Merge branch 'master' into diff-drive-chainable-1457

ros-controls · Jan 15, 2025 · b677091 · b677091
2 parents fe063fe + e0b929b
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diff --git a/ackermann_steering_controller/CHANGELOG.rst b/ackermann_steering_controller/CHANGELOG.rst
@@ -2,6 +2,12 @@
 Changelog for package ackermann_steering_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.19.0 (2025-01-13)
+-------------------
+* Fix typos in steering_controllers_lib (`#1464 <https://github.com/ros-controls/ros2_controllers/issues/1464>`_)
+* Remove visibility macros (`#1451 <https://github.com/ros-controls/ros2_controllers/issues/1451>`_)
+* Contributors: Bence Magyar, Christoph Fröhlich
+
 4.18.0 (2024-12-19)
 -------------------
 

diff --git a/ackermann_steering_controller/package.xml b/ackermann_steering_controller/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>ackermann_steering_controller</name>
-  <version>4.18.0</version>
+  <version>4.19.0</version>
   <description>Steering controller for Ackermann kinematics. Rear fixed wheels are powering the vehicle and front wheels are steering it.</description>
 
   <maintainer email="[email protected]">Bence Magyar</maintainer>

diff --git a/admittance_controller/CHANGELOG.rst b/admittance_controller/CHANGELOG.rst
@@ -2,6 +2,11 @@
 Changelog for package admittance_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.19.0 (2025-01-13)
+-------------------
+* Remove visibility macros (`#1451 <https://github.com/ros-controls/ros2_controllers/issues/1451>`_)
+* Contributors: Bence Magyar
+
 4.18.0 (2024-12-19)
 -------------------
 * [CI] Add clang job and setup concurrency (`#1407 <https://github.com/ros-controls/ros2_controllers/issues/1407>`_)

diff --git a/admittance_controller/package.xml b/admittance_controller/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>admittance_controller</name>
-  <version>4.18.0</version>
+  <version>4.19.0</version>
   <description>Implementation of admittance controllers for different input and output interface.</description>
 
   <maintainer email="[email protected]">Bence Magyar</maintainer>

diff --git a/bicycle_steering_controller/CHANGELOG.rst b/bicycle_steering_controller/CHANGELOG.rst
@@ -2,6 +2,12 @@
 Changelog for package bicycle_steering_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.19.0 (2025-01-13)
+-------------------
+* Fix typos in steering_controllers_lib (`#1464 <https://github.com/ros-controls/ros2_controllers/issues/1464>`_)
+* Remove visibility macros (`#1451 <https://github.com/ros-controls/ros2_controllers/issues/1451>`_)
+* Contributors: Bence Magyar, Christoph Fröhlich
+
 4.18.0 (2024-12-19)
 -------------------
 

diff --git a/bicycle_steering_controller/package.xml b/bicycle_steering_controller/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>bicycle_steering_controller</name>
-  <version>4.18.0</version>
+  <version>4.19.0</version>
   <description>Steering controller with bicycle kinematics. Rear fixed wheel is powering the vehicle and front wheel is steering.</description>
 
   <maintainer email="[email protected]">Bence Magyar</maintainer>

diff --git a/diff_drive_controller/CHANGELOG.rst b/diff_drive_controller/CHANGELOG.rst
@@ -2,6 +2,13 @@
 Changelog for package diff_drive_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.19.0 (2025-01-13)
+-------------------
+* Check dt in updateFromVelocity (`#1481 <https://github.com/ros-controls/ros2_controllers/issues/1481>`_)
+* Remove empty on_shutdown() callbacks (`#1477 <https://github.com/ros-controls/ros2_controllers/issues/1477>`_)
+* Remove visibility macros (`#1451 <https://github.com/ros-controls/ros2_controllers/issues/1451>`_)
+* Contributors: Bence Magyar, Julia Jia, Tony Najjar
+
 4.18.0 (2024-12-19)
 -------------------
 * Update command limiter of diff_drive_controller (`#1315 <https://github.com/ros-controls/ros2_controllers/issues/1315>`_)

diff --git a/diff_drive_controller/include/diff_drive_controller/diff_drive_controller.hpp b/diff_drive_controller/include/diff_drive_controller/diff_drive_controller.hpp
@@ -126,8 +126,8 @@ class DiffDriveController : public controller_interface::ChainableControllerInte
 
   std::queue<std::array<double, 2>> previous_two_commands_;
   // speed limiters
-  SpeedLimiter limiter_linear_;
-  SpeedLimiter limiter_angular_;
+  std::unique_ptr<SpeedLimiter> limiter_linear_;
+  std::unique_ptr<SpeedLimiter> limiter_angular_;
 
   bool publish_limited_velocity_ = false;
   std::shared_ptr<rclcpp::Publisher<TwistStamped>> limited_velocity_publisher_ = nullptr;

diff --git a/diff_drive_controller/include/diff_drive_controller/speed_limiter.hpp b/diff_drive_controller/include/diff_drive_controller/speed_limiter.hpp
@@ -40,7 +40,7 @@ class SpeedLimiter
    * \param [in] min_jerk Minimum jerk [m/s^3], usually <= 0
    * \param [in] max_jerk Maximum jerk [m/s^3], usually >= 0
    */
-  [[deprecated]] SpeedLimiter(
+  [[deprecated]] explicit SpeedLimiter(
     bool has_velocity_limits = true, bool has_acceleration_limits = true,
     bool has_jerk_limits = true, double min_velocity = std::numeric_limits<double>::quiet_NaN(),
     double max_velocity = std::numeric_limits<double>::quiet_NaN(),
@@ -79,16 +79,16 @@ class SpeedLimiter
    * >= 0
    * \param [in] min_jerk Minimum jerk [m/s^3], usually <= 0
    * \param [in] max_jerk Maximum jerk [m/s^3], usually >= 0
+   *
+   * \note
+   * If max_* values are NAN, the respective limit is deactivated
+   * If min_* values are NAN (unspecified), defaults to -max
+   * If min_first_derivative_pos/max_first_derivative_neg values are NAN, symmetric limits are used
    */
-  SpeedLimiter(
-    double min_velocity = std::numeric_limits<double>::quiet_NaN(),
-    double max_velocity = std::numeric_limits<double>::quiet_NaN(),
-    double max_acceleration_reverse = std::numeric_limits<double>::quiet_NaN(),
-    double max_acceleration = std::numeric_limits<double>::quiet_NaN(),
-    double max_deceleration = std::numeric_limits<double>::quiet_NaN(),
-    double max_deceleration_reverse = std::numeric_limits<double>::quiet_NaN(),
-    double min_jerk = std::numeric_limits<double>::quiet_NaN(),
-    double max_jerk = std::numeric_limits<double>::quiet_NaN())
+  explicit SpeedLimiter(
+    double min_velocity, double max_velocity, double max_acceleration_reverse,
+    double max_acceleration, double max_deceleration, double max_deceleration_reverse,
+    double min_jerk, double max_jerk)
   {
     speed_limiter_ = control_toolbox::RateLimiter<double>(
       min_velocity, max_velocity, max_acceleration_reverse, max_acceleration, max_deceleration,

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>4.18.0</version>
+  <version>4.19.0</version>
   <description>Controller for a differential-drive mobile base.</description>
 
   <maintainer email="[email protected]">Bence Magyar</maintainer>

diff --git a/diff_drive_controller/src/diff_drive_controller.cpp b/diff_drive_controller/src/diff_drive_controller.cpp
@@ -45,14 +45,7 @@ using hardware_interface::HW_IF_POSITION;
 using hardware_interface::HW_IF_VELOCITY;
 using lifecycle_msgs::msg::State;
 
-DiffDriveController::DiffDriveController()
-: controller_interface::ChainableControllerInterface(),
-  // dummy limiter, will be created in on_configure
-  // could be done with shared_ptr instead -> but will break ABI
-  limiter_linear_(std::numeric_limits<double>::quiet_NaN()),
-  limiter_angular_(std::numeric_limits<double>::quiet_NaN())
-{
-}
+DiffDriveController::DiffDriveController() : controller_interface::ChainableControllerInterface() {}
 
 const char * DiffDriveController::feedback_type() const
 {
@@ -275,8 +268,8 @@ controller_interface::return_type DiffDriveController::update_and_write_commands
   double & last_angular = previous_two_commands_.back()[1];
   double & second_to_last_angular = previous_two_commands_.front()[1];
 
-  limiter_linear_.limit(linear_command, last_linear, second_to_last_linear, period.seconds());
-  limiter_angular_.limit(angular_command, last_angular, second_to_last_angular, period.seconds());
+  limiter_linear_->limit(linear_command, last_linear, second_to_last_linear, period.seconds());
+  limiter_angular_->limit(angular_command, last_angular, second_to_last_angular, period.seconds());
   previous_two_commands_.pop();
   previous_two_commands_.push({{linear_command, angular_command}});
 
@@ -401,13 +394,13 @@ controller_interface::CallbackReturn DiffDriveController::on_configure(
       std::numeric_limits<double>::quiet_NaN();
   }
   // END DEPRECATED
-  limiter_linear_ = SpeedLimiter(
+  limiter_linear_ = std::make_unique<SpeedLimiter>(
     params_.linear.x.min_velocity, params_.linear.x.max_velocity,
     params_.linear.x.max_acceleration_reverse, params_.linear.x.max_acceleration,
     params_.linear.x.max_deceleration, params_.linear.x.max_deceleration_reverse,
     params_.linear.x.min_jerk, params_.linear.x.max_jerk);
 
-  limiter_angular_ = SpeedLimiter(
+  limiter_angular_ = std::make_unique<SpeedLimiter>(
     params_.angular.z.min_velocity, params_.angular.z.max_velocity,
     params_.angular.z.max_acceleration_reverse, params_.angular.z.max_acceleration,
     params_.angular.z.max_deceleration, params_.angular.z.max_deceleration_reverse,

diff --git a/effort_controllers/CHANGELOG.rst b/effort_controllers/CHANGELOG.rst
@@ -2,6 +2,11 @@
 Changelog for package effort_controllers
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.19.0 (2025-01-13)
+-------------------
+* Remove visibility macros (`#1451 <https://github.com/ros-controls/ros2_controllers/issues/1451>`_)
+* Contributors: Bence Magyar
+
 4.18.0 (2024-12-19)
 -------------------
 

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>4.18.0</version>
+  <version>4.19.0</version>
   <description>Generic controller for forwarding commands.</description>
 
   <maintainer email="[email protected]">Bence Magyar</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
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.19.0 (2025-01-13)
+-------------------
+* Remove visibility macros (`#1451 <https://github.com/ros-controls/ros2_controllers/issues/1451>`_)
+* Contributors: Bence Magyar
+
 4.18.0 (2024-12-19)
 -------------------
 

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>4.18.0</version>
+  <version>4.19.0</version>
   <description>Controller to publish state of force-torque sensors.</description>
 
   <maintainer email="[email protected]">Bence Magyar</maintainer>

diff --git a/forward_command_controller/CHANGELOG.rst b/forward_command_controller/CHANGELOG.rst
@@ -2,6 +2,11 @@
 Changelog for package forward_command_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.19.0 (2025-01-13)
+-------------------
+* Remove visibility macros (`#1451 <https://github.com/ros-controls/ros2_controllers/issues/1451>`_)
+* Contributors: Bence Magyar
+
 4.18.0 (2024-12-19)
 -------------------
 * [CI] Add clang job and setup concurrency (`#1407 <https://github.com/ros-controls/ros2_controllers/issues/1407>`_)

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>4.18.0</version>
+  <version>4.19.0</version>
   <description>Generic controller for forwarding commands.</description>
 
   <maintainer email="[email protected]">Bence Magyar</maintainer>

diff --git a/gpio_controllers/CHANGELOG.rst b/gpio_controllers/CHANGELOG.rst
@@ -2,6 +2,11 @@
 Changelog for package gpio_controllers
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.19.0 (2025-01-13)
+-------------------
+* Remove visibility macros (`#1451 <https://github.com/ros-controls/ros2_controllers/issues/1451>`_)
+* Contributors: Bence Magyar
+
 4.18.0 (2024-12-19)
 -------------------
 

diff --git a/gpio_controllers/package.xml b/gpio_controllers/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>gpio_controllers</name>
-  <version>4.18.0</version>
+  <version>4.19.0</version>
   <description>Controllers to interact with gpios.</description>
 
   <maintainer email="[email protected]">Bence Magyar</maintainer>

diff --git a/gripper_controllers/CHANGELOG.rst b/gripper_controllers/CHANGELOG.rst
@@ -2,6 +2,12 @@
 Changelog for package gripper_controllers
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.19.0 (2025-01-13)
+-------------------
+* Remove custom logic to skip configuration of gripper_controllers on Windows or macOS (`#1471 <https://github.com/ros-controls/ros2_controllers/issues/1471>`_)
+* Remove visibility macros (`#1451 <https://github.com/ros-controls/ros2_controllers/issues/1451>`_)
+* Contributors: Bence Magyar, Silvio Traversaro
+
 4.18.0 (2024-12-19)
 -------------------
 

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>4.18.0</version>
+  <version>4.19.0</version>
   <description>The gripper_controllers package</description>
 
   <maintainer email="[email protected]">Bence Magyar</maintainer>

diff --git a/imu_sensor_broadcaster/CHANGELOG.rst b/imu_sensor_broadcaster/CHANGELOG.rst
@@ -2,6 +2,11 @@
 Changelog for package imu_sensor_broadcaster
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.19.0 (2025-01-13)
+-------------------
+* Remove visibility macros (`#1451 <https://github.com/ros-controls/ros2_controllers/issues/1451>`_)
+* Contributors: Bence Magyar
+
 4.18.0 (2024-12-19)
 -------------------
 

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>4.18.0</version>
+  <version>4.19.0</version>
   <description>Controller to publish readings of IMU sensors.</description>
 
   <maintainer email="[email protected]">Bence Magyar</maintainer>

diff --git a/joint_state_broadcaster/CHANGELOG.rst b/joint_state_broadcaster/CHANGELOG.rst
@@ -2,6 +2,13 @@
 Changelog for package joint_state_broadcaster
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.19.0 (2025-01-13)
+-------------------
+* Use urdf/model.hpp for rolling (`#1476 <https://github.com/ros-controls/ros2_controllers/issues/1476>`_)
+* Use urdf/model.hpp for rolling (`#1473 <https://github.com/ros-controls/ros2_controllers/issues/1473>`_)
+* Remove visibility macros (`#1451 <https://github.com/ros-controls/ros2_controllers/issues/1451>`_)
+* Contributors: Bence Magyar, verma nakul
+
 4.18.0 (2024-12-19)
 -------------------
 * [CI] Add clang job and setup concurrency (`#1407 <https://github.com/ros-controls/ros2_controllers/issues/1407>`_)

diff --git a/joint_state_broadcaster/package.xml b/joint_state_broadcaster/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>joint_state_broadcaster</name>
-  <version>4.18.0</version>
+  <version>4.19.0</version>
   <description>Broadcaster to publish joint state</description>
 
   <maintainer email="[email protected]">Bence Magyar</maintainer>

diff --git a/joint_trajectory_controller/CHANGELOG.rst b/joint_trajectory_controller/CHANGELOG.rst
@@ -2,6 +2,13 @@
 Changelog for package joint_trajectory_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.19.0 (2025-01-13)
+-------------------
+* Remove empty on_shutdown() callbacks (`#1477 <https://github.com/ros-controls/ros2_controllers/issues/1477>`_)
+* Use urdf/model.hpp for rolling (`#1473 <https://github.com/ros-controls/ros2_controllers/issues/1473>`_)
+* Remove visibility macros (`#1451 <https://github.com/ros-controls/ros2_controllers/issues/1451>`_)
+* Contributors: Bence Magyar, Julia Jia, verma nakul
+
 4.18.0 (2024-12-19)
 -------------------
 * Add an error msg if empty message is received (`#1424 <https://github.com/ros-controls/ros2_controllers/issues/1424>`_)

diff --git a/joint_trajectory_controller/package.xml b/joint_trajectory_controller/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>joint_trajectory_controller</name>
-  <version>4.18.0</version>
+  <version>4.19.0</version>
   <description>Controller for executing joint-space trajectories on a group of joints</description>
 
   <maintainer email="[email protected]">Bence Magyar</maintainer>

diff --git a/mecanum_drive_controller/CHANGELOG.rst b/mecanum_drive_controller/CHANGELOG.rst
@@ -2,6 +2,12 @@
 Changelog for package mecanum_drive_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.19.0 (2025-01-13)
+-------------------
+* Remove visibility macros (`#1451 <https://github.com/ros-controls/ros2_controllers/issues/1451>`_)
+* Clean up unused variable EPS in mecanum_drive_controller (`#1444 <https://github.com/ros-controls/ros2_controllers/issues/1444>`_)
+* Contributors: Bence Magyar, Shankar-Balajee
+
 4.18.0 (2024-12-19)
 -------------------
 

diff --git a/mecanum_drive_controller/package.xml b/mecanum_drive_controller/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>mecanum_drive_controller</name>
-  <version>4.18.0</version>
+  <version>4.19.0</version>
   <description> Implementation of mecanum drive controller for 4 wheel drive.
   </description>
 

diff --git a/parallel_gripper_controller/CHANGELOG.rst b/parallel_gripper_controller/CHANGELOG.rst
@@ -2,6 +2,11 @@
 Changelog for package parallel_gripper_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.19.0 (2025-01-13)
+-------------------
+* Remove visibility macros (`#1451 <https://github.com/ros-controls/ros2_controllers/issues/1451>`_)
+* Contributors: Bence Magyar
+
 4.18.0 (2024-12-19)
 -------------------
 

diff --git a/parallel_gripper_controller/package.xml b/parallel_gripper_controller/package.xml
@@ -4,7 +4,7 @@
   schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>parallel_gripper_controller</name>
-  <version>4.18.0</version>
+  <version>4.19.0</version>
   <description>The parallel_gripper_controller package</description>
 
   <maintainer email="[email protected]">Bence Magyar</maintainer>