Merge branch 'humble' into init_srvs_after_resource_manager_init_humble

ros-controls · Jan 8, 2024 · c1583fd · c1583fd
2 parents 6291eff + f4f875a
commit c1583fd
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diff --git a/controller_interface/CHANGELOG.rst b/controller_interface/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package controller_interface
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.36.1 (2024-01-08)
+-------------------
+
 2.36.0 (2023-12-12)
 -------------------
 

diff --git a/controller_interface/package.xml b/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>2.36.0</version>
+  <version>2.36.1</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>

diff --git a/controller_manager/CHANGELOG.rst b/controller_manager/CHANGELOG.rst
@@ -2,6 +2,12 @@
 Changelog for package controller_manager
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.36.1 (2024-01-08)
+-------------------
+* [docs] Remove joint_state_controller (`#1263 <https://github.com/ros-controls/ros2_control/issues/1263>`_) (`#1264 <https://github.com/ros-controls/ros2_control/issues/1264>`_)
+* [CI] Increase timeout for controller_managers_srv test (backport `#1224 <https://github.com/ros-controls/ros2_control/issues/1224>`_) (`#1225 <https://github.com/ros-controls/ros2_control/issues/1225>`_)
+* Contributors: mergify[bot]
+
 2.36.0 (2023-12-12)
 -------------------
 * Fix controller sorting issue while loading large number of controllers (`#1180 <https://github.com/ros-controls/ros2_control/issues/1180>`_) (`#1186 <https://github.com/ros-controls/ros2_control/issues/1186>`_)

diff --git a/controller_manager/package.xml b/controller_manager/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_manager</name>
-  <version>2.36.0</version>
+  <version>2.36.1</version>
   <description>Description of controller_manager</description>
   <maintainer email="bence.magyar.robotics@gmail.com">Bence Magyar</maintainer>
   <maintainer email="denis@stoglrobotics.de">Denis Štogl</maintainer>

diff --git a/controller_manager_msgs/CHANGELOG.rst b/controller_manager_msgs/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package controller_manager_msgs
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.36.1 (2024-01-08)
+-------------------
+
 2.36.0 (2023-12-12)
 -------------------
 

diff --git a/controller_manager_msgs/package.xml b/controller_manager_msgs/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>controller_manager_msgs</name>
-  <version>2.36.0</version>
+  <version>2.36.1</version>
   <description>Messages and services for the controller manager.</description>
   <maintainer email="bence.magyar.robotics@gmail.com">Bence Magyar</maintainer>
   <maintainer email="denis@stoglrobotics.de">Denis Štogl</maintainer>

diff --git a/hardware_interface/CHANGELOG.rst b/hardware_interface/CHANGELOG.rst
@@ -2,6 +2,13 @@
 Changelog for package hardware_interface
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.36.1 (2024-01-08)
+-------------------
+* [ResourceManager] adds test for uninitialized hardware (`#1243 <https://github.com/ros-controls/ros2_control/issues/1243>`_) (`#1274 <https://github.com/ros-controls/ros2_control/issues/1274>`_)
+* Use portable version for string-to-double conversion (backport `#1257 <https://github.com/ros-controls/ros2_control/issues/1257>`_) (`#1268 <https://github.com/ros-controls/ros2_control/issues/1268>`_)
+* Fix typo in docs (`#1219 <https://github.com/ros-controls/ros2_control/issues/1219>`_) (`#1221 <https://github.com/ros-controls/ros2_control/issues/1221>`_)
+* Contributors: Christoph Fröhlich, mergify[bot]
+
 2.36.0 (2023-12-12)
 -------------------
 * Cleanup Resource Manager a bit to increase clarity. (backport `#816 <https://github.com/ros-controls/ros2_control/issues/816>`_) (`#1191 <https://github.com/ros-controls/ros2_control/issues/1191>`_)

diff --git a/hardware_interface/package.xml b/hardware_interface/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>hardware_interface</name>
-  <version>2.36.0</version>
+  <version>2.36.1</version>
   <description>ros2_control hardware interface</description>
   <maintainer email="bence.magyar.robotics@gmail.com">Bence Magyar</maintainer>
   <maintainer email="denis@stoglrobotics.de">Denis Štogl</maintainer>

diff --git a/hardware_interface/test/test_components/test_actuator.cpp b/hardware_interface/test/test_components/test_actuator.cpp
@@ -109,5 +109,15 @@ class TestActuator : public ActuatorInterface
   double max_velocity_command_ = 0.0;
 };
 
+class TestUnitilizableActuator : public TestActuator
+{
+  CallbackReturn on_init(const hardware_interface::HardwareInfo & info) override
+  {
+    ActuatorInterface::on_init(info);
+    return CallbackReturn::ERROR;
+  }
+};
+
 #include "pluginlib/class_list_macros.hpp"  // NOLINT
 PLUGINLIB_EXPORT_CLASS(TestActuator, hardware_interface::ActuatorInterface)
+PLUGINLIB_EXPORT_CLASS(TestUnitilizableActuator, hardware_interface::ActuatorInterface)
diff --git a/hardware_interface/test/test_components/test_components.xml b/hardware_interface/test/test_components/test_components.xml
@@ -17,4 +17,22 @@
       Test System
     </description>
   </class>
+
+  <class name="test_unitilizable_actuator" type="TestUnitilizableActuator" base_class_type="hardware_interface::ActuatorInterface">
+    <description>
+      Test Unitilizable Actuator
+    </description>
+  </class>
+
+  <class name="test_unitilizable_sensor" type="TestUnitilizableSensor" base_class_type="hardware_interface::SensorInterface">
+    <description>
+      Test Unitilizable Sensor
+    </description>
+  </class>
+
+  <class name="test_unitilizable_system" type="TestUnitilizableSystem" base_class_type="hardware_interface::SystemInterface">
+    <description>
+      Test Unitilizable System
+    </description>
+  </class>
 </library>
diff --git a/hardware_interface/test/test_components/test_sensor.cpp b/hardware_interface/test/test_components/test_sensor.cpp
@@ -55,5 +55,15 @@ class TestSensor : public SensorInterface
   double velocity_state_ = 0.0;
 };
 
+class TestUnitilizableSensor : public TestSensor
+{
+  CallbackReturn on_init(const hardware_interface::HardwareInfo & info) override
+  {
+    SensorInterface::on_init(info);
+    return CallbackReturn::ERROR;
+  }
+};
+
 #include "pluginlib/class_list_macros.hpp"  // NOLINT
 PLUGINLIB_EXPORT_CLASS(TestSensor, hardware_interface::SensorInterface)
+PLUGINLIB_EXPORT_CLASS(TestUnitilizableSensor, hardware_interface::SensorInterface)
diff --git a/hardware_interface/test/test_components/test_system.cpp b/hardware_interface/test/test_components/test_system.cpp
@@ -115,5 +115,15 @@ class TestSystem : public SystemInterface
   double configuration_command_ = 0.0;
 };
 
+class TestUnitilizableSystem : public TestSystem
+{
+  CallbackReturn on_init(const hardware_interface::HardwareInfo & info) override
+  {
+    SystemInterface::on_init(info);
+    return CallbackReturn::ERROR;
+  }
+};
+
 #include "pluginlib/class_list_macros.hpp"  // NOLINT
 PLUGINLIB_EXPORT_CLASS(TestSystem, hardware_interface::SystemInterface)
+PLUGINLIB_EXPORT_CLASS(TestUnitilizableSystem, hardware_interface::SystemInterface)
diff --git a/hardware_interface/test/test_resource_manager.cpp b/hardware_interface/test/test_resource_manager.cpp
@@ -68,6 +68,7 @@ class TestableResourceManager : public hardware_interface::ResourceManager
   FRIEND_TEST(ResourceManagerTest, post_initialization_add_components);
   FRIEND_TEST(ResourceManagerTest, managing_controllers_reference_interfaces);
   FRIEND_TEST(ResourceManagerTest, resource_availability_and_claiming_in_lifecycle);
+  FRIEND_TEST(ResourceManagerTest, test_unitilizable_hardware_no_validation);
 
   TestableResourceManager() : hardware_interface::ResourceManager() {}
 
@@ -153,6 +154,45 @@ TEST_F(ResourceManagerTest, post_initialization_with_urdf)
   ASSERT_NO_THROW(rm.load_urdf(ros2_control_test_assets::minimal_robot_urdf));
 }
 
+TEST_F(ResourceManagerTest, test_unitilizable_hardware_validation)
+{
+  // If the the hardware can not be initialized and load_urdf tried to validate the interfaces a
+  // runtime exception is thrown
+  TestableResourceManager rm;
+  ASSERT_THROW(
+    rm.load_urdf(ros2_control_test_assets::minimal_unitilizable_robot_urdf, true),
+    std::runtime_error);
+}
+
+TEST_F(ResourceManagerTest, test_unitilizable_hardware_no_validation)
+{
+  // If the the hardware can not be initialized and load_urdf didn't try to validate the interfaces,
+  // the interface should not show up
+  TestableResourceManager rm;
+  EXPECT_NO_THROW(rm.load_urdf(ros2_control_test_assets::minimal_unitilizable_robot_urdf, false));
+
+  // test actuator
+  EXPECT_FALSE(rm.state_interface_exists("joint1/position"));
+  EXPECT_FALSE(rm.state_interface_exists("joint1/velocity"));
+  EXPECT_FALSE(rm.command_interface_exists("joint1/position"));
+  EXPECT_FALSE(rm.command_interface_exists("joint1/max_velocity"));
+
+  // test sensor
+  EXPECT_FALSE(rm.state_interface_exists("sensor1/velocity"));
+
+  // test system
+  EXPECT_FALSE(rm.state_interface_exists("joint2/position"));
+  EXPECT_FALSE(rm.state_interface_exists("joint2/velocity"));
+  EXPECT_FALSE(rm.state_interface_exists("joint2/acceleration"));
+  EXPECT_FALSE(rm.command_interface_exists("joint2/velocity"));
+  EXPECT_FALSE(rm.command_interface_exists("joint2/max_acceleration"));
+  EXPECT_FALSE(rm.state_interface_exists("joint3/position"));
+  EXPECT_FALSE(rm.state_interface_exists("joint3/velocity"));
+  EXPECT_FALSE(rm.state_interface_exists("joint3/acceleration"));
+  EXPECT_FALSE(rm.command_interface_exists("joint3/velocity"));
+  EXPECT_FALSE(rm.command_interface_exists("joint3/max_acceleration"));
+}
+
 TEST_F(ResourceManagerTest, initialization_with_urdf_manual_validation)
 {
   // we validate the results manually

diff --git a/joint_limits/CHANGELOG.rst b/joint_limits/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package joint_limits
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.36.1 (2024-01-08)
+-------------------
+
 2.36.0 (2023-12-12)
 -------------------
 

diff --git a/joint_limits/package.xml b/joint_limits/package.xml
@@ -1,6 +1,6 @@
 <package format="3">
   <name>joint_limits</name>
-  <version>2.36.0</version>
+  <version>2.36.1</version>
   <description>Interfaces for handling of joint limits for controllers or hardware.</description>
 
   <maintainer email="bence.magyar.robotics@gmail.com">Bence Magyar</maintainer>

diff --git a/ros2_control/CHANGELOG.rst b/ros2_control/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package ros2_control
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.36.1 (2024-01-08)
+-------------------
+
 2.36.0 (2023-12-12)
 -------------------
 

diff --git a/ros2_control/package.xml b/ros2_control/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>ros2_control</name>
-  <version>2.36.0</version>
+  <version>2.36.1</version>
   <description>Metapackage for ROS2 control related packages</description>
   <maintainer email="bence.magyar.robotics@gmail.com">Bence Magyar</maintainer>
   <maintainer email="denis@stoglrobotics.de">Denis Štogl</maintainer>

diff --git a/ros2_control_test_assets/CHANGELOG.rst b/ros2_control_test_assets/CHANGELOG.rst
@@ -2,6 +2,11 @@
 Changelog for package ros2_control_test_assets
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.36.1 (2024-01-08)
+-------------------
+* [ResourceManager] adds test for uninitialized hardware (`#1243 <https://github.com/ros-controls/ros2_control/issues/1243>`_) (`#1274 <https://github.com/ros-controls/ros2_control/issues/1274>`_)
+* Contributors: mergify[bot]
+
 2.36.0 (2023-12-12)
 -------------------
 

diff --git a/ros2_control_test_assets/include/ros2_control_test_assets/descriptions.hpp b/ros2_control_test_assets/include/ros2_control_test_assets/descriptions.hpp
@@ -176,6 +176,55 @@ const auto hardware_resources =
   </ros2_control>
 )";
 
+const auto unitilizable_hardware_resources =
+  R"(
+  <ros2_control name="TestUnitilizableActuatorHardware" type="actuator">
+    <hardware>
+      <plugin>test_unitilizable_actuator</plugin>
+    </hardware>
+    <joint name="joint1">
+      <command_interface name="position"/>
+      <state_interface name="position"/>
+      <state_interface name="velocity"/>
+      <command_interface name="max_velocity" />
+    </joint>
+  </ros2_control>
+  <ros2_control name="TestUnitilizableSensorHardware" type="sensor">
+    <hardware>
+      <plugin>test_unitilizable_sensor</plugin>
+      <param name="example_param_write_for_sec">2</param>
+      <param name="example_param_read_for_sec">2</param>
+    </hardware>
+    <sensor name="sensor1">
+      <state_interface name="velocity"/>
+    </sensor>
+  </ros2_control>
+  <ros2_control name="TestUnitilizableSystemHardware" type="system">
+    <hardware>
+      <plugin>test_unitilizable_system</plugin>
+      <param name="example_param_write_for_sec">2</param>
+      <param name="example_param_read_for_sec">2</param>
+    </hardware>
+    <joint name="joint2">
+      <command_interface name="velocity"/>
+      <state_interface name="position"/>
+      <state_interface name="velocity"/>
+      <state_interface name="acceleration"/>
+      <command_interface name="max_acceleration" />
+    </joint>
+    <joint name="joint3">
+      <command_interface name="velocity"/>
+      <state_interface name="position"/>
+      <state_interface name="velocity"/>
+      <state_interface name="acceleration"/>
+    </joint>
+    <joint name="configuration">
+      <command_interface name="max_tcp_jerk"/>
+      <state_interface name="max_tcp_jerk"/>
+    </joint>
+  </ros2_control>
+)";
+
 const auto hardware_resources_missing_state_keys =
   R"(
   <ros2_control name="TestActuatorHardware" type="actuator">
@@ -406,6 +455,8 @@ const auto diffbot_urdf =
 
 const auto minimal_robot_urdf =
   std::string(urdf_head) + std::string(hardware_resources) + std::string(urdf_tail);
+const auto minimal_unitilizable_robot_urdf =
+  std::string(urdf_head) + std::string(unitilizable_hardware_resources) + std::string(urdf_tail);
 
 const auto minimal_robot_missing_state_keys_urdf =
   std::string(urdf_head) + std::string(hardware_resources_missing_state_keys) +

diff --git a/ros2_control_test_assets/package.xml b/ros2_control_test_assets/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>ros2_control_test_assets</name>
-  <version>2.36.0</version>
+  <version>2.36.1</version>
   <description>The package provides shared test resources for ros2_control stack
   </description>
   <maintainer email="bence.magyar.robotics@gmail.com">Bence Magyar</maintainer>

diff --git a/ros2controlcli/CHANGELOG.rst b/ros2controlcli/CHANGELOG.rst
@@ -2,6 +2,11 @@
 Changelog for package ros2controlcli
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.36.1 (2024-01-08)
+-------------------
+* [docs] Remove joint_state_controller (`#1263 <https://github.com/ros-controls/ros2_control/issues/1263>`_) (`#1264 <https://github.com/ros-controls/ros2_control/issues/1264>`_)
+* Contributors: mergify[bot]
+
 2.36.0 (2023-12-12)
 -------------------
 

diff --git a/ros2controlcli/package.xml b/ros2controlcli/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>ros2controlcli</name>
-  <version>2.36.0</version>
+  <version>2.36.1</version>
   <description>
     The ROS 2 command line tools for ROS2 Control.
   </description>

diff --git a/ros2controlcli/setup.py b/ros2controlcli/setup.py
@@ -19,7 +19,7 @@
 
 setup(
     name=package_name,
-    version='2.36.0',
+    version='2.36.1',
     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
@@ -2,6 +2,9 @@
 Changelog for package rqt_controller_manager
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.36.1 (2024-01-08)
+-------------------
+
 2.36.0 (2023-12-12)
 -------------------
 

diff --git a/rqt_controller_manager/package.xml b/rqt_controller_manager/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>rqt_controller_manager</name>
-  <version>2.36.0</version>
+  <version>2.36.1</version>
   <description>Graphical frontend for interacting with the controller manager.</description>
   <maintainer email="bence.magyar.robotics@gmail.com">Bence Magyar</maintainer>
   <maintainer email="denis@stoglrobotics.de">Denis Štogl</maintainer>

diff --git a/rqt_controller_manager/setup.py b/rqt_controller_manager/setup.py
@@ -6,7 +6,7 @@
 
 setup(
     name=package_name,
-    version='2.36.0',
+    version='2.36.1',
     packages=[package_name],
     data_files=[
         ('share/ament_index/resource_index/packages', ['resource/' + package_name]),