Merge branch 'humble' into mergify/bp/humble/pr-1046

.docker/README.md

@@ -3,7 +3,7 @@
 Meant to provide basic docker containers for CI or development purposes. To use them, make sure you have [Docker](https://docs.docker.com/get-docker/) installed. You then can pull the latest source or build image or build any version and run the image by following tag specific commands as described below:
 
 ## Source folder and tag
-Downloads and builds ros2_controls into a workspace for development use exactly as is found [here](https://ros-controls.github.io/control.ros.org/getting_started.html#compiling). This is primarily used for development and CI of ros2_control and related packages.
+Downloads and builds ros2_controls into a workspace for development use exactly as is found [here](https://control.ros.org/master/doc/getting_started/getting_started.html#building-from-source). This is primarily used for development and CI of ros2_control and related packages.
 
 You can pull a prebuilt image with this docker tag: `ghcr.io/ros-controls/ros2_control_source`.
 
@@ -30,7 +30,7 @@ docker run -it --mount type=volume,source=name-of-volume,destination=/root/ws_ro
 Note: this is probably the preferred solution as changes persist across rebuilds of container and doesn't require you to pull all repositories that you want to edit as they'll already be in the container.
 
 ## Release folder and tag
-Installs ros2_control in the base ros2 docker container as mentioned [here](https://ros-controls.github.io/control.ros.org/getting_started.html#getting-started). This is mainly intended for development of external packages that rely on ros2_control.
+Installs ros2_control in the base ros2 docker container as mentioned [here](https://control.ros.org/master/doc/getting_started/getting_started.html#building-from-source). This is mainly intended for development of external packages that rely on ros2_control.
 
 You can pull a prebuilt image using the following tag: `ghcr.io/ros2-controls/ros2_control_release`.
 

.github/ISSUE_TEMPLATE/good-first-issue.md

@@ -28,7 +28,7 @@ Nothing. This issue is meant to welcome you to Open Source :) We are happy to wa
 
 - [ ] 🙋 **Claim this issue**: Comment below. If someone else has claimed it, ask if they've opened a pull request already and if they're stuck -- maybe you can help them solve a problem or move it along!
 
-- [ ] 🗄️ **Create a local workspace** for making your changes and testing [following these instructions](https://docs.ros.org/en/galactic/Tutorials/Workspace/Creating-A-Workspace.html), for Step3 use "Download Source Code" section with [these instructions](https://ros-controls.github.io/control.ros.org/getting_started.html#compiling).
+- [ ] 🗄️ **Create a local workspace** for making your changes and testing [following these instructions](https://docs.ros.org/en/humble/Tutorials/Workspace/Creating-A-Workspace.html), for Step 3 use "Download Source Code" section with [these instructions](https://control.ros.org/humble/doc/getting_started/getting_started.html#building-from-source).
 
 - [ ] 🍴 **Fork the repository** using the handy button at the top of the repository page and **clone** it into `~/ws_ros2_control/src/ros-controls/ros2_control`, [here is a guide that you can follow](https://guides.github.com/activities/forking/) (You will have to remove or empty the existing `ros2_control` folder before cloning your own fork)
 
@@ -53,8 +53,8 @@ Nothing. This issue is meant to welcome you to Open Source :) We are happy to wa
 
 Don’t hesitate to ask questions or to get help if you feel like you are getting stuck. For example leave a comment below!
 Furthermore, you find helpful resources here:
-* [ROS2 Control Contribution Guide](https://ros-controls.github.io/control.ros.org/contributing.html)
-* [ROS2 Tutorials](https://docs.ros.org/en/galactic/Tutorials.html)
+* [ros2_control Contribution Guide](https://control.ros.org/humble/doc/contributing/contributing.html)
+* [ROS2 Tutorials](https://docs.ros.org/en/humble/Tutorials.html)
 * [ROS Answers](https://answers.ros.org/questions/)
 
 **Good luck with your first issue!**

CONTRIBUTING.md

@@ -21,7 +21,7 @@ Please try to include as much information as you can. Details like these are inc
 
 
 ## Contributing via Pull Requests
-The following guidance should be up-to-date, but the documentation as found [here](https://ros-controls.github.io/control.ros.org/contributing.html#pull-requests) should prove as the final say.
+The following guidance should be up-to-date, but the documentation as found [here](https://control.ros.org/master/doc/contributing/contributing.html#pull-requests) should prove as the final say.
 
 Contributions via pull requests are much appreciated.
 Before sending us a pull request, please ensure that:

README.md

@@ -3,7 +3,7 @@
 [![Licence](https://img.shields.io/badge/License-Apache%202.0-blue.svg)](https://opensource.org/licenses/Apache-2.0)
 
 This package is a part of the ros2_control framework.
-For more, please check the [documentation](https://ros-controls.github.io/control.ros.org/).
+For more, please check the [documentation](https://control.ros.org/).
 
 
 ## Build status

controller_interface/CHANGELOG.rst

@@ -2,6 +2,29 @@
 Changelog for package controller_interface
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.34.0 (2023-11-08)
+-------------------
+
+2.33.0 (2023-10-11)
+-------------------
+
+2.32.0 (2023-10-03)
+-------------------
+
+2.31.0 (2023-09-11)
+-------------------
+* add a broadcaster for range sensor (`#1091 <https://github.com/ros-controls/ros2_control/issues/1091>`_) (`#1100 <https://github.com/ros-controls/ros2_control/issues/1100>`_)
+* Contributors: flochre
+
+2.30.0 (2023-08-14)
+-------------------
+
+2.29.0 (2023-07-09)
+-------------------
+
+2.28.0 (2023-06-23)
+-------------------
+
 2.27.0 (2023-06-14)
 -------------------
 * [Humble] enable ReflowComments to also use ColumnLimit on comments (`#1038 <https://github.com/ros-controls/ros2_control/issues/1038>`_)

controller_interface/include/semantic_components/range_sensor.hpp

@@ -0,0 +1,60 @@
+// Copyright 2023 flochre
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef SEMANTIC_COMPONENTS__RANGE_SENSOR_HPP_
+#define SEMANTIC_COMPONENTS__RANGE_SENSOR_HPP_
+
+#include <limits>
+#include <string>
+#include <vector>
+
+#include "semantic_components/semantic_component_interface.hpp"
+#include "sensor_msgs/msg/range.hpp"
+
+namespace semantic_components
+{
+class RangeSensor : public SemanticComponentInterface<sensor_msgs::msg::Range>
+{
+public:
+  explicit RangeSensor(const std::string & name) : SemanticComponentInterface(name, 1)
+  {
+    interface_names_.emplace_back(name_ + "/" + "range");
+  }
+
+  virtual ~RangeSensor() = default;
+
+  /**
+   * Return Range reported by a sensor
+   *
+   * \return value of the range in meters
+   */
+  float get_range() { return state_interfaces_[0].get().get_value(); }
+
+  /// Return Range message with range in meters
+  /**
+   * Constructs and return a Range message from the current values.
+   * \return Range message from values;
+   */
+  bool get_values_as_message(sensor_msgs::msg::Range & message)
+  {
+    // update the message values
+    message.range = get_range();
+
+    return true;
+  }
+};
+
+}  // namespace semantic_components
+
+#endif  // SEMANTIC_COMPONENTS__RANGE_SENSOR_HPP_

controller_interface/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="2">
   <name>controller_interface</name>
-  <version>2.27.0</version>
+  <version>2.34.0</version>
   <description>Description of controller_interface</description>
   <maintainer email="bence.magyar.robotics@gmail.com">Bence Magyar</maintainer>
   <maintainer email="denis@stoglrobotics.de">Denis Štogl</maintainer>

controller_manager/CHANGELOG.rst

@@ -2,6 +2,43 @@
 Changelog for package controller_manager
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.34.0 (2023-11-08)
+-------------------
+* [Humble] Controller sorting (`#1157 <https://github.com/ros-controls/ros2_control/issues/1157>`_)
+* Update spawner to accept controllers list and start them in sequence (backport `#1139 <https://github.com/ros-controls/ros2_control/issues/1139>`_) (`#1149 <https://github.com/ros-controls/ros2_control/issues/1149>`_)
+* Create doc file for chained controllers (backport `#985 <https://github.com/ros-controls/ros2_control/issues/985>`_) (`#1131 <https://github.com/ros-controls/ros2_control/issues/1131>`_)
+* Contributors: Sai Kishor Kothakota, mergify[bot]
+
+2.33.0 (2023-10-11)
+-------------------
+* Export of the get_cm_node_options() from robostack (`#1129 <https://github.com/ros-controls/ros2_control/issues/1129>`_) (`#1130 <https://github.com/ros-controls/ros2_control/issues/1130>`_)
+* Contributors: mergify[bot]
+
+2.32.0 (2023-10-03)
+-------------------
+* Fix multiple calls to export reference interfaces (backport `#1108 <https://github.com/ros-controls/ros2_control/issues/1108>`_) (`#1114 <https://github.com/ros-controls/ros2_control/issues/1114>`_)
+* Contributors: Sai Kishor Kothakota, Dr Denis
+
+2.31.0 (2023-09-11)
+-------------------
+* [Docs] Fix information about activation and deactivation of chainable controllers (`#1104 <https://github.com/ros-controls/ros2_control/issues/1104>`_) (`#1106 <https://github.com/ros-controls/ros2_control/issues/1106>`_)
+* Contributors: mergify[bot]
+
+2.30.0 (2023-08-14)
+-------------------
+* [CM] Fixes the issue with individual controller's update rate (`#1082 <https://github.com/ros-controls/ros2_control/issues/1082>`_) (`#1097 <https://github.com/ros-controls/ros2_control/issues/1097>`_)
+* Contributors: Sai Kishor Kothakota
+
+2.29.0 (2023-07-09)
+-------------------
+* [CM] Make error message after trying to active controller more informative. (`#1066 <https://github.com/ros-controls/ros2_control/issues/1066>`_) (`#1072 <https://github.com/ros-controls/ros2_control/issues/1072>`_)
+* added controller manager runner to have update cycles (`#1075 <https://github.com/ros-controls/ros2_control/issues/1075>`_) (`#1076 <https://github.com/ros-controls/ros2_control/issues/1076>`_)
+* Fix equal and higher controller update rate (backport `#1070 <https://github.com/ros-controls/ros2_control/issues/1070>`_) (`#1071 <https://github.com/ros-controls/ros2_control/issues/1071>`_)
+* Contributors: Sai Kishor Kothakota, Dr Denis
+
+2.28.0 (2023-06-23)
+-------------------
+
 2.27.0 (2023-06-14)
 -------------------
 * Docs: Use branch name substitution for all links (backport `#1031 <https://github.com/ros-controls/ros2_control/issues/1031>`_) (`#1042 <https://github.com/ros-controls/ros2_control/issues/1042>`_)

controller_manager/CMakeLists.txt

@@ -13,6 +13,7 @@ set(THIS_PACKAGE_INCLUDE_DEPENDS
     pluginlib
     rclcpp
     realtime_tools
+    std_msgs
 )
 
 find_package(ament_cmake REQUIRED)
@@ -133,6 +134,17 @@ if(BUILD_TESTING)
     controller_manager_msgs
     ros2_control_test_assets
   )
+  ament_add_gmock(test_controller_manager_urdf_passing
+    test/test_controller_manager_urdf_passing.cpp
+  )
+  target_include_directories(test_controller_manager_urdf_passing PRIVATE include)
+  target_link_libraries(test_controller_manager_urdf_passing
+    controller_manager
+  )
+  ament_target_dependencies(test_controller_manager_urdf_passing
+    controller_manager_msgs
+    ros2_control_test_assets
+  )
 
   add_library(test_controller_with_interfaces SHARED test/test_controller_with_interfaces/test_controller_with_interfaces.cpp)
   target_include_directories(test_controller_with_interfaces PRIVATE include)