Merge branch 'master' into update/admittance-controller

ros-controls · Jan 8, 2025 · 893510f · 893510f
2 parents 64d61ec + 7ddaf83
commit 893510f
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Showing 83 changed files with 176 additions and 1,556 deletions.
diff --git a/.github/workflows/jazzy-semi-binary-build.yml b/.github/workflows/jazzy-semi-binary-build.yml
@@ -54,7 +54,7 @@ jobs:
       ros_distro: jazzy
       ros_repo: testing
       upstream_workspace: ros2_controllers.jazzy.repos
-      ref_for_scheduled_build: jazzy
+      ref_for_scheduled_build: master
       additional_debs: clang
       c_compiler: clang
       cxx_compiler: clang++

diff --git a/.github/workflows/rolling-semi-binary-build.yml b/.github/workflows/rolling-semi-binary-build.yml
@@ -54,7 +54,7 @@ jobs:
       ros_distro: rolling
       ros_repo: testing
       upstream_workspace: ros2_controllers.rolling.repos
-      ref_for_scheduled_build: rolling
+      ref_for_scheduled_build: master
       additional_debs: clang
       c_compiler: clang
       cxx_compiler: clang++

diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
@@ -37,7 +37,7 @@ repos:
 
   # Python hooks
   - repo: https://github.com/asottile/pyupgrade
-    rev: v3.19.0
+    rev: v3.19.1
     hooks:
     -   id: pyupgrade
         args: [--py36-plus]
@@ -63,7 +63,7 @@ repos:
 
   # CPP hooks
   - repo: https://github.com/pre-commit/mirrors-clang-format
-    rev: v19.1.4
+    rev: v19.1.5
     hooks:
       - id: clang-format
         args: ['-fallback-style=none', '-i']

diff --git a/ackermann_steering_controller/CMakeLists.txt b/ackermann_steering_controller/CMakeLists.txt
@@ -1,12 +1,16 @@
 cmake_minimum_required(VERSION 3.16)
-project(ackermann_steering_controller LANGUAGES CXX)
+project(ackermann_steering_controller)
 
 if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
   add_compile_options(-Wall -Wextra -Wpedantic -Werror=conversion -Werror=unused-but-set-variable
                       -Werror=return-type -Werror=shadow -Werror=format  -Werror=range-loop-construct
                       -Werror=missing-braces)
 endif()
 
+# using this instead of visibility macros
+# S1 from https://github.com/ros-controls/ros2_controllers/issues/1053
+set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
+
 # find dependencies
 set(THIS_PACKAGE_INCLUDE_DEPENDS
   controller_interface
@@ -45,10 +49,6 @@ target_link_libraries(ackermann_steering_controller PUBLIC
   ackermann_steering_controller_parameters)
 ament_target_dependencies(ackermann_steering_controller PUBLIC ${THIS_PACKAGE_INCLUDE_DEPENDS})
 
-# Causes the visibility macros to use dllexport rather than dllimport,
-# which is appropriate when building the dll but not consuming it.
-target_compile_definitions(ackermann_steering_controller PRIVATE "ACKERMANN_STEERING_CONTROLLER__VISIBILITY_BUILDING_DLL")
-
 pluginlib_export_plugin_description_file(
   controller_interface ackermann_steering_controller.xml)
 

diff --git a/...eering_controller/include/ackermann_steering_controller/ackermann_steering_controller.hpp b/...eering_controller/include/ackermann_steering_controller/ackermann_steering_controller.hpp
@@ -20,7 +20,6 @@
 
 #include <memory>
 
-#include "ackermann_steering_controller/visibility_control.h"
 #include "ackermann_steering_controller_parameters.hpp"
 #include "steering_controllers_library/steering_controllers_library.hpp"
 
@@ -47,14 +46,11 @@ class AckermannSteeringController : public steering_controllers_library::Steerin
 public:
   AckermannSteeringController();
 
-  ACKERMANN_STEERING_CONTROLLER__VISIBILITY_PUBLIC controller_interface::CallbackReturn
-  configure_odometry() override;
+  controller_interface::CallbackReturn configure_odometry() override;
 
-  ACKERMANN_STEERING_CONTROLLER__VISIBILITY_PUBLIC bool update_odometry(
-    const rclcpp::Duration & period) override;
+  bool update_odometry(const rclcpp::Duration & period) override;
 
-  ACKERMANN_STEERING_CONTROLLER__VISIBILITY_PUBLIC void
-  initialize_implementation_parameter_listener() override;
+  void initialize_implementation_parameter_listener() override;
 
 protected:
   std::shared_ptr<ackermann_steering_controller::ParamListener> ackermann_param_listener_;

diff --git a/ackermann_steering_controller/include/ackermann_steering_controller/visibility_control.h b/ackermann_steering_controller/include/ackermann_steering_controller/visibility_control.h
diff --git a/ackermann_steering_controller/src/ackermann_steering_controller.cpp b/ackermann_steering_controller/src/ackermann_steering_controller.cpp
@@ -50,7 +50,7 @@ controller_interface::CallbackReturn AckermannSteeringController::configure_odom
 
   set_interface_numbers(NR_STATE_ITFS, NR_CMD_ITFS, NR_REF_ITFS);
 
-  RCLCPP_INFO(get_node()->get_logger(), "ackermann odom configure successful");
+  RCLCPP_INFO(get_node()->get_logger(), "Ackermann odom configure successful");
   return controller_interface::CallbackReturn::SUCCESS;
 }
 

diff --git a/ackermann_steering_controller/test/test_ackermann_steering_controller.hpp b/ackermann_steering_controller/test/test_ackermann_steering_controller.hpp
@@ -32,7 +32,7 @@
 #include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp"
 
 using ControllerStateMsg =
-  steering_controllers_library::SteeringControllersLibrary::AckermanControllerState;
+  steering_controllers_library::SteeringControllersLibrary::AckermannControllerState;
 using ControllerReferenceMsg =
   steering_controllers_library::SteeringControllersLibrary::ControllerTwistReferenceMsg;
 

diff --git a/admittance_controller/CMakeLists.txt b/admittance_controller/CMakeLists.txt
@@ -1,12 +1,16 @@
 cmake_minimum_required(VERSION 3.16)
-project(admittance_controller LANGUAGES CXX)
+project(admittance_controller)
 
 if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
   add_compile_options(-Wall -Wextra -Wpedantic -Werror=conversion -Werror=unused-but-set-variable
                       -Werror=return-type -Werror=shadow -Werror=format -Werror=range-loop-construct
                       -Werror=missing-braces)
 endif()
 
+# using this instead of visibility macros
+# S1 from https://github.com/ros-controls/ros2_controllers/issues/1053
+set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
+
 set(THIS_PACKAGE_INCLUDE_DEPENDS
   angles
   control_msgs
@@ -53,10 +57,6 @@ target_link_libraries(admittance_controller PUBLIC
 )
 ament_target_dependencies(admittance_controller PUBLIC ${THIS_PACKAGE_INCLUDE_DEPENDS})
 
-# Causes the visibility macros to use dllexport rather than dllimport,
-# which is appropriate when building the dll but not consuming it.
-target_compile_definitions(admittance_controller PRIVATE "ADMITTANCE_CONTROLLER_BUILDING_DLL")
-
 pluginlib_export_plugin_description_file(controller_interface admittance_controller.xml)
 
 if(BUILD_TESTING)

diff --git a/admittance_controller/include/admittance_controller/admittance_controller.hpp b/admittance_controller/include/admittance_controller/admittance_controller.hpp
@@ -25,7 +25,6 @@
 #include "admittance_controller_parameters.hpp"
 
 #include "admittance_controller/admittance_rule.hpp"
-#include "admittance_controller/visibility_control.h"
 #include "control_msgs/msg/admittance_controller_state.hpp"
 #include "controller_interface/chainable_controller_interface.hpp"
 #include "hardware_interface/types/hardware_interface_type_values.hpp"
@@ -43,46 +42,37 @@ using ControllerStateMsg = control_msgs::msg::AdmittanceControllerState;
 class AdmittanceController : public controller_interface::ChainableControllerInterface
 {
 public:
-  ADMITTANCE_CONTROLLER_PUBLIC
   controller_interface::CallbackReturn on_init() override;
 
   /// Export configuration of required state interfaces.
   /**
    * Allowed types of state interfaces are \ref hardware_interface::POSITION,
    * \ref hardware_interface::VELOCITY, \ref hardware_interface::ACCELERATION.
    */
-  ADMITTANCE_CONTROLLER_PUBLIC
   controller_interface::InterfaceConfiguration command_interface_configuration() const override;
 
   /// Export configuration of required state interfaces.
   /**
    * Allowed types of state interfaces are \ref hardware_interface::POSITION,
    * \ref hardware_interface::VELOCITY, \ref hardware_interface::ACCELERATION.
    */
-  ADMITTANCE_CONTROLLER_PUBLIC
   controller_interface::InterfaceConfiguration state_interface_configuration() const override;
 
-  ADMITTANCE_CONTROLLER_PUBLIC
   controller_interface::CallbackReturn on_configure(
     const rclcpp_lifecycle::State & previous_state) override;
 
-  ADMITTANCE_CONTROLLER_PUBLIC
   controller_interface::CallbackReturn on_activate(
     const rclcpp_lifecycle::State & previous_state) override;
 
-  ADMITTANCE_CONTROLLER_PUBLIC
   controller_interface::CallbackReturn on_deactivate(
     const rclcpp_lifecycle::State & previous_state) override;
 
-  ADMITTANCE_CONTROLLER_PUBLIC
   controller_interface::CallbackReturn on_cleanup(
     const rclcpp_lifecycle::State & previous_state) override;
 
-  ADMITTANCE_CONTROLLER_PUBLIC
   controller_interface::CallbackReturn on_error(
     const rclcpp_lifecycle::State & previous_state) override;
 
-  ADMITTANCE_CONTROLLER_PUBLIC
   controller_interface::return_type update_and_write_commands(
     const rclcpp::Time & time, const rclcpp::Duration & period) override;
 

diff --git a/admittance_controller/include/admittance_controller/visibility_control.h b/admittance_controller/include/admittance_controller/visibility_control.h
diff --git a/bicycle_steering_controller/CMakeLists.txt b/bicycle_steering_controller/CMakeLists.txt
@@ -1,12 +1,16 @@
 cmake_minimum_required(VERSION 3.16)
-project(bicycle_steering_controller LANGUAGES CXX)
+project(bicycle_steering_controller)
 
 if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
   add_compile_options(-Wall -Wextra -Wpedantic -Werror=conversion -Werror=unused-but-set-variable
                       -Werror=return-type -Werror=shadow -Werror=format -Werror=range-loop-construct
                       -Werror=missing-braces)
 endif()
 
+# using this instead of visibility macros
+# S1 from https://github.com/ros-controls/ros2_controllers/issues/1053
+set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
+
 # find dependencies
 set(THIS_PACKAGE_INCLUDE_DEPENDS
   controller_interface
@@ -45,10 +49,6 @@ target_link_libraries(bicycle_steering_controller PUBLIC
   bicycle_steering_controller_parameters)
 ament_target_dependencies(bicycle_steering_controller PUBLIC ${THIS_PACKAGE_INCLUDE_DEPENDS})
 
-# Causes the visibility macros to use dllexport rather than dllimport,
-# which is appropriate when building the dll but not consuming it.
-target_compile_definitions(bicycle_steering_controller PRIVATE "BICYCLE_STEERING_CONTROLLER__VISIBILITY_BUILDING_DLL")
-
 pluginlib_export_plugin_description_file(
   controller_interface bicycle_steering_controller.xml)
 

diff --git a/...e_steering_controller/include/bicycle_steering_controller/bicycle_steering_controller.hpp b/...e_steering_controller/include/bicycle_steering_controller/bicycle_steering_controller.hpp
@@ -20,7 +20,6 @@
 
 #include <memory>
 
-#include "bicycle_steering_controller/visibility_control.h"
 #include "bicycle_steering_controller_parameters.hpp"
 #include "steering_controllers_library/steering_controllers_library.hpp"
 
@@ -43,14 +42,11 @@ class BicycleSteeringController : public steering_controllers_library::SteeringC
 public:
   BicycleSteeringController();
 
-  BICYCLE_STEERING_CONTROLLER__VISIBILITY_PUBLIC controller_interface::CallbackReturn
-  configure_odometry() override;
+  controller_interface::CallbackReturn configure_odometry() override;
 
-  BICYCLE_STEERING_CONTROLLER__VISIBILITY_PUBLIC bool update_odometry(
-    const rclcpp::Duration & period) override;
+  bool update_odometry(const rclcpp::Duration & period) override;
 
-  BICYCLE_STEERING_CONTROLLER__VISIBILITY_PUBLIC void initialize_implementation_parameter_listener()
-    override;
+  void initialize_implementation_parameter_listener() override;
 
 protected:
   std::shared_ptr<bicycle_steering_controller::ParamListener> bicycle_param_listener_;