From d2dd7624276e0c582cf9c896aa390d39ea701190 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Christoph=20Fr=C3=B6hlich?= Date: Wed, 29 Jan 2025 18:42:52 +0100 Subject: [PATCH 1/6] Use jazzy branch for realtime_tools (#2019) --- ros2_control.jazzy.repos | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/ros2_control.jazzy.repos b/ros2_control.jazzy.repos index c93d8f4ef6..9e5e3db80e 100644 --- a/ros2_control.jazzy.repos +++ b/ros2_control.jazzy.repos @@ -2,7 +2,7 @@ repositories: ros-controls/realtime_tools: type: git url: https://github.com/ros-controls/realtime_tools.git - version: master + version: jazzy ros-controls/control_msgs: type: git url: https://github.com/ros-controls/control_msgs.git From f4e3f5a8ebf40aee63f896208d542dbc55e787c2 Mon Sep 17 00:00:00 2001 From: Sai Kishor Kothakota Date: Wed, 29 Jan 2025 19:55:08 +0100 Subject: [PATCH 2/6] Fix the initial wrong periodicity reported by controller_manager (#2018) --- controller_manager/src/ros2_control_node.cpp | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) diff --git a/controller_manager/src/ros2_control_node.cpp b/controller_manager/src/ros2_control_node.cpp index 75a98d19dd..176c346b3f 100644 --- a/controller_manager/src/ros2_control_node.cpp +++ b/controller_manager/src/ros2_control_node.cpp @@ -93,6 +93,10 @@ int main(int argc, char ** argv) } } + // wait for the clock to be available + cm->get_clock()->wait_until_started(); + cm->get_clock()->sleep_for(rclcpp::Duration::from_seconds(1.0 / cm->get_update_rate())); + RCLCPP_INFO(cm->get_logger(), "update rate is %d Hz", cm->get_update_rate()); const int thread_priority = cm->get_parameter_or("thread_priority", kSchedPriority); RCLCPP_INFO( @@ -122,7 +126,7 @@ int main(int argc, char ** argv) auto const period = std::chrono::nanoseconds(1'000'000'000 / cm->get_update_rate()); auto const cm_now = std::chrono::nanoseconds(cm->now().nanoseconds()); std::chrono::time_point - next_iteration_time{cm_now}; + next_iteration_time{cm_now - period}; // for calculating the measured period of the loop rclcpp::Time previous_time = cm->now() - period; From 882b489f8943af2bedb078ad1a733f62cd12800c Mon Sep 17 00:00:00 2001 From: Sai Kishor Kothakota Date: Wed, 29 Jan 2025 20:05:58 +0100 Subject: [PATCH 3/6] Handle SIGINT properly in the controller manager (#2014) --- .../controller_manager/controller_manager.hpp | 9 ++- controller_manager/src/controller_manager.cpp | 63 +++++++++++++++++++ .../hardware_interface/resource_manager.hpp | 7 +++ hardware_interface/src/resource_manager.cpp | 18 +++++- 4 files changed, 95 insertions(+), 2 deletions(-) diff --git a/controller_manager/include/controller_manager/controller_manager.hpp b/controller_manager/include/controller_manager/controller_manager.hpp index ba4bd2acaa..49eed135be 100644 --- a/controller_manager/include/controller_manager/controller_manager.hpp +++ b/controller_manager/include/controller_manager/controller_manager.hpp @@ -80,7 +80,13 @@ class ControllerManager : public rclcpp::Node const std::string & node_namespace = "", const rclcpp::NodeOptions & options = get_cm_node_options()); - virtual ~ControllerManager() = default; + virtual ~ControllerManager(); + + /// Shutdown all controllers in the controller manager. + /** + * \return true if all controllers are successfully shutdown, false otherwise. + */ + bool shutdown_controllers(); void robot_description_callback(const std_msgs::msg::String & msg); @@ -531,6 +537,7 @@ class ControllerManager : public rclcpp::Node int used_by_realtime_controllers_index_ = -1; }; + std::unique_ptr preshutdown_cb_handle_{nullptr}; RTControllerListWrapper rt_controllers_wrapper_; std::unordered_map controller_chain_spec_; std::vector ordered_controllers_names_; diff --git a/controller_manager/src/controller_manager.cpp b/controller_manager/src/controller_manager.cpp index 110627dec1..bef2985c0b 100644 --- a/controller_manager/src/controller_manager.cpp +++ b/controller_manager/src/controller_manager.cpp @@ -291,6 +291,46 @@ ControllerManager::ControllerManager( init_controller_manager(); } +ControllerManager::~ControllerManager() +{ + if (preshutdown_cb_handle_) + { + rclcpp::Context::SharedPtr context = this->get_node_base_interface()->get_context(); + context->remove_pre_shutdown_callback(*(preshutdown_cb_handle_.get())); + preshutdown_cb_handle_.reset(); + } +} + +bool ControllerManager::shutdown_controllers() +{ + RCLCPP_INFO(get_logger(), "Shutting down all controllers in the controller manager."); + // Shutdown all controllers + std::lock_guard guard(rt_controllers_wrapper_.controllers_lock_); + std::vector controllers_list = rt_controllers_wrapper_.get_updated_list(guard); + bool ctrls_shutdown_status = true; + for (auto & controller : controllers_list) + { + if (is_controller_active(controller.c)) + { + RCLCPP_INFO( + get_logger(), "Deactivating controller '%s'", controller.c->get_node()->get_name()); + controller.c->get_node()->deactivate(); + controller.c->release_interfaces(); + } + if (is_controller_inactive(*controller.c) || is_controller_unconfigured(*controller.c)) + { + RCLCPP_INFO( + get_logger(), "Shutting down controller '%s'", controller.c->get_node()->get_name()); + shutdown_controller(controller); + } + ctrls_shutdown_status &= + (controller.c->get_node()->get_current_state().id() == + lifecycle_msgs::msg::State::PRIMARY_STATE_FINALIZED); + executor_->remove_node(controller.c->get_node()->get_node_base_interface()); + } + return ctrls_shutdown_status; +} + void ControllerManager::init_controller_manager() { // Get parameters needed for RT "update" loop to work @@ -329,6 +369,29 @@ void ControllerManager::init_controller_manager() diagnostics_updater_.add( "Controller Manager Activity", this, &ControllerManager::controller_manager_diagnostic_callback); + + // Add on_shutdown callback to stop the controller manager + rclcpp::Context::SharedPtr context = this->get_node_base_interface()->get_context(); + preshutdown_cb_handle_ = + std::make_unique(context->add_pre_shutdown_callback( + [this]() + { + RCLCPP_INFO(get_logger(), "Shutdown request received...."); + if (this->get_node_base_interface()->get_associated_with_executor_atomic().load()) + { + executor_->remove_node(this->get_node_base_interface()); + } + executor_->cancel(); + if (!this->shutdown_controllers()) + { + RCLCPP_ERROR(get_logger(), "Failed shutting down the controllers."); + } + if (!resource_manager_->shutdown_components()) + { + RCLCPP_ERROR(get_logger(), "Failed shutting down hardware components."); + } + RCLCPP_INFO(get_logger(), "Shutting down the controller manager."); + })); } void ControllerManager::initialize_parameters() diff --git a/hardware_interface/include/hardware_interface/resource_manager.hpp b/hardware_interface/include/hardware_interface/resource_manager.hpp index b67aba088d..06b8f51952 100644 --- a/hardware_interface/include/hardware_interface/resource_manager.hpp +++ b/hardware_interface/include/hardware_interface/resource_manager.hpp @@ -76,6 +76,13 @@ class ResourceManager virtual ~ResourceManager(); + /// Shutdown all hardware components, irrespective of their state. + /** + * The method is called when the controller manager is being shutdown. + * @return true if all hardware components are successfully shutdown, false otherwise. + */ + bool shutdown_components(); + /// Load resources from on a given URDF. /** * The resource manager can be post-initialized with a given URDF. diff --git a/hardware_interface/src/resource_manager.cpp b/hardware_interface/src/resource_manager.cpp index 7a616d890d..a99ae3db3b 100644 --- a/hardware_interface/src/resource_manager.cpp +++ b/hardware_interface/src/resource_manager.cpp @@ -573,7 +573,7 @@ class ResourceStorage result = shutdown_hardware(hardware); break; case State::PRIMARY_STATE_ACTIVE: - result = shutdown_hardware(hardware); + result = deactivate_hardware(hardware) && shutdown_hardware(hardware); break; case State::PRIMARY_STATE_FINALIZED: result = true; @@ -1040,6 +1040,22 @@ ResourceManager::ResourceManager( } } +bool ResourceManager::shutdown_components() +{ + std::unique_lock guard(resource_interfaces_lock_); + bool shutdown_status = true; + for (auto const & hw_info : resource_storage_->hardware_info_map_) + { + rclcpp_lifecycle::State finalized_state( + lifecycle_msgs::msg::State::PRIMARY_STATE_FINALIZED, lifecycle_state_names::FINALIZED); + if (set_component_state(hw_info.first, finalized_state) != return_type::OK) + { + shutdown_status = false; + } + } + return shutdown_status; +} + // CM API: Called in "callback/slow"-thread bool ResourceManager::load_and_initialize_components( const std::string & urdf, const unsigned int update_rate) From 4f7ac1560eb07b3442cba3c728a289a1d102bc18 Mon Sep 17 00:00:00 2001 From: Bence Magyar Date: Wed, 29 Jan 2025 19:16:02 +0000 Subject: [PATCH 4/6] Update changelogs --- controller_interface/CHANGELOG.rst | 6 ++++++ controller_manager/CHANGELOG.rst | 10 ++++++++++ controller_manager_msgs/CHANGELOG.rst | 3 +++ hardware_interface/CHANGELOG.rst | 5 +++++ hardware_interface_testing/CHANGELOG.rst | 3 +++ joint_limits/CHANGELOG.rst | 6 ++++++ ros2_control/CHANGELOG.rst | 3 +++ ros2_control_test_assets/CHANGELOG.rst | 3 +++ ros2controlcli/CHANGELOG.rst | 3 +++ rqt_controller_manager/CHANGELOG.rst | 3 +++ transmission_interface/CHANGELOG.rst | 3 +++ 11 files changed, 48 insertions(+) diff --git a/controller_interface/CHANGELOG.rst b/controller_interface/CHANGELOG.rst index df7ae97d89..28e7475f34 100644 --- a/controller_interface/CHANGELOG.rst +++ b/controller_interface/CHANGELOG.rst @@ -2,6 +2,12 @@ Changelog for package controller_interface ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* Use `target_compile_definitions` instead of installing test files (`#2009 `_) +* Add GPS semantic component (`#2000 `_) +* Contributors: Sai Kishor Kothakota, Wiktor Bajor + 4.24.0 (2025-01-13) ------------------- * Trigger shutdown transition in destructor (`#1979 `_) diff --git a/controller_manager/CHANGELOG.rst b/controller_manager/CHANGELOG.rst index ef709431c7..e6c81342f1 100644 --- a/controller_manager/CHANGELOG.rst +++ b/controller_manager/CHANGELOG.rst @@ -2,6 +2,16 @@ Changelog for package controller_manager ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* Handle SIGINT properly in the controller manager (`#2014 `_) +* Fix the initial wrong periodicity reported by controller_manager (`#2018 `_) +* Use `target_compile_definitions` instead of installing test files (`#2009 `_) +* Fix a heading level (`#2007 `_) +* Update path of GPL (`#1994 `_) +* Fix: on_shutdown callback of controllers never get executed (`#1995 `_) +* Contributors: Christoph Fröhlich, Sai Kishor Kothakota, Wiktor Bajor + 4.24.0 (2025-01-13) ------------------- * [CM] Remove obsolete ControllerMock from the tests (`#1990 `_) diff --git a/controller_manager_msgs/CHANGELOG.rst b/controller_manager_msgs/CHANGELOG.rst index 4bd5fa76c9..272a4515bd 100644 --- a/controller_manager_msgs/CHANGELOG.rst +++ b/controller_manager_msgs/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package controller_manager_msgs ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 4.24.0 (2025-01-13) ------------------- diff --git a/hardware_interface/CHANGELOG.rst b/hardware_interface/CHANGELOG.rst index f008335c1e..7c94af41fd 100644 --- a/hardware_interface/CHANGELOG.rst +++ b/hardware_interface/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package hardware_interface ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* Handle SIGINT properly in the controller manager (`#2014 `_) +* Contributors: Sai Kishor Kothakota + 4.24.0 (2025-01-13) ------------------- * Add missing link of mock_components to hardware_interface (`#1992 `_) diff --git a/hardware_interface_testing/CHANGELOG.rst b/hardware_interface_testing/CHANGELOG.rst index cc4c216dc5..0efc581980 100644 --- a/hardware_interface_testing/CHANGELOG.rst +++ b/hardware_interface_testing/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package hardware_interface_testing ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 4.24.0 (2025-01-13) ------------------- diff --git a/joint_limits/CHANGELOG.rst b/joint_limits/CHANGELOG.rst index c78bf55a1c..dfcfbb5ff4 100644 --- a/joint_limits/CHANGELOG.rst +++ b/joint_limits/CHANGELOG.rst @@ -2,6 +2,12 @@ Changelog for package joint_limits ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* Define _USE_MATH_DEFINES in joint_soft_limiter.cpp to ensure that M_PI is defined (`#2001 `_) +* Use actual position when limiting desired position (`#1988 `_) +* Contributors: Sai Kishor Kothakota, Silvio Traversaro + 4.24.0 (2025-01-13) ------------------- * Return strong type for joint_limits helpers (`#1981 `_) diff --git a/ros2_control/CHANGELOG.rst b/ros2_control/CHANGELOG.rst index f179fd300b..89b4db5a8c 100644 --- a/ros2_control/CHANGELOG.rst +++ b/ros2_control/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package ros2_control ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 4.24.0 (2025-01-13) ------------------- diff --git a/ros2_control_test_assets/CHANGELOG.rst b/ros2_control_test_assets/CHANGELOG.rst index affd8f51f4..8bf682deb3 100644 --- a/ros2_control_test_assets/CHANGELOG.rst +++ b/ros2_control_test_assets/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package ros2_control_test_assets ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 4.24.0 (2025-01-13) ------------------- diff --git a/ros2controlcli/CHANGELOG.rst b/ros2controlcli/CHANGELOG.rst index 989e563d40..8523218ed9 100644 --- a/ros2controlcli/CHANGELOG.rst +++ b/ros2controlcli/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package ros2controlcli ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 4.24.0 (2025-01-13) ------------------- diff --git a/rqt_controller_manager/CHANGELOG.rst b/rqt_controller_manager/CHANGELOG.rst index 53b7cd0444..2e1deb7fff 100644 --- a/rqt_controller_manager/CHANGELOG.rst +++ b/rqt_controller_manager/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package rqt_controller_manager ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 4.24.0 (2025-01-13) ------------------- diff --git a/transmission_interface/CHANGELOG.rst b/transmission_interface/CHANGELOG.rst index 4150c6846b..20b26e0e29 100644 --- a/transmission_interface/CHANGELOG.rst +++ b/transmission_interface/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package transmission_interface ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 4.24.0 (2025-01-13) ------------------- From 3755e03a7d87978307f059e6c5687f65eca1084c Mon Sep 17 00:00:00 2001 From: Bence Magyar Date: Wed, 29 Jan 2025 19:16:29 +0000 Subject: [PATCH 5/6] 4.25.0 --- controller_interface/CHANGELOG.rst | 4 ++-- controller_interface/package.xml | 2 +- controller_manager/CHANGELOG.rst | 4 ++-- controller_manager/package.xml | 2 +- controller_manager_msgs/CHANGELOG.rst | 4 ++-- controller_manager_msgs/package.xml | 2 +- hardware_interface/CHANGELOG.rst | 4 ++-- hardware_interface/package.xml | 2 +- hardware_interface_testing/CHANGELOG.rst | 4 ++-- hardware_interface_testing/package.xml | 2 +- joint_limits/CHANGELOG.rst | 4 ++-- joint_limits/package.xml | 2 +- ros2_control/CHANGELOG.rst | 4 ++-- ros2_control/package.xml | 2 +- ros2_control_test_assets/CHANGELOG.rst | 4 ++-- ros2_control_test_assets/package.xml | 2 +- ros2controlcli/CHANGELOG.rst | 4 ++-- ros2controlcli/package.xml | 2 +- ros2controlcli/setup.py | 2 +- rqt_controller_manager/CHANGELOG.rst | 4 ++-- rqt_controller_manager/package.xml | 2 +- rqt_controller_manager/setup.py | 2 +- transmission_interface/CHANGELOG.rst | 4 ++-- transmission_interface/package.xml | 2 +- 24 files changed, 35 insertions(+), 35 deletions(-) diff --git a/controller_interface/CHANGELOG.rst b/controller_interface/CHANGELOG.rst index 28e7475f34..ce979b4fee 100644 --- a/controller_interface/CHANGELOG.rst +++ b/controller_interface/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package controller_interface ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +4.25.0 (2025-01-29) +------------------- * Use `target_compile_definitions` instead of installing test files (`#2009 `_) * Add GPS semantic component (`#2000 `_) * Contributors: Sai Kishor Kothakota, Wiktor Bajor diff --git a/controller_interface/package.xml b/controller_interface/package.xml index d8de9b7a19..34144dc71d 100644 --- a/controller_interface/package.xml +++ b/controller_interface/package.xml @@ -2,7 +2,7 @@ controller_interface - 4.24.0 + 4.25.0 Description of controller_interface Bence Magyar Denis Štogl diff --git a/controller_manager/CHANGELOG.rst b/controller_manager/CHANGELOG.rst index e6c81342f1..c17f7981ec 100644 --- a/controller_manager/CHANGELOG.rst +++ b/controller_manager/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package controller_manager ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +4.25.0 (2025-01-29) +------------------- * Handle SIGINT properly in the controller manager (`#2014 `_) * Fix the initial wrong periodicity reported by controller_manager (`#2018 `_) * Use `target_compile_definitions` instead of installing test files (`#2009 `_) diff --git a/controller_manager/package.xml b/controller_manager/package.xml index 61f9bceb55..cad0383937 100644 --- a/controller_manager/package.xml +++ b/controller_manager/package.xml @@ -2,7 +2,7 @@ controller_manager - 4.24.0 + 4.25.0 Description of controller_manager Bence Magyar Denis Štogl diff --git a/controller_manager_msgs/CHANGELOG.rst b/controller_manager_msgs/CHANGELOG.rst index 272a4515bd..9304dfb813 100644 --- a/controller_manager_msgs/CHANGELOG.rst +++ b/controller_manager_msgs/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package controller_manager_msgs ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +4.25.0 (2025-01-29) +------------------- 4.24.0 (2025-01-13) ------------------- diff --git a/controller_manager_msgs/package.xml b/controller_manager_msgs/package.xml index 6af8412634..bce5c0de46 100644 --- a/controller_manager_msgs/package.xml +++ b/controller_manager_msgs/package.xml @@ -2,7 +2,7 @@ controller_manager_msgs - 4.24.0 + 4.25.0 Messages and services for the controller manager. Bence Magyar Denis Štogl diff --git a/hardware_interface/CHANGELOG.rst b/hardware_interface/CHANGELOG.rst index 7c94af41fd..110e30ec12 100644 --- a/hardware_interface/CHANGELOG.rst +++ b/hardware_interface/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package hardware_interface ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +4.25.0 (2025-01-29) +------------------- * Handle SIGINT properly in the controller manager (`#2014 `_) * Contributors: Sai Kishor Kothakota diff --git a/hardware_interface/package.xml b/hardware_interface/package.xml index 45a7c6a2f4..af42890d98 100644 --- a/hardware_interface/package.xml +++ b/hardware_interface/package.xml @@ -1,7 +1,7 @@ hardware_interface - 4.24.0 + 4.25.0 ros2_control hardware interface Bence Magyar Denis Štogl diff --git a/hardware_interface_testing/CHANGELOG.rst b/hardware_interface_testing/CHANGELOG.rst index 0efc581980..4e3a608e09 100644 --- a/hardware_interface_testing/CHANGELOG.rst +++ b/hardware_interface_testing/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package hardware_interface_testing ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +4.25.0 (2025-01-29) +------------------- 4.24.0 (2025-01-13) ------------------- diff --git a/hardware_interface_testing/package.xml b/hardware_interface_testing/package.xml index 35337fb87c..bc1e76d309 100644 --- a/hardware_interface_testing/package.xml +++ b/hardware_interface_testing/package.xml @@ -1,7 +1,7 @@ hardware_interface_testing - 4.24.0 + 4.25.0 ros2_control hardware interface testing Bence Magyar Denis Štogl diff --git a/joint_limits/CHANGELOG.rst b/joint_limits/CHANGELOG.rst index dfcfbb5ff4..1826e43211 100644 --- a/joint_limits/CHANGELOG.rst +++ b/joint_limits/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package joint_limits ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +4.25.0 (2025-01-29) +------------------- * Define _USE_MATH_DEFINES in joint_soft_limiter.cpp to ensure that M_PI is defined (`#2001 `_) * Use actual position when limiting desired position (`#1988 `_) * Contributors: Sai Kishor Kothakota, Silvio Traversaro diff --git a/joint_limits/package.xml b/joint_limits/package.xml index 38f81e87c3..479a2b5cba 100644 --- a/joint_limits/package.xml +++ b/joint_limits/package.xml @@ -1,6 +1,6 @@ joint_limits - 4.24.0 + 4.25.0 Package with interfaces for handling of joint limits in controllers or in hardware. The package also implements Saturation Joint Limiter for position-velocity-acceleration set and other individual interfaces. Bence Magyar diff --git a/ros2_control/CHANGELOG.rst b/ros2_control/CHANGELOG.rst index 89b4db5a8c..17996f13a1 100644 --- a/ros2_control/CHANGELOG.rst +++ b/ros2_control/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package ros2_control ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +4.25.0 (2025-01-29) +------------------- 4.24.0 (2025-01-13) ------------------- diff --git a/ros2_control/package.xml b/ros2_control/package.xml index d917067328..7d8344db67 100644 --- a/ros2_control/package.xml +++ b/ros2_control/package.xml @@ -1,7 +1,7 @@ ros2_control - 4.24.0 + 4.25.0 Metapackage for ROS2 control related packages Bence Magyar Denis Štogl diff --git a/ros2_control_test_assets/CHANGELOG.rst b/ros2_control_test_assets/CHANGELOG.rst index 8bf682deb3..c397d04da2 100644 --- a/ros2_control_test_assets/CHANGELOG.rst +++ b/ros2_control_test_assets/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package ros2_control_test_assets ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +4.25.0 (2025-01-29) +------------------- 4.24.0 (2025-01-13) ------------------- diff --git a/ros2_control_test_assets/package.xml b/ros2_control_test_assets/package.xml index e58b60b41c..0565426847 100644 --- a/ros2_control_test_assets/package.xml +++ b/ros2_control_test_assets/package.xml @@ -2,7 +2,7 @@ ros2_control_test_assets - 4.24.0 + 4.25.0 The package provides shared test resources for ros2_control stack Bence Magyar diff --git a/ros2controlcli/CHANGELOG.rst b/ros2controlcli/CHANGELOG.rst index 8523218ed9..fdc0d87ffb 100644 --- a/ros2controlcli/CHANGELOG.rst +++ b/ros2controlcli/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package ros2controlcli ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +4.25.0 (2025-01-29) +------------------- 4.24.0 (2025-01-13) ------------------- diff --git a/ros2controlcli/package.xml b/ros2controlcli/package.xml index a2426f80a9..56e3501b71 100644 --- a/ros2controlcli/package.xml +++ b/ros2controlcli/package.xml @@ -2,7 +2,7 @@ ros2controlcli - 4.24.0 + 4.25.0 The ROS 2 command line tools for ROS2 Control. diff --git a/ros2controlcli/setup.py b/ros2controlcli/setup.py index f48bf95e15..568dcb4faa 100644 --- a/ros2controlcli/setup.py +++ b/ros2controlcli/setup.py @@ -19,7 +19,7 @@ setup( name=package_name, - version="4.24.0", + version="4.25.0", packages=find_packages(exclude=["test"]), data_files=[ ("share/" + package_name, ["package.xml"]), diff --git a/rqt_controller_manager/CHANGELOG.rst b/rqt_controller_manager/CHANGELOG.rst index 2e1deb7fff..dbdf0fa4ce 100644 --- a/rqt_controller_manager/CHANGELOG.rst +++ b/rqt_controller_manager/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package rqt_controller_manager ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +4.25.0 (2025-01-29) +------------------- 4.24.0 (2025-01-13) ------------------- diff --git a/rqt_controller_manager/package.xml b/rqt_controller_manager/package.xml index 26719000f4..2cc29f2b01 100644 --- a/rqt_controller_manager/package.xml +++ b/rqt_controller_manager/package.xml @@ -2,7 +2,7 @@ rqt_controller_manager - 4.24.0 + 4.25.0 Graphical frontend for interacting with the controller manager. Bence Magyar Denis Štogl diff --git a/rqt_controller_manager/setup.py b/rqt_controller_manager/setup.py index 6d221abc07..f8c6993bba 100644 --- a/rqt_controller_manager/setup.py +++ b/rqt_controller_manager/setup.py @@ -20,7 +20,7 @@ setup( name=package_name, - version="4.24.0", + version="4.25.0", packages=[package_name], data_files=[ ("share/ament_index/resource_index/packages", ["resource/" + package_name]), diff --git a/transmission_interface/CHANGELOG.rst b/transmission_interface/CHANGELOG.rst index 20b26e0e29..850f5b91b6 100644 --- a/transmission_interface/CHANGELOG.rst +++ b/transmission_interface/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package transmission_interface ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +4.25.0 (2025-01-29) +------------------- 4.24.0 (2025-01-13) ------------------- diff --git a/transmission_interface/package.xml b/transmission_interface/package.xml index d32c7f0655..c9a91f1a91 100644 --- a/transmission_interface/package.xml +++ b/transmission_interface/package.xml @@ -2,7 +2,7 @@ transmission_interface - 4.24.0 + 4.25.0 transmission_interface contains data structures for representing mechanical transmissions, methods for propagating values between actuator and joint spaces and tooling to support this. Bence Magyar Denis Štogl From 82621a185a50e823d9220bb0f5570ab8c3d97a3c Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Christoph=20Fr=C3=B6hlich?= Date: Wed, 29 Jan 2025 21:42:24 +0100 Subject: [PATCH 6/6] Use ABI workflow from ros2_control_ci (#2022) --- .github/workflows/humble-abi-compatibility.yml | 12 +++--------- .github/workflows/jazzy-abi-compatibility.yml | 12 +++--------- .github/workflows/rolling-abi-compatibility.yml | 12 +++--------- 3 files changed, 9 insertions(+), 27 deletions(-) diff --git a/.github/workflows/humble-abi-compatibility.yml b/.github/workflows/humble-abi-compatibility.yml index eed2a7589f..f4172ee3e6 100644 --- a/.github/workflows/humble-abi-compatibility.yml +++ b/.github/workflows/humble-abi-compatibility.yml @@ -21,12 +21,6 @@ concurrency: jobs: abi_check: - runs-on: ubuntu-latest - steps: - - uses: actions/checkout@v4 - - uses: ros-industrial/industrial_ci@master - env: - ROS_DISTRO: humble - ROS_REPO: testing - ABICHECK_URL: github:${{ github.repository }}#${{ github.base_ref }} - NOT_TEST_BUILD: true + uses: ros-controls/ros2_control_ci/.github/workflows/reusable-abi-check.yml@master + with: + ros_distro: humble diff --git a/.github/workflows/jazzy-abi-compatibility.yml b/.github/workflows/jazzy-abi-compatibility.yml index aa0fe81e63..83a81fec44 100644 --- a/.github/workflows/jazzy-abi-compatibility.yml +++ b/.github/workflows/jazzy-abi-compatibility.yml @@ -21,12 +21,6 @@ concurrency: jobs: abi_check: - runs-on: ubuntu-latest - steps: - - uses: actions/checkout@v4 - - uses: ros-industrial/industrial_ci@master - env: - ROS_DISTRO: jazzy - ROS_REPO: testing - ABICHECK_URL: github:${{ github.repository }}#${{ github.base_ref }} - NOT_TEST_BUILD: true + uses: ros-controls/ros2_control_ci/.github/workflows/reusable-abi-check.yml@master + with: + ros_distro: jazzy diff --git a/.github/workflows/rolling-abi-compatibility.yml b/.github/workflows/rolling-abi-compatibility.yml index 50f2a46154..02a38494b5 100644 --- a/.github/workflows/rolling-abi-compatibility.yml +++ b/.github/workflows/rolling-abi-compatibility.yml @@ -21,12 +21,6 @@ concurrency: jobs: abi_check: - runs-on: ubuntu-latest - steps: - - uses: actions/checkout@v4 - - uses: ros-industrial/industrial_ci@master - env: - ROS_DISTRO: rolling - ROS_REPO: testing - ABICHECK_URL: github:${{ github.repository }}#${{ github.base_ref }} - NOT_TEST_BUILD: true + uses: ros-controls/ros2_control_ci/.github/workflows/reusable-abi-check.yml@master + with: + ros_distro: rolling