job (`#418 <https://github.com/ros-controls/ros2_controllers/issues/418>`_)
+* Contributors: Tyler Weaver
+
 2.11.0 (2022-08-04)
 -------------------
 

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>2.11.0</version>
+  <version>2.12.0</version>
   <description>Controller for a differential drive mobile base.</description>
   <maintainer email="bence.magyar.robotics@gmail.com">Bence Magyar</maintainer>
   <maintainer email="jordan.palacios@pal-robotics.com">Jordan Palacios</maintainer>

diff --git a/effort_controllers/CHANGELOG.rst b/effort_controllers/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package effort_controllers
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.12.0 (2022-09-01)
+-------------------
+
 2.11.0 (2022-08-04)
 -------------------
 

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>2.11.0</version>
+  <version>2.12.0</version>
   <description>Generic controller for forwarding commands.</description>
   <maintainer email="bence.magyar.robotics@gmail.com">Bence Magyar</maintainer>
   <maintainer email="jordan.palacios@pal-robotics.com">Jordan Palacios</maintainer>

diff --git a/force_torque_sensor_broadcaster/CHANGELOG.rst b/force_torque_sensor_broadcaster/CHANGELOG.rst
@@ -2,6 +2,11 @@
 Changelog for package force_torque_sensor_broadcaster
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.12.0 (2022-09-01)
+-------------------
+* Generate params for ForceTorqueSensorBroadcaster (`#395 <https://github.com/ros-controls/ros2_controllers/issues/395>`_)
+* Contributors: Tyler Weaver
+
 2.11.0 (2022-08-04)
 -------------------
 

diff --git a/force_torque_sensor_broadcaster/CMakeLists.txt b/force_torque_sensor_broadcaster/CMakeLists.txt
@@ -26,6 +26,11 @@ foreach(Dependency IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS})
   find_package(${Dependency} REQUIRED)
 endforeach()
 
+find_package(generate_parameter_library REQUIRED)
+generate_parameter_library(force_torque_sensor_broadcaster_parameters
+  src/force_torque_sensor_broadcaster_parameters.yaml
+)
+
 add_library(
   ${PROJECT_NAME}
   SHARED
@@ -38,6 +43,9 @@ ament_target_dependencies(
   ${PROJECT_NAME}
   ${THIS_PACKAGE_INCLUDE_DEPENDS}
 )
+target_link_libraries(force_torque_sensor_broadcaster
+  force_torque_sensor_broadcaster_parameters
+)
 # Causes the visibility macros to use dllexport rather than dllimport,
 # which is appropriate when building the dll but not consuming it.
 target_compile_definitions(${PROJECT_NAME} PRIVATE "FORCE_TORQUE_SENSOR_BROADCASTER_BUILDING_DLL")

diff --git a/...r_broadcaster/include/force_torque_sensor_broadcaster/force_torque_sensor_broadcaster.hpp b/...r_broadcaster/include/force_torque_sensor_broadcaster/force_torque_sensor_broadcaster.hpp
@@ -25,6 +25,7 @@
 
 #include "controller_interface/controller_interface.hpp"
 #include "force_torque_sensor_broadcaster/visibility_control.h"
+#include "force_torque_sensor_broadcaster_parameters.hpp"
 #include "geometry_msgs/msg/wrench_stamped.hpp"
 #include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp"
 #include "rclcpp_lifecycle/state.hpp"
@@ -64,9 +65,8 @@ class ForceTorqueSensorBroadcaster : public controller_interface::ControllerInte
     const rclcpp::Time & time, const rclcpp::Duration & period) override;
 
 protected:
-  std::string sensor_name_;
-  std::array<std::string, 6> interface_names_;
-  std::string frame_id_;
+  std::shared_ptr<ParamListener> param_listener_;
+  Params params_;
 
   std::unique_ptr<semantic_components::ForceTorqueSensor> force_torque_sensor_;
 

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>2.11.0</version>
+  <version>2.12.0</version>
   <description>Controller to publish state of force-torque sensors.</description>
   <maintainer email="bence.magyar.robotics@gmail.com">Bence Magyar</maintainer>
   <maintainer email="denis@stogl.de">Denis Štogl</maintainer>
@@ -11,6 +11,8 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
+  <build_depend>generate_parameter_library</build_depend>
+
   <depend>controller_interface</depend>
   <depend>geometry_msgs</depend>
   <depend>hardware_interface</depend>

diff --git a/force_torque_sensor_broadcaster/src/force_torque_sensor_broadcaster.cpp b/force_torque_sensor_broadcaster/src/force_torque_sensor_broadcaster.cpp
@@ -32,14 +32,8 @@ controller_interface::CallbackReturn ForceTorqueSensorBroadcaster::on_init()
 {
   try
   {
-    auto_declare<std::string>("sensor_name", "");
-    auto_declare<std::string>("interface_names.force.x", "");
-    auto_declare<std::string>("interface_names.force.y", "");
-    auto_declare<std::string>("interface_names.force.z", "");
-    auto_declare<std::string>("interface_names.torque.x", "");
-    auto_declare<std::string>("interface_names.torque.y", "");
-    auto_declare<std::string>("interface_names.torque.z", "");
-    auto_declare<std::string>("frame_id", "");
+    param_listener_ = std::make_shared<ParamListener>(get_node());
+    params_ = param_listener_->get_params();
   }
   catch (const std::exception & e)
   {
@@ -53,18 +47,14 @@ controller_interface::CallbackReturn ForceTorqueSensorBroadcaster::on_init()
 controller_interface::CallbackReturn ForceTorqueSensorBroadcaster::on_configure(
   const rclcpp_lifecycle::State & /*previous_state*/)
 {
-  sensor_name_ = get_node()->get_parameter("sensor_name").as_string();
-  interface_names_[0] = get_node()->get_parameter("interface_names.force.x").as_string();
-  interface_names_[1] = get_node()->get_parameter("interface_names.force.y").as_string();
-  interface_names_[2] = get_node()->get_parameter("interface_names.force.z").as_string();
-  interface_names_[3] = get_node()->get_parameter("interface_names.torque.x").as_string();
-  interface_names_[4] = get_node()->get_parameter("interface_names.torque.y").as_string();
-  interface_names_[5] = get_node()->get_parameter("interface_names.torque.z").as_string();
+  params_ = param_listener_->get_params();
 
   const bool no_interface_names_defined =
-    std::count(interface_names_.begin(), interface_names_.end(), "") == 6;
+    params_.interface_names.force.x.empty() && params_.interface_names.force.y.empty() &&
+    params_.interface_names.force.z.empty() && params_.interface_names.torque.x.empty() &&
+    params_.interface_names.torque.y.empty() && params_.interface_names.torque.z.empty();
 
-  if (sensor_name_.empty() && no_interface_names_defined)
+  if (params_.sensor_name.empty() && no_interface_names_defined)
   {
     RCLCPP_ERROR(
       get_node()->get_logger(),
@@ -73,7 +63,7 @@ controller_interface::CallbackReturn ForceTorqueSensorBroadcaster::on_configure(
     return controller_interface::CallbackReturn::ERROR;
   }
 
-  if (!sensor_name_.empty() && !no_interface_names_defined)
+  if (!params_.sensor_name.empty() && !no_interface_names_defined)
   {
     RCLCPP_ERROR(
       get_node()->get_logger(),
@@ -82,24 +72,25 @@ controller_interface::CallbackReturn ForceTorqueSensorBroadcaster::on_configure(
     return controller_interface::CallbackReturn::ERROR;
   }
 
-  frame_id_ = get_node()->get_parameter("frame_id").as_string();
-  if (frame_id_.empty())
+  if (params_.frame_id.empty())
   {
     RCLCPP_ERROR(get_node()->get_logger(), "'frame_id' parameter has to be provided.");
     return controller_interface::CallbackReturn::ERROR;
   }
 
-  if (!sensor_name_.empty())
+  if (!params_.sensor_name.empty())
   {
     force_torque_sensor_ = std::make_unique<semantic_components::ForceTorqueSensor>(
-      semantic_components::ForceTorqueSensor(sensor_name_));
+      semantic_components::ForceTorqueSensor(params_.sensor_name));
   }
   else
   {
+    auto const & force_names = params_.interface_names.force;
+    auto const & torque_names = params_.interface_names.torque;
     force_torque_sensor_ = std::make_unique<semantic_components::ForceTorqueSensor>(
       semantic_components::ForceTorqueSensor(
-        interface_names_[0], interface_names_[1], interface_names_[2], interface_names_[3],
-        interface_names_[4], interface_names_[5]));
+        force_names.x, force_names.y, force_names.z, torque_names.x, torque_names.y,
+        torque_names.z));
   }
 
   try
@@ -118,7 +109,7 @@ controller_interface::CallbackReturn ForceTorqueSensorBroadcaster::on_configure(
   }
 
   realtime_publisher_->lock();
-  realtime_publisher_->msg_.header.frame_id = frame_id_;
+  realtime_publisher_->msg_.header.frame_id = params_.frame_id;
   realtime_publisher_->unlock();
 
   RCLCPP_DEBUG(get_node()->get_logger(), "configure successful");

diff --git a/force_torque_sensor_broadcaster/src/force_torque_sensor_broadcaster_parameters.yaml b/force_torque_sensor_broadcaster/src/force_torque_sensor_broadcaster_parameters.yaml
@@ -0,0 +1,44 @@
+force_torque_sensor_broadcaster:
+  frame_id: {
+    type: string,
+    default_value: "",
+    description: "Sensor's frame_id in which values are published.",
+  }
+  sensor_name: {
+    type: string,
+    default_value: "",
+    description: "Name of the sensor used as prefix for interfaces if there are no individual interface names defined.",
+  }
+  interface_names:
+    force:
+      x: {
+        type: string,
+        default_value: "",
+        description: "Name of the state interface with force values on 'x' axis.",
+      }
+      y: {
+        type: string,
+        default_value: "",
+        description: "Name of the state interface with force values on 'y' axis.",
+      }
+      z: {
+        type: string,
+        default_value: "",
+        description: "Name of the state interface with force values on 'z' axis.",
+      }
+    torque:
+      x: {
+        type: string,
+        default_value: "",
+        description: "Name of the state interface with torque values around 'x' axis.",
+      }
+      y: {
+        type: string,
+        default_value: "",
+        description: "Name of the state interface with torque values around 'y' axis.",
+      }
+      z: {
+        type: string,
+        default_value: "",
+        description: "Name of the state interface with torque values around 'z' axis.",
+      }
diff --git a/forward_command_controller/CHANGELOG.rst b/forward_command_controller/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package forward_command_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.12.0 (2022-09-01)
+-------------------
+
 2.11.0 (2022-08-04)
 -------------------
 

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>2.11.0</version>
+  <version>2.12.0</version>
   <description>Generic controller for forwarding commands.</description>
   <maintainer email="bence.magyar.robotics@gmail.com">Bence Magyar</maintainer>
   <maintainer email="jordan.palacios@pal-robotics.com">Jordan Palacios</maintainer>

diff --git a/gripper_controllers/CHANGELOG.rst b/gripper_controllers/CHANGELOG.rst
@@ -2,6 +2,12 @@
 Changelog for package gripper_controllers
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.12.0 (2022-09-01)
+-------------------
+* Add an initialization of the gripper action command for safe startup. (`#425 <https://github.com/ros-controls/ros2_controllers/issues/425>`_)
+* Fix formatting CI job (`#418 <https://github.com/ros-controls/ros2_controllers/issues/418>`_)
+* Contributors: Shota Aoki, Tyler Weaver
+
 2.11.0 (2022-08-04)
 -------------------
 

diff --git a/gripper_controllers/include/gripper_controllers/gripper_action_controller_impl.hpp b/gripper_controllers/include/gripper_controllers/gripper_action_controller_impl.hpp
@@ -298,6 +298,7 @@ controller_interface::CallbackReturn GripperActionController<HardwareInterface>:
   // Command - non RT version
   command_struct_.position_ = joint_position_state_interface_->get().get_value();
   command_struct_.max_effort_ = default_max_effort_;
+  command_.initRT(command_struct_);
 
   // Result
   pre_alloc_result_ = std::make_shared<control_msgs::action::GripperCommand::Result>();

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>2.11.0</version>
+  <version>2.12.0</version>
   <description>The gripper_controllers package</description>
   <maintainer email="bence.magyar.robotics@gmail.com">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
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.12.0 (2022-09-01)
+-------------------
+
 2.11.0 (2022-08-04)
 -------------------
 

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>2.11.0</version>
+  <version>2.12.0</version>
   <description>Controller to publish readings of IMU sensors.</description>
   <maintainer email="bence.magyar.robotics@gmail.com">Bence Magyar</maintainer>
   <maintainer email="denis@stogl.de">Denis Štogl</maintainer>