diff --git a/.github/workflows/ci-coverage-build-humble.yml b/.github/workflows/ci-coverage-build-humble.yml index 6dbbaa2a40..0065223501 100644 --- a/.github/workflows/ci-coverage-build-humble.yml +++ b/.github/workflows/ci-coverage-build-humble.yml @@ -54,12 +54,12 @@ jobs: } } colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml - - uses: codecov/codecov-action@v3.1.5 + - uses: codecov/codecov-action@v4.0.1 with: file: ros_ws/lcov/total_coverage.info flags: unittests name: codecov-umbrella - - uses: actions/upload-artifact@v4.3.0 + - uses: actions/upload-artifact@v4.3.1 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 index 2c9f92573d..201a631923 100644 --- a/.github/workflows/ci-coverage-build-iron.yml +++ b/.github/workflows/ci-coverage-build-iron.yml @@ -54,12 +54,12 @@ jobs: } } colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml - - uses: codecov/codecov-action@v3.1.5 + - uses: codecov/codecov-action@v4.0.1 with: file: ros_ws/lcov/total_coverage.info flags: unittests name: codecov-umbrella - - uses: actions/upload-artifact@v4.3.0 + - uses: actions/upload-artifact@v4.3.1 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 index b36cd73078..ffda7a2066 100644 --- a/.github/workflows/ci-coverage-build.yml +++ b/.github/workflows/ci-coverage-build.yml @@ -54,12 +54,12 @@ jobs: } } colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml - - uses: codecov/codecov-action@v3.1.5 + - uses: codecov/codecov-action@v4.0.1 with: file: ros_ws/lcov/total_coverage.info flags: unittests name: codecov-umbrella - - uses: actions/upload-artifact@v4.3.0 + - uses: actions/upload-artifact@v4.3.1 with: name: colcon-logs-coverage-rolling path: ros_ws/log diff --git a/.github/workflows/ci-format.yml b/.github/workflows/ci-format.yml index 9f090b48ca..824baf1b77 100644 --- a/.github/workflows/ci-format.yml +++ b/.github/workflows/ci-format.yml @@ -17,6 +17,6 @@ jobs: python-version: '3.10' - name: Install system hooks run: sudo apt install -qq clang-format-14 cppcheck - - uses: pre-commit/action@v3.0.0 + - uses: pre-commit/action@v3.0.1 with: extra_args: --all-files --hook-stage manual diff --git a/.github/workflows/humble-binary-build.yml b/.github/workflows/humble-binary-build.yml new file mode 100644 index 0000000000..989805733f --- /dev/null +++ b/.github/workflows/humble-binary-build.yml @@ -0,0 +1,27 @@ +name: Humble Binary Build +# author: Denis Štogl +# description: 'Build & test all dependencies from released (binary) packages.' + +on: + workflow_dispatch: + pull_request: + branches: + - humble + push: + branches: + - humble + schedule: + # Run every morning to detect flakiness and broken dependencies + - cron: '03 1 * * *' + +jobs: + binary: + uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master + strategy: + matrix: + ROS_REPO: [main, testing] + with: + ros_distro: humble + ros_repo: ${{ matrix.ROS_REPO }} + upstream_workspace: ros2_controllers-not-released.humble.repos + ref_for_scheduled_build: humble diff --git a/.github/workflows/humble-debian-build.yml b/.github/workflows/humble-debian-build.yml new file mode 100644 index 0000000000..3a06c3fc37 --- /dev/null +++ b/.github/workflows/humble-debian-build.yml @@ -0,0 +1,20 @@ +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 + uses: ros-controls/ros2_control_ci/.github/workflows/reusable-debian-build.yml@master + with: + ros_distro: humble + upstream_workspace: ros2_controllers.humble.repos + ref_for_scheduled_build: humble + skip_packages: rqt_joint_trajectory_controller diff --git a/.github/workflows/humble-rhel-semi-binary-build.yml b/.github/workflows/humble-rhel-semi-binary-build.yml new file mode 100644 index 0000000000..ccf64a0246 --- /dev/null +++ b/.github/workflows/humble-rhel-semi-binary-build.yml @@ -0,0 +1,19 @@ +name: RHEL Humble Binary Build +on: + workflow_dispatch: + pull_request: + branches: + - humble + schedule: + # Run every day to detect flakiness and broken dependencies + - cron: '03 1 * * *' + +jobs: + humble_rhel_binary: + name: Humble RHEL binary build + uses: ros-controls/ros2_control_ci/.github/workflows/reusable-rhel-binary-build.yml@master + with: + ros_distro: humble + upstream_workspace: ros2_controllers.humble.repos + ref_for_scheduled_build: humble + skip_packages: rqt_joint_trajectory_controller diff --git a/.github/workflows/humble-semi-binary-build.yml b/.github/workflows/humble-semi-binary-build.yml new file mode 100644 index 0000000000..1d9d3bd1fb --- /dev/null +++ b/.github/workflows/humble-semi-binary-build.yml @@ -0,0 +1,26 @@ +name: Humble Semi-Binary Build +# description: 'Build & test that compiles the main dependencies from source.' + +on: + workflow_dispatch: + pull_request: + branches: + - humble + push: + branches: + - humble + schedule: + # Run every morning to detect flakiness and broken dependencies + - cron: '33 1 * * *' + +jobs: + semi_binary: + uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master + strategy: + matrix: + ROS_REPO: [main, testing] + with: + ros_distro: humble + ros_repo: ${{ matrix.ROS_REPO }} + upstream_workspace: ros2_controllers.humble.repos + ref_for_scheduled_build: humble diff --git a/.github/workflows/humble-source-build.yml b/.github/workflows/humble-source-build.yml new file mode 100644 index 0000000000..7b4427d6d6 --- /dev/null +++ b/.github/workflows/humble-source-build.yml @@ -0,0 +1,17 @@ +name: Humble Source Build +on: + workflow_dispatch: + push: + branches: + - humble + schedule: + # Run every day to detect flakiness and broken dependencies + - cron: '03 3 * * *' + +jobs: + source: + uses: ros-controls/ros2_control_ci/.github/workflows/reusable-ros-tooling-source-build.yml@master + with: + ros_distro: humble + ref: humble + ros2_repo_branch: humble diff --git a/.github/workflows/iron-binary-build-testing.yml b/.github/workflows/iron-binary-build-testing.yml deleted file mode 100644 index 25a693dc23..0000000000 --- a/.github/workflows/iron-binary-build-testing.yml +++ /dev/null @@ -1,30 +0,0 @@ -name: Iron Binary Build - testing -# author: Denis Štogl -# description: 'Build & test all dependencies from released (binary) packages.' - -on: - workflow_dispatch: - branches: - - iron - - '*feature*' - - '*feature/**' - pull_request: - branches: - - iron - - '*feature*' - - '*feature/**' - push: - branches: - - iron - schedule: - # Run every morning to detect flakiness and broken dependencies - - cron: '03 1 * * *' - -jobs: - binary: - uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml - with: - ros_distro: iron - ros_repo: testing - upstream_workspace: ros2_controllers-not-released.iron.repos - ref_for_scheduled_build: iron diff --git a/.github/workflows/iron-binary-build-main.yml b/.github/workflows/iron-binary-build.yml similarity index 72% rename from .github/workflows/iron-binary-build-main.yml rename to .github/workflows/iron-binary-build.yml index ef35397855..079620771c 100644 --- a/.github/workflows/iron-binary-build-main.yml +++ b/.github/workflows/iron-binary-build.yml @@ -1,4 +1,4 @@ -name: Iron Binary Build - main +name: Iron Binary Build # author: Denis Štogl # description: 'Build & test all dependencies from released (binary) packages.' @@ -22,9 +22,12 @@ on: jobs: binary: - uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml + uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master + strategy: + matrix: + ROS_REPO: [main, testing] with: ros_distro: iron - ros_repo: main + ros_repo: ${{ matrix.ROS_REPO }} upstream_workspace: ros2_controllers-not-released.iron.repos ref_for_scheduled_build: iron diff --git a/.github/workflows/iron-debian-build.yml b/.github/workflows/iron-debian-build.yml new file mode 100644 index 0000000000..f3419c1a31 --- /dev/null +++ b/.github/workflows/iron-debian-build.yml @@ -0,0 +1,20 @@ +name: Debian Iron Build +on: + workflow_dispatch: + pull_request: + branches: + - iron + schedule: + # Run every day to detect flakiness and broken dependencies + - cron: '03 1 * * *' + + +jobs: + iron_debian: + name: Iron debian build + uses: ros-controls/ros2_control_ci/.github/workflows/reusable-debian-build.yml@master + with: + ros_distro: iron + upstream_workspace: ros2_controllers.iron.repos + ref_for_scheduled_build: iron + skip_packages: rqt_joint_trajectory_controller diff --git a/.github/workflows/iron-rhel-binary-build.yml b/.github/workflows/iron-rhel-binary-build.yml deleted file mode 100644 index 5664d61768..0000000000 --- a/.github/workflows/iron-rhel-binary-build.yml +++ /dev/null @@ -1,28 +0,0 @@ -name: Iron RHEL Binary Build -on: - workflow_dispatch: - push: - branches: - - iron - schedule: - # Run every day to detect flakiness and broken dependencies - - cron: '03 1 * * *' - - -jobs: - iron_rhel_binary: - name: Iron RHEL binary build - runs-on: ubuntu-latest - env: - ROS_DISTRO: iron - container: ghcr.io/ros-controls/ros:iron-rhel - steps: - - uses: actions/checkout@v4 - with: - path: src/ros2_controllers - - run: | - rosdep update - rosdep install -iy --from-path src/ros2_controllers - source /opt/ros/${{ env.ROS_DISTRO }}/setup.bash - colcon build - colcon test diff --git a/.github/workflows/iron-rhel-semi-binary-build.yml b/.github/workflows/iron-rhel-semi-binary-build.yml new file mode 100644 index 0000000000..66ad427a98 --- /dev/null +++ b/.github/workflows/iron-rhel-semi-binary-build.yml @@ -0,0 +1,20 @@ +name: RHEL Iron Binary Build +on: + workflow_dispatch: + pull_request: + branches: + - iron + schedule: + # Run every day to detect flakiness and broken dependencies + - cron: '03 1 * * *' + + +jobs: + iron_rhel_binary: + name: Iron RHEL binary build + uses: ros-controls/ros2_control_ci/.github/workflows/reusable-rhel-binary-build.yml@master + with: + ros_distro: iron + upstream_workspace: ros2_controllers.iron.repos + ref_for_scheduled_build: iron + skip_packages: rqt_joint_trajectory_controller diff --git a/.github/workflows/iron-semi-binary-build-main.yml b/.github/workflows/iron-semi-binary-build-main.yml deleted file mode 100644 index 2224a59f0e..0000000000 --- a/.github/workflows/iron-semi-binary-build-main.yml +++ /dev/null @@ -1,29 +0,0 @@ -name: Iron Semi-Binary Build - main -# description: 'Build & test that compiles the main dependencies from source.' - -on: - workflow_dispatch: - branches: - - iron - - '*feature*' - - '*feature/**' - pull_request: - branches: - - iron - - '*feature*' - - '*feature/**' - push: - branches: - - iron - schedule: - # Run every morning to detect flakiness and broken dependencies - - cron: '33 1 * * *' - -jobs: - semi_binary: - uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml - with: - ros_distro: iron - ros_repo: main - upstream_workspace: ros2_controllers.iron.repos - ref_for_scheduled_build: iron diff --git a/.github/workflows/iron-semi-binary-build-testing.yml b/.github/workflows/iron-semi-binary-build.yml similarity index 70% rename from .github/workflows/iron-semi-binary-build-testing.yml rename to .github/workflows/iron-semi-binary-build.yml index c5ff430c89..064be40555 100644 --- a/.github/workflows/iron-semi-binary-build-testing.yml +++ b/.github/workflows/iron-semi-binary-build.yml @@ -1,4 +1,4 @@ -name: Iron Semi-Binary Build - testing +name: Iron Semi-Binary Build # description: 'Build & test that compiles the main dependencies from source.' on: @@ -21,9 +21,12 @@ on: jobs: semi_binary: - uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml + uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master + strategy: + matrix: + ROS_REPO: [main, testing] with: ros_distro: iron - ros_repo: testing + ros_repo: ${{ matrix.ROS_REPO }} upstream_workspace: ros2_controllers.iron.repos ref_for_scheduled_build: iron diff --git a/.github/workflows/iron-source-build.yml b/.github/workflows/iron-source-build.yml index 1e9d865c49..b27adb1d50 100644 --- a/.github/workflows/iron-source-build.yml +++ b/.github/workflows/iron-source-build.yml @@ -12,7 +12,7 @@ on: jobs: source: - uses: ./.github/workflows/reusable-ros-tooling-source-build.yml + uses: ros-controls/ros2_control_ci/.github/workflows/reusable-ros-tooling-source-build.yml@master with: ros_distro: iron ref: iron diff --git a/.github/workflows/reusable-industrial-ci-with-cache.yml b/.github/workflows/reusable-industrial-ci-with-cache.yml deleted file mode 100644 index acefeebfac..0000000000 --- a/.github/workflows/reusable-industrial-ci-with-cache.yml +++ /dev/null @@ -1,96 +0,0 @@ -name: Reusable industrial_ci Workflow with Cache -# Reusable action to simplify dealing with ROS/ROS2 industrial_ci builds with cache -# author: Denis Štogl - -on: - workflow_call: - inputs: - ref_for_scheduled_build: - description: 'Reference on which the repo should be checkout for scheduled build. Usually is this name of a branch or a tag.' - default: '' - required: false - type: string - - upstream_workspace: - description: 'UPSTREAM_WORKSPACE variable for industrial_ci. Usually path to local .repos file.' - required: true - type: string - ros_distro: - description: 'ROS_DISTRO variable for industrial_ci' - required: true - type: string - ros_repo: - description: 'ROS_REPO to run for industrial_ci. Possible values: "main", "testing"' - default: 'main' - required: false - type: string - os_code_name: - description: 'OS_CODE_NAME variable for industrial_ci' - default: '' - required: false - type: string - before_install_upstream_dependencies: - description: 'BEFORE_INSTALL_UPSTREAM_DEPENDENCIES variable for industrial_ci' - default: '' - required: false - type: string - - ccache_dir: - description: 'Local path to store cache (from "github.workspace"). For standard industrial_ci configuration do not have to be changed' - default: '.ccache' - required: false - type: string - basedir: - description: 'Local path to workspace base directory to cache (from "github.workspace"). For standard industrial_ci configuration do not have to be changed' - default: '.work' - required: false - type: string - - -jobs: - reusable_industrial_ci_with_cache: - name: ${{ inputs.ros_distro }} ${{ inputs.ros_repo }} ${{ inputs.os_code_name }} - runs-on: ubuntu-latest - env: - CCACHE_DIR: ${{ github.workspace }}/${{ inputs.ccache_dir }} - BASEDIR: ${{ github.workspace }}/${{ inputs.basedir }} - 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' }} - uses: actions/checkout@v4 - - name: Checkout ${{ inputs.ref }} on scheduled build - if: ${{ github.event_name == 'schedule' }} - uses: actions/checkout@v4 - with: - ref: ${{ inputs.ref_for_scheduled_build }} - - name: cache target_ws - if: ${{ ! matrix.env.CCOV }} - uses: pat-s/always-upload-cache@v3.0.11 - with: - path: ${{ env.BASEDIR }}/target_ws - key: target_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('**/CMakeLists.txt', '**/package.xml') }}-${{ github.run_id }} - restore-keys: | - target_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('**/CMakeLists.txt', '**/package.xml') }} - - name: cache ccache - uses: pat-s/always-upload-cache@v3.0.11 - with: - path: ${{ env.CCACHE_DIR }} - key: ccache-${{ env.CACHE_PREFIX }}-${{ github.sha }}-${{ github.run_id }} - restore-keys: | - ccache-${{ env.CACHE_PREFIX }}-${{ github.sha }} - ccache-${{ env.CACHE_PREFIX }} - - uses: 'ros-industrial/industrial_ci@master' - env: - UPSTREAM_WORKSPACE: ${{ inputs.upstream_workspace }} - ROS_DISTRO: ${{ inputs.ros_distro }} - ROS_REPO: ${{ inputs.ros_repo }} - OS_CODE_NAME: ${{ inputs.os_code_name }} - BEFORE_INSTALL_UPSTREAM_DEPENDENCIES: ${{ inputs.before_install_upstream_dependencies }} - - name: prepare target_ws for cache - if: ${{ always() && ! matrix.env.CCOV }} - run: | - du -sh ${{ env.BASEDIR }}/target_ws - sudo find ${{ env.BASEDIR }}/target_ws -wholename '*/test_results/*' -delete - sudo rm -rf ${{ env.BASEDIR }}/target_ws/src - du -sh ${{ env.BASEDIR }}/target_ws diff --git a/.github/workflows/reusable-ros-tooling-source-build.yml b/.github/workflows/reusable-ros-tooling-source-build.yml deleted file mode 100644 index 2a3aa21325..0000000000 --- a/.github/workflows/reusable-ros-tooling-source-build.yml +++ /dev/null @@ -1,69 +0,0 @@ -name: Reusable industrial_ci Workflow with Cache -# Reusable action to simplify dealing with ROS/ROS2 industrial_ci builds with cache -# author: Denis Štogl - -on: - workflow_call: - inputs: - ros_distro: - description: 'ROS2 distribution name' - required: true - type: string - ref: - description: 'Reference on which the repo should be checkout. Usually is this name of a branch or a tag.' - required: true - type: string - ros2_repo_branch: - description: 'Branch in the ros2/ros2 repozitory from which ".repos" should be used. Possible values: master (Rolling), humble.' - default: 'master' - required: false - type: string - -jobs: - reusable_ros_tooling_source_build: - name: ${{ inputs.ros_distro }} ubuntu-22.04 - runs-on: ubuntu-22.04 - strategy: - fail-fast: false - steps: - - uses: ros-tooling/setup-ros@0.7.1 - with: - required-ros-distributions: ${{ inputs.ros_distro }} - - uses: actions/checkout@v4 - with: - ref: ${{ inputs.ref }} - - uses: ros-tooling/action-ros-ci@0.3.6 - with: - target-ros2-distro: ${{ inputs.ros_distro }} - ref: ${{ inputs.ref }} - # build all packages listed in the meta package - package-name: - ackermann_steering_controller - admittance_controller - bicycle_steering_controller - diff_drive_controller - effort_controllers - force_torque_sensor_broadcaster - forward_command_controller - gripper_controllers - imu_sensor_broadcaster - joint_state_broadcaster - joint_trajectory_controller - position_controllers - range_sensor_broadcaster - ros2_controllers - ros2_controllers_test_nodes - rqt_joint_trajectory_controller - steering_controllers_library - tricycle_controller - tricycle_steering_controller - velocity_controllers - - vcs-repo-file-url: | - https://raw.githubusercontent.com/ros2/ros2/${{ 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@v4.3.0 - with: - name: colcon-logs-ubuntu-22.04 - path: ros_ws/log diff --git a/.github/workflows/rolling-binary-build-testing.yml b/.github/workflows/rolling-binary-build-testing.yml deleted file mode 100644 index 9b480d99c3..0000000000 --- a/.github/workflows/rolling-binary-build-testing.yml +++ /dev/null @@ -1,30 +0,0 @@ -name: Rolling Binary Build - testing -# author: Denis Štogl -# description: 'Build & test all dependencies from released (binary) packages.' - -on: - workflow_dispatch: - branches: - - master - - '*feature*' - - '*feature/**' - pull_request: - branches: - - master - - '*feature*' - - '*feature/**' - push: - branches: - - master - schedule: - # Run every morning to detect flakiness and broken dependencies - - cron: '03 1 * * *' - -jobs: - binary: - uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml - with: - ros_distro: rolling - ros_repo: testing - upstream_workspace: ros2_controllers-not-released.rolling.repos - ref_for_scheduled_build: master diff --git a/.github/workflows/rolling-binary-build-main.yml b/.github/workflows/rolling-binary-build.yml similarity index 72% rename from .github/workflows/rolling-binary-build-main.yml rename to .github/workflows/rolling-binary-build.yml index 793db5d7e5..7b5a3bda65 100644 --- a/.github/workflows/rolling-binary-build-main.yml +++ b/.github/workflows/rolling-binary-build.yml @@ -1,4 +1,4 @@ -name: Rolling Binary Build - main +name: Rolling Binary Build # author: Denis Štogl # description: 'Build & test all dependencies from released (binary) packages.' @@ -22,9 +22,12 @@ on: jobs: binary: - uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml + uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master + strategy: + matrix: + ROS_REPO: [main, testing] with: ros_distro: rolling - ros_repo: main + ros_repo: ${{ matrix.ROS_REPO }} upstream_workspace: ros2_controllers-not-released.rolling.repos ref_for_scheduled_build: master diff --git a/.github/workflows/rolling-debian-build.yml b/.github/workflows/rolling-debian-build.yml new file mode 100644 index 0000000000..a1aed8b415 --- /dev/null +++ b/.github/workflows/rolling-debian-build.yml @@ -0,0 +1,20 @@ +name: Debian Rolling Build +on: + workflow_dispatch: + pull_request: + branches: + - master + schedule: + # Run every day to detect flakiness and broken dependencies + - cron: '03 1 * * *' + + +jobs: + rolling_debian: + name: Rolling debian build + uses: ros-controls/ros2_control_ci/.github/workflows/reusable-debian-build.yml@master + with: + ros_distro: rolling + upstream_workspace: ros2_controllers.rolling.repos + ref_for_scheduled_build: master + skip_packages: rqt_joint_trajectory_controller diff --git a/.github/workflows/rolling-rhel-binary-build.yml b/.github/workflows/rolling-rhel-binary-build.yml deleted file mode 100644 index 04dc58775f..0000000000 --- a/.github/workflows/rolling-rhel-binary-build.yml +++ /dev/null @@ -1,28 +0,0 @@ -name: Rolling RHEL Binary Build -on: - workflow_dispatch: - push: - branches: - - master - schedule: - # Run every day to detect flakiness and broken dependencies - - cron: '03 1 * * *' - - -jobs: - rolling_rhel_binary: - name: Rolling RHEL binary build - runs-on: ubuntu-latest - env: - ROS_DISTRO: rolling - container: ghcr.io/ros-controls/ros:rolling-rhel - steps: - - uses: actions/checkout@v4 - with: - path: src/ros2_controllers - - run: | - rosdep update - rosdep install -iy --from-path src/ros2_controllers - source /opt/ros/${{ env.ROS_DISTRO }}/setup.bash - colcon build - colcon test diff --git a/.github/workflows/rolling-rhel-semi-binary-build.yml b/.github/workflows/rolling-rhel-semi-binary-build.yml new file mode 100644 index 0000000000..a175d951b4 --- /dev/null +++ b/.github/workflows/rolling-rhel-semi-binary-build.yml @@ -0,0 +1,19 @@ +name: RHEL Rolling Semi-Binary Build +on: + workflow_dispatch: + pull_request: + branches: + - master + schedule: + # Run every day to detect flakiness and broken dependencies + - cron: '03 1 * * *' + + +jobs: + rolling_rhel: + uses: ros-controls/ros2_control_ci/.github/workflows/reusable-rhel-binary-build.yml@master + with: + ros_distro: rolling + upstream_workspace: ros2_controllers.rolling.repos + ref_for_scheduled_build: master + skip_packages: rqt_joint_trajectory_controller diff --git a/.github/workflows/rolling-semi-binary-build-testing.yml b/.github/workflows/rolling-semi-binary-build-testing.yml deleted file mode 100644 index 630881dc0a..0000000000 --- a/.github/workflows/rolling-semi-binary-build-testing.yml +++ /dev/null @@ -1,29 +0,0 @@ -name: Rolling Semi-Binary Build - testing -# description: 'Build & test that compiles the main dependencies from source.' - -on: - workflow_dispatch: - branches: - - master - - '*feature*' - - '*feature/**' - pull_request: - branches: - - master - - '*feature*' - - '*feature/**' - push: - branches: - - master - schedule: - # Run every morning to detect flakiness and broken dependencies - - cron: '33 1 * * *' - -jobs: - semi_binary: - uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml - with: - ros_distro: rolling - ros_repo: testing - upstream_workspace: ros2_controllers.rolling.repos - ref_for_scheduled_build: master diff --git a/.github/workflows/rolling-semi-binary-build-main.yml b/.github/workflows/rolling-semi-binary-build.yml similarity index 70% rename from .github/workflows/rolling-semi-binary-build-main.yml rename to .github/workflows/rolling-semi-binary-build.yml index 8b395e5163..a20c4d4fd3 100644 --- a/.github/workflows/rolling-semi-binary-build-main.yml +++ b/.github/workflows/rolling-semi-binary-build.yml @@ -1,4 +1,4 @@ -name: Rolling Semi-Binary Build - main +name: Rolling Semi-Binary Build # description: 'Build & test that compiles the main dependencies from source.' on: @@ -21,9 +21,12 @@ on: jobs: semi_binary: - uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml + uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master + strategy: + matrix: + ROS_REPO: [main, testing] with: ros_distro: rolling - ros_repo: main + ros_repo: ${{ matrix.ROS_REPO }} upstream_workspace: ros2_controllers.rolling.repos ref_for_scheduled_build: master diff --git a/.github/workflows/rolling-source-build.yml b/.github/workflows/rolling-source-build.yml index 40abcd1b0c..567b2c8ec6 100644 --- a/.github/workflows/rolling-source-build.yml +++ b/.github/workflows/rolling-source-build.yml @@ -1,8 +1,6 @@ name: Rolling Source Build on: workflow_dispatch: - branches: - - master push: branches: - master @@ -12,7 +10,7 @@ on: jobs: source: - uses: ./.github/workflows/reusable-ros-tooling-source-build.yml + uses: ros-controls/ros2_control_ci/.github/workflows/reusable-ros-tooling-source-build.yml@master with: ros_distro: rolling ref: master diff --git a/README.md b/README.md index a8b2cb88f1..7c51b3d1ab 100644 --- a/README.md +++ b/README.md @@ -9,9 +9,9 @@ Commonly used and generalized controllers for ros2-control framework that are re ROS2 Distro | Branch | Build status | Documentation | Released packages :---------: | :----: | :----------: | :-----------: | :---------------: -**Rolling** | [`rolling`](https://github.com/ros-controls/ros2_controllers/tree/rolling) | [![Rolling Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/rolling-binary-build-main.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_controllers/actions/workflows/rolling-binary-build-main.yml?branch=master)
[![Rolling Semi-Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/rolling-semi-binary-build-main.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_controllers/actions/workflows/rolling-semi-binary-build-main.yml?branch=master) | | [ros2_controllers](https://index.ros.org/p/ros2_controllers/#rolling) -**Iron** | [`iron`](https://github.com/ros-controls/ros2_controllers/tree/iron) | [![Iron Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/iron-binary-build-main.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_controllers/actions/workflows/iron-binary-build-main.yml?branch=master)
[![Iron Semi-Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/iron-semi-binary-build-main.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_controllers/actions/workflows/iron-semi-binary-build-main.yml?branch=master) | | [ros2_controllers](https://index.ros.org/p/ros2_controllers/#iron) -**Humble** | [`humble`](https://github.com/ros-controls/ros2_controllers/tree/humble) | [![Humble Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/humble-binary-build-main.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_controllers/actions/workflows/humble-binary-build-main.yml?branch=master)
[![Humble Semi-Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/humble-semi-binary-build-main.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_controllers/actions/workflows/humble-semi-binary-build-main.yml?branch=master) | | [ros2_controllers](https://index.ros.org/p/ros2_controllers/#humble) +**Rolling** | [`rolling`](https://github.com/ros-controls/ros2_controllers/tree/rolling) | [![Rolling Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/rolling-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_controllers/actions/workflows/rolling-binary-build.yml?branch=master)
[![Rolling Semi-Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/rolling-semi-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_controllers/actions/workflows/rolling-semi-binary-build.yml?branch=master) | [control.ros.org](https://control.ros.org/master/doc/ros2_controllers/doc/controllers_index.html) | [ros2_controllers](https://index.ros.org/p/ros2_controllers/#rolling) +**Iron** | [`iron`](https://github.com/ros-controls/ros2_controllers/tree/iron) | [![Iron Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/iron-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_controllers/actions/workflows/iron-binary-build.yml?branch=master)
[![Iron Semi-Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/iron-semi-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_controllers/actions/workflows/iron-semi-binary-build.yml?branch=master) | [control.ros.org](https://control.ros.org/iron/doc/ros2_controllers/doc/controllers_index.html) | [ros2_controllers](https://index.ros.org/p/ros2_controllers/#iron) +**Humble** | [`humble`](https://github.com/ros-controls/ros2_controllers/tree/humble) | [![Humble Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/humble-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_controllers/actions/workflows/humble-binary-build.yml?branch=master)
[![Humble Semi-Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/humble-semi-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_controllers/actions/workflows/humble-semi-binary-build.yml?branch=master) | [control.ros.org](https://control.ros.org/humble/doc/ros2_controllers/doc/controllers_index.html) | [ros2_controllers](https://index.ros.org/p/ros2_controllers/#humble) ### Explanation of different build types diff --git a/ackermann_steering_controller/CHANGELOG.rst b/ackermann_steering_controller/CHANGELOG.rst index d4200a140e..c639978fe1 100644 --- a/ackermann_steering_controller/CHANGELOG.rst +++ b/ackermann_steering_controller/CHANGELOG.rst @@ -2,6 +2,12 @@ Changelog for package ackermann_steering_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +3.22.0 (2024-02-12) +------------------- +* Add test_depend on `hardware_interface_testing` (backport `#1018 `_) (`#1020 `_) +* Add tests for `interface_configuration_type` consistently (backport `#899 `_) (`#1007 `_) +* Contributors: mergify[bot] + 3.21.0 (2024-01-20) ------------------- diff --git a/ackermann_steering_controller/package.xml b/ackermann_steering_controller/package.xml index 101f47db85..5a2f3cacbd 100644 --- a/ackermann_steering_controller/package.xml +++ b/ackermann_steering_controller/package.xml @@ -2,7 +2,7 @@ ackermann_steering_controller - 3.21.0 + 3.22.0 Steering controller for Ackermann kinematics. Rear fixed wheels are powering the vehicle and front wheels are steering it. Apache License 2.0 Bence Magyar @@ -27,6 +27,7 @@ ament_cmake_gmock controller_manager + hardware_interface_testing hardware_interface ros2_control_test_assets diff --git a/admittance_controller/CHANGELOG.rst b/admittance_controller/CHANGELOG.rst index b1a366ded7..924a228f2f 100644 --- a/admittance_controller/CHANGELOG.rst +++ b/admittance_controller/CHANGELOG.rst @@ -2,6 +2,13 @@ Changelog for package admittance_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +3.22.0 (2024-02-12) +------------------- +* Add test_depend on `hardware_interface_testing` (backport `#1018 `_) (`#1020 `_) +* Add tests for `interface_configuration_type` consistently (backport `#899 `_) (`#1007 `_) +* Let sphinx add parameter description with nested structures to documentation (`#652 `_) (`#1006 `_) +* Contributors: mergify[bot] + 3.21.0 (2024-01-20) ------------------- diff --git a/admittance_controller/package.xml b/admittance_controller/package.xml index e649771f06..ec8dacb3d7 100644 --- a/admittance_controller/package.xml +++ b/admittance_controller/package.xml @@ -2,7 +2,7 @@ admittance_controller - 3.21.0 + 3.22.0 Implementation of admittance controllers for different input and output interface. Denis Štogl Bence Magyar @@ -34,6 +34,7 @@ ament_cmake_gmock controller_manager + hardware_interface_testing kinematics_interface_kdl ros2_control_test_assets diff --git a/bicycle_steering_controller/CHANGELOG.rst b/bicycle_steering_controller/CHANGELOG.rst index 75c43ff4d3..a5435a355d 100644 --- a/bicycle_steering_controller/CHANGELOG.rst +++ b/bicycle_steering_controller/CHANGELOG.rst @@ -2,6 +2,12 @@ Changelog for package bicycle_steering_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +3.22.0 (2024-02-12) +------------------- +* Add test_depend on `hardware_interface_testing` (backport `#1018 `_) (`#1020 `_) +* Add tests for `interface_configuration_type` consistently (backport `#899 `_) (`#1007 `_) +* Contributors: mergify[bot] + 3.21.0 (2024-01-20) ------------------- diff --git a/bicycle_steering_controller/package.xml b/bicycle_steering_controller/package.xml index 1954dc052d..8f525a35d7 100644 --- a/bicycle_steering_controller/package.xml +++ b/bicycle_steering_controller/package.xml @@ -2,7 +2,7 @@ bicycle_steering_controller - 3.21.0 + 3.22.0 Steering controller with bicycle kinematics. Rear fixed wheel is powering the vehicle and front wheel is steering. Apache License 2.0 Bence Magyar @@ -28,6 +28,7 @@ ament_cmake_gmock controller_manager hardware_interface + hardware_interface_testing ros2_control_test_assets diff --git a/diff_drive_controller/CHANGELOG.rst b/diff_drive_controller/CHANGELOG.rst index a012a81c1b..fc41483185 100644 --- a/diff_drive_controller/CHANGELOG.rst +++ b/diff_drive_controller/CHANGELOG.rst @@ -2,6 +2,13 @@ Changelog for package diff_drive_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +3.22.0 (2024-02-12) +------------------- +* Add test_depend on `hardware_interface_testing` (backport `#1018 `_) (`#1020 `_) +* Add tests for `interface_configuration_type` consistently (backport `#899 `_) (`#1007 `_) +* Let sphinx add parameter description with nested structures to documentation (`#652 `_) (`#1006 `_) +* Contributors: mergify[bot] + 3.21.0 (2024-01-20) ------------------- diff --git a/diff_drive_controller/package.xml b/diff_drive_controller/package.xml index 497d6da8c7..8bad7e37ae 100644 --- a/diff_drive_controller/package.xml +++ b/diff_drive_controller/package.xml @@ -1,7 +1,7 @@ diff_drive_controller - 3.21.0 + 3.22.0 Controller for a differential drive mobile base. Bence Magyar Jordan Palacios @@ -26,6 +26,7 @@ ament_cmake_gmock controller_manager + hardware_interface_testing ros2_control_test_assets diff --git a/diff_drive_controller/test/test_load_diff_drive_controller.cpp b/diff_drive_controller/test/test_load_diff_drive_controller.cpp index 1eb8939031..660208c560 100644 --- a/diff_drive_controller/test/test_load_diff_drive_controller.cpp +++ b/diff_drive_controller/test/test_load_diff_drive_controller.cpp @@ -16,6 +16,9 @@ #include #include "controller_manager/controller_manager.hpp" +#include "hardware_interface/resource_manager.hpp" +#include "rclcpp/executor.hpp" +#include "rclcpp/executors/single_threaded_executor.hpp" #include "rclcpp/utilities.hpp" #include "ros2_control_test_assets/descriptions.hpp" diff --git a/effort_controllers/CHANGELOG.rst b/effort_controllers/CHANGELOG.rst index 659282397e..7dba9146cd 100644 --- a/effort_controllers/CHANGELOG.rst +++ b/effort_controllers/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package effort_controllers ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +3.22.0 (2024-02-12) +------------------- +* Add test_depend on `hardware_interface_testing` (backport `#1018 `_) (`#1020 `_) +* Contributors: mergify[bot] + 3.21.0 (2024-01-20) ------------------- diff --git a/effort_controllers/package.xml b/effort_controllers/package.xml index 42225d6a8b..2d025c7fc2 100644 --- a/effort_controllers/package.xml +++ b/effort_controllers/package.xml @@ -1,7 +1,7 @@ effort_controllers - 3.21.0 + 3.22.0 Generic controller for forwarding commands. Bence Magyar Jordan Palacios @@ -17,6 +17,8 @@ ament_cmake_gmock controller_manager + hardware_interface_testing + hardware_interface ros2_control_test_assets diff --git a/effort_controllers/test/test_load_joint_group_effort_controller.cpp b/effort_controllers/test/test_load_joint_group_effort_controller.cpp index 61bb1ddf9a..52f1f9934a 100644 --- a/effort_controllers/test/test_load_joint_group_effort_controller.cpp +++ b/effort_controllers/test/test_load_joint_group_effort_controller.cpp @@ -17,7 +17,9 @@ #include "controller_manager/controller_manager.hpp" #include "hardware_interface/resource_manager.hpp" +#include "rclcpp/executor.hpp" #include "rclcpp/executors/single_threaded_executor.hpp" +#include "rclcpp/utilities.hpp" #include "ros2_control_test_assets/descriptions.hpp" TEST(TestLoadJointGroupVelocityController, load_controller) diff --git a/force_torque_sensor_broadcaster/CHANGELOG.rst b/force_torque_sensor_broadcaster/CHANGELOG.rst index e1f03cb8cb..8d9ad1c920 100644 --- 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 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +3.22.0 (2024-02-12) +------------------- +* Add test_depend on `hardware_interface_testing` (backport `#1018 `_) (`#1020 `_) +* Add tests for `interface_configuration_type` consistently (backport `#899 `_) (`#1007 `_) +* Let sphinx add parameter description with nested structures to documentation (`#652 `_) (`#1006 `_) +* Revert "[ForceTorqueSensorBroadcaster] Create ParamListener and get parameters on configure (`#698 `_)" (`#988 `_) (`#1004 `_) +* Contributors: mergify[bot] + 3.21.0 (2024-01-20) ------------------- diff --git a/force_torque_sensor_broadcaster/package.xml b/force_torque_sensor_broadcaster/package.xml index dfca1c2198..f2e784b475 100644 --- a/force_torque_sensor_broadcaster/package.xml +++ b/force_torque_sensor_broadcaster/package.xml @@ -2,7 +2,7 @@ force_torque_sensor_broadcaster - 3.21.0 + 3.22.0 Controller to publish state of force-torque sensors. Bence Magyar Denis Štogl @@ -23,6 +23,7 @@ ament_cmake_gmock controller_manager + hardware_interface_testing ros2_control_test_assets diff --git a/forward_command_controller/CHANGELOG.rst b/forward_command_controller/CHANGELOG.rst index b71a201c5b..8acea07e4b 100644 --- a/forward_command_controller/CHANGELOG.rst +++ b/forward_command_controller/CHANGELOG.rst @@ -2,6 +2,12 @@ Changelog for package forward_command_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +3.22.0 (2024-02-12) +------------------- +* Add test_depend on `hardware_interface_testing` (backport `#1018 `_) (`#1020 `_) +* Add tests for `interface_configuration_type` consistently (backport `#899 `_) (`#1007 `_) +* Contributors: mergify[bot] + 3.21.0 (2024-01-20) ------------------- diff --git a/forward_command_controller/package.xml b/forward_command_controller/package.xml index 684531acac..b138a0ca69 100644 --- a/forward_command_controller/package.xml +++ b/forward_command_controller/package.xml @@ -1,7 +1,7 @@ forward_command_controller - 3.21.0 + 3.22.0 Generic controller for forwarding commands. Bence Magyar Jordan Palacios @@ -22,6 +22,7 @@ ament_cmake_gmock controller_manager + hardware_interface_testing ros2_control_test_assets diff --git a/gripper_controllers/CHANGELOG.rst b/gripper_controllers/CHANGELOG.rst index 0422f67d6e..55297928bc 100644 --- a/gripper_controllers/CHANGELOG.rst +++ b/gripper_controllers/CHANGELOG.rst @@ -2,6 +2,12 @@ Changelog for package gripper_controllers ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +3.22.0 (2024-02-12) +------------------- +* Add test_depend on `hardware_interface_testing` (backport `#1018 `_) (`#1020 `_) +* Let sphinx add parameter description with nested structures to documentation (`#652 `_) (`#1006 `_) +* Contributors: mergify[bot] + 3.21.0 (2024-01-20) ------------------- diff --git a/gripper_controllers/package.xml b/gripper_controllers/package.xml index 5e3fcad8bc..b199982bac 100644 --- a/gripper_controllers/package.xml +++ b/gripper_controllers/package.xml @@ -4,7 +4,7 @@ schematypens="http://www.w3.org/2001/XMLSchema"?> gripper_controllers - 3.21.0 + 3.22.0 The gripper_controllers package Bence Magyar @@ -27,6 +27,7 @@ ament_cmake_gmock controller_manager + hardware_interface_testing ros2_control_test_assets diff --git a/gripper_controllers/test/test_load_gripper_action_controllers.cpp b/gripper_controllers/test/test_load_gripper_action_controllers.cpp index 130b12e0bb..0ef5f0bcb2 100644 --- a/gripper_controllers/test/test_load_gripper_action_controllers.cpp +++ b/gripper_controllers/test/test_load_gripper_action_controllers.cpp @@ -17,7 +17,9 @@ #include "controller_manager/controller_manager.hpp" #include "hardware_interface/resource_manager.hpp" +#include "rclcpp/executor.hpp" #include "rclcpp/executors/single_threaded_executor.hpp" +#include "rclcpp/utilities.hpp" #include "ros2_control_test_assets/descriptions.hpp" TEST(TestLoadGripperActionControllers, load_controller) diff --git a/imu_sensor_broadcaster/CHANGELOG.rst b/imu_sensor_broadcaster/CHANGELOG.rst index fc09094bfe..1ae7b7aef1 100644 --- a/imu_sensor_broadcaster/CHANGELOG.rst +++ b/imu_sensor_broadcaster/CHANGELOG.rst @@ -2,6 +2,13 @@ Changelog for package imu_sensor_broadcaster ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +3.22.0 (2024-02-12) +------------------- +* Add test_depend on `hardware_interface_testing` (backport `#1018 `_) (`#1020 `_) +* Add tests for `interface_configuration_type` consistently (backport `#899 `_) (`#1007 `_) +* Let sphinx add parameter description with nested structures to documentation (`#652 `_) (`#1006 `_) +* Contributors: mergify[bot] + 3.21.0 (2024-01-20) ------------------- diff --git a/imu_sensor_broadcaster/package.xml b/imu_sensor_broadcaster/package.xml index 8d70409efb..d2f88615a8 100644 --- a/imu_sensor_broadcaster/package.xml +++ b/imu_sensor_broadcaster/package.xml @@ -2,7 +2,7 @@ imu_sensor_broadcaster - 3.21.0 + 3.22.0 Controller to publish readings of IMU sensors. Bence Magyar Denis Štogl @@ -25,6 +25,7 @@ ament_lint_auto ament_lint_common controller_manager + hardware_interface_testing ros2_control_test_assets diff --git a/joint_state_broadcaster/CHANGELOG.rst b/joint_state_broadcaster/CHANGELOG.rst index 77bbc3f986..db389a88a2 100644 --- a/joint_state_broadcaster/CHANGELOG.rst +++ b/joint_state_broadcaster/CHANGELOG.rst @@ -2,6 +2,13 @@ Changelog for package joint_state_broadcaster ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +3.22.0 (2024-02-12) +------------------- +* Add test_depend on `hardware_interface_testing` (backport `#1018 `_) (`#1020 `_) +* Add tests for `interface_configuration_type` consistently (backport `#899 `_) (`#1007 `_) +* Let sphinx add parameter description with nested structures to documentation (`#652 `_) (`#1006 `_) +* Contributors: mergify[bot] + 3.21.0 (2024-01-20) ------------------- diff --git a/joint_state_broadcaster/package.xml b/joint_state_broadcaster/package.xml index 393cf75fd3..1719c50113 100644 --- a/joint_state_broadcaster/package.xml +++ b/joint_state_broadcaster/package.xml @@ -1,7 +1,7 @@ joint_state_broadcaster - 3.21.0 + 3.22.0 Broadcaster to publish joint state Bence Magyar Denis Stogl @@ -25,6 +25,7 @@ ament_cmake_gmock controller_manager + hardware_interface_testing hardware_interface rclcpp ros2_control_test_assets diff --git a/joint_trajectory_controller/CHANGELOG.rst b/joint_trajectory_controller/CHANGELOG.rst index 2ff95bf1c0..ff0671b3b9 100644 --- a/joint_trajectory_controller/CHANGELOG.rst +++ b/joint_trajectory_controller/CHANGELOG.rst @@ -2,6 +2,17 @@ Changelog for package joint_trajectory_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +3.22.0 (2024-02-12) +------------------- +* Fix usage of M_PI on Windows (`#1036 `_) (`#1038 `_) +* Add test_depend on `hardware_interface_testing` (backport `#1018 `_) (`#1020 `_) +* Add tests for `interface_configuration_type` consistently (backport `#899 `_) (`#1007 `_) +* Let sphinx add parameter description with nested structures to documentation (`#652 `_) (`#1006 `_) +* [JTC] Fill action error_strings (`#887 `_) (`#1010 `_) +* [JTC] Invalidate empty trajectory messages (`#902 `_) (`#1001 `_) +* Revert "[JTC] Remove read_only from 'joints', 'state_interfaces' and 'command_interfaces' parameters (`#967 `_)" (`#978 `_) (`#987 `_) +* Contributors: mergify[bot] + 3.21.0 (2024-01-20) ------------------- * [Docs] Update deprecated topic name (`#964 `_) (`#965 `_) diff --git a/joint_trajectory_controller/CMakeLists.txt b/joint_trajectory_controller/CMakeLists.txt index 88bb7891a3..0ce262aa58 100644 --- a/joint_trajectory_controller/CMakeLists.txt +++ b/joint_trajectory_controller/CMakeLists.txt @@ -58,6 +58,7 @@ if(BUILD_TESTING) ament_add_gmock(test_trajectory test/test_trajectory.cpp) target_link_libraries(test_trajectory joint_trajectory_controller) + target_compile_definitions(test_trajectory PRIVATE _USE_MATH_DEFINES) ament_add_gmock(test_trajectory_controller test/test_trajectory_controller.cpp) @@ -65,6 +66,7 @@ if(BUILD_TESTING) target_link_libraries(test_trajectory_controller joint_trajectory_controller ) + target_compile_definitions(joint_trajectory_controller PRIVATE _USE_MATH_DEFINES) ament_add_gmock(test_load_joint_trajectory_controller test/test_load_joint_trajectory_controller.cpp diff --git a/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller.hpp b/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller.hpp index 78a7ef2f98..42196aae5d 100644 --- a/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller.hpp +++ b/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller.hpp @@ -155,7 +155,8 @@ class JointTrajectoryController : public controller_interface::ControllerInterfa std::vector pids_; // Feed-forward velocity weight factor when calculating closed loop pid adapter's command std::vector ff_velocity_scale_; - // Configuration for every joint, if position error is wrapped around + // Configuration for every joint if it wraps around (ie. is continuous, position error is + // normalized) std::vector joints_angle_wraparound_; // reserved storage for result of the command when closed loop pid adapter is used std::vector tmp_command_; diff --git a/joint_trajectory_controller/include/joint_trajectory_controller/trajectory.hpp b/joint_trajectory_controller/include/joint_trajectory_controller/trajectory.hpp index 3bd4873a31..b00d79481c 100644 --- a/joint_trajectory_controller/include/joint_trajectory_controller/trajectory.hpp +++ b/joint_trajectory_controller/include/joint_trajectory_controller/trajectory.hpp @@ -44,14 +44,19 @@ class Trajectory const trajectory_msgs::msg::JointTrajectoryPoint & current_point, std::shared_ptr joint_trajectory); - /// Set the point before the trajectory message is replaced/appended - /// Example: if we receive a new trajectory message and it's first point is 0.5 seconds - /// from the current one, we call this function to log the current state, then - /// append/replace the current trajectory + /** + * Set the point before the trajectory message is replaced/appended + * Example: if we receive a new trajectory message and it's first point is 0.5 seconds + * from the current one, we call this function to log the current state, then + * append/replace the current trajectory + * \param joints_angle_wraparound Vector of boolean where true value corresponds to a joint that + * wrap around (ie. is continuous). + */ JOINT_TRAJECTORY_CONTROLLER_PUBLIC void set_point_before_trajectory_msg( const rclcpp::Time & current_time, - const trajectory_msgs::msg::JointTrajectoryPoint & current_point); + const trajectory_msgs::msg::JointTrajectoryPoint & current_point, + const std::vector & joints_angle_wraparound = std::vector()); JOINT_TRAJECTORY_CONTROLLER_PUBLIC void update(std::shared_ptr joint_trajectory); @@ -189,6 +194,17 @@ inline std::vector mapping(const T & t1, const T & t2) return mapping_vector; } +/** + * \param current_position The current position given from the controller, which will be adapted. + * \param next_position Next position from which to compute the wraparound offset, i.e., + * the first trajectory point + * \param joints_angle_wraparound Vector of boolean where true value corresponds to a joint that + * wrap around (ie. is continuous). + */ +void wraparound_joint( + std::vector & current_position, const std::vector next_position, + const std::vector & joints_angle_wraparound); + } // namespace joint_trajectory_controller #endif // JOINT_TRAJECTORY_CONTROLLER__TRAJECTORY_HPP_ diff --git a/joint_trajectory_controller/package.xml b/joint_trajectory_controller/package.xml index 2dc9f5fb13..812a6ab4a2 100644 --- a/joint_trajectory_controller/package.xml +++ b/joint_trajectory_controller/package.xml @@ -1,7 +1,7 @@ joint_trajectory_controller - 3.21.0 + 3.22.0 Controller for executing joint-space trajectories on a group of joints Bence Magyar Dr. Denis Štogl @@ -28,6 +28,7 @@ ament_cmake_gmock controller_manager + hardware_interface_testing ros2_control_test_assets diff --git a/joint_trajectory_controller/src/joint_trajectory_controller.cpp b/joint_trajectory_controller/src/joint_trajectory_controller.cpp index dc989523dd..0e532ab73e 100644 --- a/joint_trajectory_controller/src/joint_trajectory_controller.cpp +++ b/joint_trajectory_controller/src/joint_trajectory_controller.cpp @@ -162,11 +162,13 @@ controller_interface::return_type JointTrajectoryController::update( first_sample = true; if (params_.open_loop_control) { - traj_external_point_ptr_->set_point_before_trajectory_msg(time, last_commanded_state_); + traj_external_point_ptr_->set_point_before_trajectory_msg( + time, last_commanded_state_, joints_angle_wraparound_); } else { - traj_external_point_ptr_->set_point_before_trajectory_msg(time, state_current_); + traj_external_point_ptr_->set_point_before_trajectory_msg( + time, state_current_, joints_angle_wraparound_); } } diff --git a/joint_trajectory_controller/src/trajectory.cpp b/joint_trajectory_controller/src/trajectory.cpp index fae4c41ff9..0ed7f2ff13 100644 --- a/joint_trajectory_controller/src/trajectory.cpp +++ b/joint_trajectory_controller/src/trajectory.cpp @@ -16,6 +16,7 @@ #include +#include "angles/angles.h" #include "hardware_interface/macros.hpp" #include "rclcpp/duration.hpp" #include "rclcpp/time.hpp" @@ -44,10 +45,39 @@ Trajectory::Trajectory( void Trajectory::set_point_before_trajectory_msg( const rclcpp::Time & current_time, - const trajectory_msgs::msg::JointTrajectoryPoint & current_point) + const trajectory_msgs::msg::JointTrajectoryPoint & current_point, + const std::vector & joints_angle_wraparound) { time_before_traj_msg_ = current_time; state_before_traj_msg_ = current_point; + + // Compute offsets due to wrapping joints + wraparound_joint( + state_before_traj_msg_.positions, trajectory_msg_->points[0].positions, + joints_angle_wraparound); +} + +void wraparound_joint( + std::vector & current_position, const std::vector next_position, + const std::vector & joints_angle_wraparound) +{ + double dist; + // joints_angle_wraparound is even empty, or has the same size as the number of joints + for (size_t i = 0; i < joints_angle_wraparound.size(); i++) + { + if (joints_angle_wraparound[i]) + { + dist = angles::shortest_angular_distance(current_position[i], next_position[i]); + + // Deal with singularity at M_PI shortest distance + if (std::abs(std::abs(dist) - M_PI) < 1e-9) + { + dist = next_position[i] > current_position[i] ? std::abs(dist) : -std::abs(dist); + } + + current_position[i] = next_position[i] - dist; + } + } } void Trajectory::update(std::shared_ptr joint_trajectory) diff --git a/joint_trajectory_controller/test/test_trajectory.cpp b/joint_trajectory_controller/test/test_trajectory.cpp index b52aa67a04..6e0c53ac77 100644 --- a/joint_trajectory_controller/test/test_trajectory.cpp +++ b/joint_trajectory_controller/test/test_trajectory.cpp @@ -821,3 +821,59 @@ TEST(TestTrajectory, skip_interpolation) } } } + +TEST(TestWrapAroundJoint, no_wraparound) +{ + const std::vector initial_position(3, 0.); + std::vector next_position(3, M_PI * 3. / 2.); + + std::vector current_position(initial_position); + std::vector joints_angle_wraparound(3, false); + joint_trajectory_controller::wraparound_joint( + current_position, next_position, joints_angle_wraparound); + EXPECT_EQ(current_position[0], initial_position[0]); + EXPECT_EQ(current_position[1], initial_position[1]); + EXPECT_EQ(current_position[2], initial_position[2]); +} + +TEST(TestWrapAroundJoint, wraparound_single_joint) +{ + const std::vector initial_position(3, 0.); + std::vector next_position(3, M_PI * 3. / 2.); + + std::vector current_position(initial_position); + std::vector joints_angle_wraparound{true, false, false}; + joint_trajectory_controller::wraparound_joint( + current_position, next_position, joints_angle_wraparound); + EXPECT_EQ(current_position[0], initial_position[0] + 2 * M_PI); + EXPECT_EQ(current_position[1], initial_position[1]); + EXPECT_EQ(current_position[2], initial_position[2]); +} + +TEST(TestWrapAroundJoint, wraparound_all_joints) +{ + const std::vector initial_position(3, 0.); + std::vector next_position(3, M_PI * 3. / 2.); + + std::vector current_position(initial_position); + std::vector joints_angle_wraparound(3, true); + joint_trajectory_controller::wraparound_joint( + current_position, next_position, joints_angle_wraparound); + EXPECT_EQ(current_position[0], initial_position[0] + 2 * M_PI); + EXPECT_EQ(current_position[1], initial_position[1] + 2 * M_PI); + EXPECT_EQ(current_position[2], initial_position[2] + 2 * M_PI); +} + +TEST(TestWrapAroundJoint, wraparound_all_joints_no_offset) +{ + const std::vector initial_position(3, 0.); + std::vector next_position(3, M_PI * 3. / 2.); + + std::vector current_position(next_position); + std::vector joints_angle_wraparound(3, true); + joint_trajectory_controller::wraparound_joint( + current_position, next_position, joints_angle_wraparound); + EXPECT_EQ(current_position[0], next_position[0]); + EXPECT_EQ(current_position[1], next_position[1]); + EXPECT_EQ(current_position[2], next_position[2]); +} diff --git a/joint_trajectory_controller/test/test_trajectory_controller.cpp b/joint_trajectory_controller/test/test_trajectory_controller.cpp index a0a156454b..be9c45c8d1 100644 --- a/joint_trajectory_controller/test/test_trajectory_controller.cpp +++ b/joint_trajectory_controller/test/test_trajectory_controller.cpp @@ -655,14 +655,16 @@ TEST_P(TrajectoryControllerTestParameterized, compute_error_angle_wraparound_fal } /** - * @brief check if position error of revolute joints are angle_wraparound if not configured so + * @brief check if position error of revolute joints are wrapped around if not configured so */ TEST_P(TrajectoryControllerTestParameterized, position_error_not_angle_wraparound) { rclcpp::executors::MultiThreadedExecutor executor; constexpr double k_p = 10.0; std::vector params = {}; - SetUpAndActivateTrajectoryController(executor, params, true, k_p, 0.0, false); + bool angle_wraparound = false; + SetUpAndActivateTrajectoryController(executor, params, true, k_p, 0.0, angle_wraparound); + subscribeToState(); size_t n_joints = joint_names_.size(); @@ -672,10 +674,8 @@ TEST_P(TrajectoryControllerTestParameterized, position_error_not_angle_wraparoun // *INDENT-OFF* std::vector> points{ {{3.3, 4.4, 6.6}}, {{7.7, 8.8, 9.9}}, {{10.10, 11.11, 12.12}}}; - std::vector> points_velocities{ - {{0.01, 0.01, 0.01}}, {{0.05, 0.05, 0.05}}, {{0.06, 0.06, 0.06}}}; // *INDENT-ON* - publish(time_from_start, points, rclcpp::Time(), {}, points_velocities); + publish(time_from_start, points, rclcpp::Time()); traj_controller_->wait_for_trajectory(executor); updateControllerAsync(rclcpp::Duration(FIRST_POINT_TIME)); @@ -739,35 +739,24 @@ TEST_P(TrajectoryControllerTestParameterized, position_error_not_angle_wraparoun if (traj_controller_->has_effort_command_interface()) { - // use_closed_loop_pid_adapter_ - if (traj_controller_->use_closed_loop_pid_adapter()) - { - // we expect u = k_p * (s_d-s) for positions - EXPECT_NEAR( - k_p * (state_reference.positions[0] - INITIAL_POS_JOINTS[0]), joint_eff_[0], - k_p * COMMON_THRESHOLD); - EXPECT_NEAR( - k_p * (state_reference.positions[1] - INITIAL_POS_JOINTS[1]), joint_eff_[1], - k_p * COMMON_THRESHOLD); - EXPECT_NEAR( - k_p * (state_reference.positions[2] - INITIAL_POS_JOINTS[2]), joint_eff_[2], - k_p * COMMON_THRESHOLD); - } - else - { - // interpolated points_velocities only - // check command interface - EXPECT_LT(0.0, joint_eff_[0]); - EXPECT_LT(0.0, joint_eff_[1]); - EXPECT_LT(0.0, joint_eff_[2]); - } + // with effort command interface, use_closed_loop_pid_adapter is always true + // we expect u = k_p * (s_d-s) for positions + EXPECT_NEAR( + k_p * (state_reference.positions[0] - INITIAL_POS_JOINTS[0]), joint_eff_[0], + k_p * COMMON_THRESHOLD); + EXPECT_NEAR( + k_p * (state_reference.positions[1] - INITIAL_POS_JOINTS[1]), joint_eff_[1], + k_p * COMMON_THRESHOLD); + EXPECT_NEAR( + k_p * (state_reference.positions[2] - INITIAL_POS_JOINTS[2]), joint_eff_[2], + k_p * COMMON_THRESHOLD); } executor.cancel(); } /** - * @brief check if position error of revolute joints are angle_wraparound if configured so + * @brief check if position error of revolute joints are wrapped around if configured so */ TEST_P(TrajectoryControllerTestParameterized, position_error_angle_wraparound) { @@ -810,7 +799,7 @@ TEST_P(TrajectoryControllerTestParameterized, position_error_angle_wraparound) EXPECT_NEAR(points[0][1], state_reference.positions[1], COMMON_THRESHOLD); EXPECT_NEAR(points[0][2], state_reference.positions[2], COMMON_THRESHOLD); - // is error.positions[2] angle_wraparound? + // is error.positions[2] wrapped around? EXPECT_NEAR(state_error.positions[0], state_reference.positions[0] - INITIAL_POS_JOINTS[0], EPS); EXPECT_NEAR(state_error.positions[1], state_reference.positions[1] - INITIAL_POS_JOINTS[1], EPS); EXPECT_NEAR( @@ -829,15 +818,15 @@ TEST_P(TrajectoryControllerTestParameterized, position_error_angle_wraparound) // use_closed_loop_pid_adapter_ if (traj_controller_->use_closed_loop_pid_adapter()) { - // we expect u = k_p * (s_d-s) for positions[0] and positions[1] + // we expect u = k_p * (s_d-s) for joint0 and joint1 EXPECT_NEAR( k_p * (state_reference.positions[0] - INITIAL_POS_JOINTS[0]), joint_vel_[0], k_p * COMMON_THRESHOLD); EXPECT_NEAR( k_p * (state_reference.positions[1] - INITIAL_POS_JOINTS[1]), joint_vel_[1], k_p * COMMON_THRESHOLD); - // is error of positions[2] angle_wraparound? - EXPECT_GT(0.0, joint_vel_[2]); + // is error of positions[2] wrapped around? + EXPECT_GT(0.0, joint_vel_[2]); // direction change because of angle wrap EXPECT_NEAR( k_p * (state_reference.positions[2] - INITIAL_POS_JOINTS[2] - 2 * M_PI), joint_vel_[2], k_p * COMMON_THRESHOLD); @@ -854,30 +843,19 @@ TEST_P(TrajectoryControllerTestParameterized, position_error_angle_wraparound) if (traj_controller_->has_effort_command_interface()) { - // use_closed_loop_pid_adapter_ - if (traj_controller_->use_closed_loop_pid_adapter()) - { - // we expect u = k_p * (s_d-s) for positions[0] and positions[1] - EXPECT_NEAR( - k_p * (state_reference.positions[0] - INITIAL_POS_JOINTS[0]), joint_eff_[0], - k_p * COMMON_THRESHOLD); - EXPECT_NEAR( - k_p * (state_reference.positions[1] - INITIAL_POS_JOINTS[1]), joint_eff_[1], - k_p * COMMON_THRESHOLD); - // is error of positions[2] angle_wraparound? - EXPECT_GT(0.0, joint_eff_[2]); - EXPECT_NEAR( - k_p * (state_reference.positions[2] - INITIAL_POS_JOINTS[2] - 2 * M_PI), joint_eff_[2], - k_p * COMMON_THRESHOLD); - } - else - { - // interpolated points_velocities only - // check command interface - EXPECT_LT(0.0, joint_eff_[0]); - EXPECT_LT(0.0, joint_eff_[1]); - EXPECT_LT(0.0, joint_eff_[2]); - } + // with effort command interface, use_closed_loop_pid_adapter is always true + // we expect u = k_p * (s_d-s) for joint0 and joint1 + EXPECT_NEAR( + k_p * (state_reference.positions[0] - INITIAL_POS_JOINTS[0]), joint_eff_[0], + k_p * COMMON_THRESHOLD); + EXPECT_NEAR( + k_p * (state_reference.positions[1] - INITIAL_POS_JOINTS[1]), joint_eff_[1], + k_p * COMMON_THRESHOLD); + // is error of positions[2] wrapped around? + EXPECT_GT(0.0, joint_eff_[2]); + EXPECT_NEAR( + k_p * (state_reference.positions[2] - INITIAL_POS_JOINTS[2] - 2 * M_PI), joint_eff_[2], + k_p * COMMON_THRESHOLD); } executor.cancel(); diff --git a/position_controllers/CHANGELOG.rst b/position_controllers/CHANGELOG.rst index 1ac5935eb1..3b619ebab3 100644 --- a/position_controllers/CHANGELOG.rst +++ b/position_controllers/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package position_controllers ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +3.22.0 (2024-02-12) +------------------- +* Add test_depend on `hardware_interface_testing` (backport `#1018 `_) (`#1020 `_) +* Contributors: mergify[bot] + 3.21.0 (2024-01-20) ------------------- diff --git a/position_controllers/package.xml b/position_controllers/package.xml index 303e7cde5c..bb83cbdb03 100644 --- a/position_controllers/package.xml +++ b/position_controllers/package.xml @@ -1,7 +1,7 @@ position_controllers - 3.21.0 + 3.22.0 Generic controller for forwarding commands. Bence Magyar Jordan Palacios @@ -17,6 +17,8 @@ ament_cmake_gmock controller_manager + hardware_interface_testing + hardware_interface ros2_control_test_assets diff --git a/position_controllers/test/test_load_joint_group_position_controller.cpp b/position_controllers/test/test_load_joint_group_position_controller.cpp index fe61039fdb..bc27b5e629 100644 --- a/position_controllers/test/test_load_joint_group_position_controller.cpp +++ b/position_controllers/test/test_load_joint_group_position_controller.cpp @@ -17,7 +17,9 @@ #include "controller_manager/controller_manager.hpp" #include "hardware_interface/resource_manager.hpp" +#include "rclcpp/executor.hpp" #include "rclcpp/executors/single_threaded_executor.hpp" +#include "rclcpp/utilities.hpp" #include "ros2_control_test_assets/descriptions.hpp" TEST(TestLoadJointGroupPositionController, load_controller) diff --git a/range_sensor_broadcaster/CHANGELOG.rst b/range_sensor_broadcaster/CHANGELOG.rst index be84cfe8e0..a3f9568c4f 100644 --- a/range_sensor_broadcaster/CHANGELOG.rst +++ b/range_sensor_broadcaster/CHANGELOG.rst @@ -2,6 +2,13 @@ Changelog for package range_sensor_broadcaster ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +3.22.0 (2024-02-12) +------------------- +* Add test_depend on `hardware_interface_testing` (backport `#1018 `_) (`#1020 `_) +* Add tests for `interface_configuration_type` consistently (backport `#899 `_) (`#1007 `_) +* Let sphinx add parameter description with nested structures to documentation (`#652 `_) (`#1006 `_) +* Contributors: mergify[bot] + 3.21.0 (2024-01-20) ------------------- diff --git a/range_sensor_broadcaster/package.xml b/range_sensor_broadcaster/package.xml index f48b2587e2..1f8c8c3fcd 100644 --- a/range_sensor_broadcaster/package.xml +++ b/range_sensor_broadcaster/package.xml @@ -2,7 +2,7 @@ range_sensor_broadcaster - 3.21.0 + 3.22.0 Controller to publish readings of Range sensors. Bence Magyar Florent Chretien @@ -22,7 +22,7 @@ ament_cmake_gmock controller_manager - hardware_interface + hardware_interface_testing ros2_control_test_assets diff --git a/ros2_controllers/CHANGELOG.rst b/ros2_controllers/CHANGELOG.rst index f6ca18a4e3..f735bfaba8 100644 --- a/ros2_controllers/CHANGELOG.rst +++ b/ros2_controllers/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package ros2_controllers ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +3.22.0 (2024-02-12) +------------------- + 3.21.0 (2024-01-20) ------------------- diff --git a/ros2_controllers/package.xml b/ros2_controllers/package.xml index c9af221587..5e77ad4c19 100644 --- a/ros2_controllers/package.xml +++ b/ros2_controllers/package.xml @@ -1,7 +1,7 @@ ros2_controllers - 3.21.0 + 3.22.0 Metapackage for ROS2 controllers related packages Bence Magyar Jordan Palacios diff --git a/ros2_controllers_test_nodes/CHANGELOG.rst b/ros2_controllers_test_nodes/CHANGELOG.rst index fbfd64e4d6..cc3bfe8aff 100644 --- a/ros2_controllers_test_nodes/CHANGELOG.rst +++ b/ros2_controllers_test_nodes/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package ros2_controllers_test_nodes ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +3.22.0 (2024-02-12) +------------------- + 3.21.0 (2024-01-20) ------------------- diff --git a/ros2_controllers_test_nodes/package.xml b/ros2_controllers_test_nodes/package.xml index afc889c54f..24b3dc2be4 100644 --- a/ros2_controllers_test_nodes/package.xml +++ b/ros2_controllers_test_nodes/package.xml @@ -2,7 +2,7 @@ ros2_controllers_test_nodes - 3.21.0 + 3.22.0 Demo nodes for showing and testing functionalities of the ros2_control framework. Denis Štogl diff --git a/ros2_controllers_test_nodes/setup.py b/ros2_controllers_test_nodes/setup.py index 0742eaf74b..a1fc16c95c 100644 --- a/ros2_controllers_test_nodes/setup.py +++ b/ros2_controllers_test_nodes/setup.py @@ -20,7 +20,7 @@ setup( name=package_name, - version="3.21.0", + version="3.22.0", packages=[package_name], data_files=[ ("share/ament_index/resource_index/packages", ["resource/" + package_name]), diff --git a/rqt_joint_trajectory_controller/CHANGELOG.rst b/rqt_joint_trajectory_controller/CHANGELOG.rst index 32f6180cae..2c2e8981a3 100644 --- a/rqt_joint_trajectory_controller/CHANGELOG.rst +++ b/rqt_joint_trajectory_controller/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package rqt_joint_trajectory_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +3.22.0 (2024-02-12) +------------------- + 3.21.0 (2024-01-20) ------------------- diff --git a/rqt_joint_trajectory_controller/package.xml b/rqt_joint_trajectory_controller/package.xml index d23c1dc9d5..38977527e7 100644 --- a/rqt_joint_trajectory_controller/package.xml +++ b/rqt_joint_trajectory_controller/package.xml @@ -4,7 +4,7 @@ schematypens="http://www.w3.org/2001/XMLSchema"?> rqt_joint_trajectory_controller - 3.21.0 + 3.22.0 Graphical frontend for interacting with joint_trajectory_controller instances. Bence Magyar diff --git a/rqt_joint_trajectory_controller/setup.py b/rqt_joint_trajectory_controller/setup.py index 96153dfafb..d72a13ad45 100644 --- a/rqt_joint_trajectory_controller/setup.py +++ b/rqt_joint_trajectory_controller/setup.py @@ -7,7 +7,7 @@ setup( name=package_name, - version="3.21.0", + version="3.22.0", packages=[package_name], data_files=[ ("share/ament_index/resource_index/packages", ["resource/" + package_name]), diff --git a/steering_controllers_library/CHANGELOG.rst b/steering_controllers_library/CHANGELOG.rst index e7d4256390..fb9a9b162a 100644 --- a/steering_controllers_library/CHANGELOG.rst +++ b/steering_controllers_library/CHANGELOG.rst @@ -2,6 +2,12 @@ Changelog for package steering_controllers_library ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +3.22.0 (2024-02-12) +------------------- +* Fix usage of M_PI on Windows (`#1036 `_) (`#1038 `_) +* Add tests for `interface_configuration_type` consistently (backport `#899 `_) (`#1007 `_) +* Contributors: mergify[bot] + 3.21.0 (2024-01-20) ------------------- diff --git a/steering_controllers_library/CMakeLists.txt b/steering_controllers_library/CMakeLists.txt index 63de42cf69..741577ef5e 100644 --- a/steering_controllers_library/CMakeLists.txt +++ b/steering_controllers_library/CMakeLists.txt @@ -50,7 +50,7 @@ ament_target_dependencies(steering_controllers_library PUBLIC ${THIS_PACKAGE_INC # Causes the visibility macros to use dllexport rather than dllimport, # which is appropriate when building the dll but not consuming it. -target_compile_definitions(steering_controllers_library PRIVATE "STEERING_CONTROLLERS_BUILDING_DLL") +target_compile_definitions(steering_controllers_library PRIVATE "STEERING_CONTROLLERS_BUILDING_DLL" "_USE_MATH_DEFINES") if(BUILD_TESTING) find_package(ament_cmake_gmock REQUIRED) diff --git a/steering_controllers_library/package.xml b/steering_controllers_library/package.xml index 6e86221e7c..be3c816a88 100644 --- a/steering_controllers_library/package.xml +++ b/steering_controllers_library/package.xml @@ -2,7 +2,7 @@ steering_controllers_library - 3.21.0 + 3.22.0 Package for steering robot configurations including odometry and interfaces. Apache License 2.0 Bence Magyar diff --git a/tricycle_controller/CHANGELOG.rst b/tricycle_controller/CHANGELOG.rst index 0abdc3a236..fc6f4ec246 100644 --- a/tricycle_controller/CHANGELOG.rst +++ b/tricycle_controller/CHANGELOG.rst @@ -2,6 +2,12 @@ Changelog for package tricycle_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +3.22.0 (2024-02-12) +------------------- +* Fix usage of M_PI on Windows (`#1036 `_) (`#1038 `_) +* Add test_depend on `hardware_interface_testing` (backport `#1018 `_) (`#1020 `_) +* Contributors: mergify[bot] + 3.21.0 (2024-01-20) ------------------- diff --git a/tricycle_controller/CMakeLists.txt b/tricycle_controller/CMakeLists.txt index 291f08ad9f..fb16a75699 100644 --- a/tricycle_controller/CMakeLists.txt +++ b/tricycle_controller/CMakeLists.txt @@ -40,6 +40,7 @@ target_include_directories(tricycle_controller PUBLIC $ ) ament_target_dependencies(tricycle_controller PUBLIC ${THIS_PACKAGE_INCLUDE_DEPENDS}) +target_compile_definitions(tricycle_controller PRIVATE _USE_MATH_DEFINES) pluginlib_export_plugin_description_file(controller_interface tricycle_controller.xml) diff --git a/tricycle_controller/package.xml b/tricycle_controller/package.xml index 563ca3920b..4f554d702f 100644 --- a/tricycle_controller/package.xml +++ b/tricycle_controller/package.xml @@ -2,7 +2,7 @@ tricycle_controller - 3.21.0 + 3.22.0 Controller for a tricycle drive mobile base Bence Magyar Tony Najjar @@ -29,6 +29,7 @@ ament_cmake_gmock controller_manager + hardware_interface_testing ros2_control_test_assets diff --git a/tricycle_controller/test/test_load_tricycle_controller.cpp b/tricycle_controller/test/test_load_tricycle_controller.cpp index 9298fae574..229d014fe9 100644 --- a/tricycle_controller/test/test_load_tricycle_controller.cpp +++ b/tricycle_controller/test/test_load_tricycle_controller.cpp @@ -21,7 +21,9 @@ #include "controller_manager/controller_manager.hpp" #include "hardware_interface/resource_manager.hpp" +#include "rclcpp/executor.hpp" #include "rclcpp/executors/single_threaded_executor.hpp" +#include "rclcpp/utilities.hpp" #include "ros2_control_test_assets/descriptions.hpp" TEST(TestLoadTricycleController, load_controller) diff --git a/tricycle_steering_controller/CHANGELOG.rst b/tricycle_steering_controller/CHANGELOG.rst index 4749a27a37..6ef681432c 100644 --- a/tricycle_steering_controller/CHANGELOG.rst +++ b/tricycle_steering_controller/CHANGELOG.rst @@ -2,6 +2,12 @@ Changelog for package tricycle_steering_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +3.22.0 (2024-02-12) +------------------- +* Add test_depend on `hardware_interface_testing` (backport `#1018 `_) (`#1020 `_) +* Add tests for `interface_configuration_type` consistently (backport `#899 `_) (`#1007 `_) +* Contributors: mergify[bot] + 3.21.0 (2024-01-20) ------------------- diff --git a/tricycle_steering_controller/package.xml b/tricycle_steering_controller/package.xml index 7c8fd25241..4467967115 100644 --- a/tricycle_steering_controller/package.xml +++ b/tricycle_steering_controller/package.xml @@ -2,7 +2,7 @@ tricycle_steering_controller - 3.21.0 + 3.22.0 Steering controller with tricycle kinematics. Rear fixed wheels are powering the vehicle and front wheel is steering. Apache License 2.0 Bence Magyar @@ -29,7 +29,7 @@ ament_cmake_gmock controller_manager - hardware_interface + hardware_interface_testing ros2_control_test_assets diff --git a/velocity_controllers/CHANGELOG.rst b/velocity_controllers/CHANGELOG.rst index 0564aa7eed..fde0b85a91 100644 --- a/velocity_controllers/CHANGELOG.rst +++ b/velocity_controllers/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package velocity_controllers ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +3.22.0 (2024-02-12) +------------------- +* Add test_depend on `hardware_interface_testing` (backport `#1018 `_) (`#1020 `_) +* Contributors: mergify[bot] + 3.21.0 (2024-01-20) ------------------- diff --git a/velocity_controllers/package.xml b/velocity_controllers/package.xml index abda9b3a1b..9e1b806823 100644 --- a/velocity_controllers/package.xml +++ b/velocity_controllers/package.xml @@ -1,7 +1,7 @@ velocity_controllers - 3.21.0 + 3.22.0 Generic controller for forwarding commands. Bence Magyar Jordan Palacios @@ -17,6 +17,7 @@ ament_cmake_gmock controller_manager + hardware_interface_testing hardware_interface ros2_control_test_assets diff --git a/velocity_controllers/test/test_load_joint_group_velocity_controller.cpp b/velocity_controllers/test/test_load_joint_group_velocity_controller.cpp index 1872b5f746..e426349f96 100644 --- a/velocity_controllers/test/test_load_joint_group_velocity_controller.cpp +++ b/velocity_controllers/test/test_load_joint_group_velocity_controller.cpp @@ -17,7 +17,9 @@ #include "controller_manager/controller_manager.hpp" #include "hardware_interface/resource_manager.hpp" +#include "rclcpp/executor.hpp" #include "rclcpp/executors/single_threaded_executor.hpp" +#include "rclcpp/utilities.hpp" #include "ros2_control_test_assets/descriptions.hpp" TEST(TestLoadJointGroupVelocityController, load_controller)