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Merge branch 'humble' into mergify/bp/humble/pr-1455
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destogl authored Aug 15, 2024
2 parents 95494cd + 8b32c33 commit 48d68e5
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2 changes: 0 additions & 2 deletions .github/workflows/humble-abi-compatibility.yml
Original file line number Diff line number Diff line change
@@ -1,8 +1,6 @@
name: Humble - ABI Compatibility Check
on:
workflow_dispatch:
branches:
- humble
pull_request:
branches:
- humble
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2 changes: 0 additions & 2 deletions .github/workflows/rolling-abi-compatibility.yml
Original file line number Diff line number Diff line change
@@ -1,8 +1,6 @@
name: Rolling - ABI Compatibility Check
on:
workflow_dispatch:
branches:
- master
pull_request:
branches:
- master
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4 changes: 2 additions & 2 deletions .pre-commit-config.yaml
Original file line number Diff line number Diff line change
Expand Up @@ -36,7 +36,7 @@ repos:

# Python hooks
- repo: https://github.com/asottile/pyupgrade
rev: v3.16.0
rev: v3.17.0
hooks:
- id: pyupgrade
args: [--py36-plus]
Expand Down Expand Up @@ -132,7 +132,7 @@ repos:
exclude: CHANGELOG\.rst|\.(svg|pyc|drawio)$

- repo: https://github.com/python-jsonschema/check-jsonschema
rev: 0.28.6
rev: 0.29.1
hooks:
- id: check-github-workflows
args: ["--verbose"]
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2 changes: 0 additions & 2 deletions codecov.yml
Original file line number Diff line number Diff line change
Expand Up @@ -14,8 +14,6 @@ fixes:
comment:
layout: "diff, flags, files"
behavior: default
ignore:
- "**/test"
flags:
unittests:
paths:
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6 changes: 6 additions & 0 deletions controller_interface/CHANGELOG.rst
Original file line number Diff line number Diff line change
Expand Up @@ -2,6 +2,12 @@
Changelog for package controller_interface
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

2.42.0 (2024-07-23)
-------------------
* [ControllerInterface] Avoid warning about conversion from `int64_t` to `unsigned int` (backport `#1173 <https://github.com/ros-controls/ros2_control/issues/1173>`_) (`#1631 <https://github.com/ros-controls/ros2_control/issues/1631>`_)
* Fix dependencies for source build (`#1533 <https://github.com/ros-controls/ros2_control/issues/1533>`_) (`#1535 <https://github.com/ros-controls/ros2_control/issues/1535>`_)
* Contributors: mergify[bot]

2.41.0 (2024-04-30)
-------------------

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2 changes: 1 addition & 1 deletion controller_interface/package.xml
Original file line number Diff line number Diff line change
Expand Up @@ -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>2.41.0</version>
<version>2.42.0</version>
<description>Description of controller_interface</description>
<maintainer email="[email protected]">Bence Magyar</maintainer>
<maintainer email="[email protected]">Denis Štogl</maintainer>
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2 changes: 1 addition & 1 deletion controller_interface/src/controller_interface_base.cpp
Original file line number Diff line number Diff line change
Expand Up @@ -83,7 +83,7 @@ const rclcpp_lifecycle::State & ControllerInterfaceBase::configure()
// Other solution is to add check into the LifecycleNode if a transition is valid to trigger
if (get_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED)
{
update_rate_ = get_node()->get_parameter("update_rate").as_int();
update_rate_ = static_cast<unsigned int>(get_node()->get_parameter("update_rate").as_int());
}

return get_node()->configure();
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6 changes: 6 additions & 0 deletions controller_manager/CHANGELOG.rst
Original file line number Diff line number Diff line change
Expand Up @@ -2,6 +2,12 @@
Changelog for package controller_manager
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

2.42.0 (2024-07-23)
-------------------
* Remove noqa (`#1626 <https://github.com/ros-controls/ros2_control/issues/1626>`_) (`#1628 <https://github.com/ros-controls/ros2_control/issues/1628>`_)
* Bump version of pre-commit hooks (backport `#1556 <https://github.com/ros-controls/ros2_control/issues/1556>`_) (`#1557 <https://github.com/ros-controls/ros2_control/issues/1557>`_)
* Contributors: mergify[bot]

2.41.0 (2024-04-30)
-------------------
* check for state of the controller node before cleanup (backport `#1363 <https://github.com/ros-controls/ros2_control/issues/1363>`_) (`#1378 <https://github.com/ros-controls/ros2_control/issues/1378>`_)
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9 changes: 9 additions & 0 deletions controller_manager/CMakeLists.txt
Original file line number Diff line number Diff line change
Expand Up @@ -169,11 +169,15 @@ if(BUILD_TESTING)
ament_add_gmock(
test_spawner_unspawner
test/test_spawner_unspawner.cpp
TIMEOUT 120
)
target_include_directories(test_spawner_unspawner PRIVATE include)
target_link_libraries(test_spawner_unspawner ${PROJECT_NAME} test_controller)
ament_target_dependencies(test_spawner_unspawner ros2_control_test_assets)

install(FILES test/test_controller_spawner_with_type.yaml
DESTINATION test)

ament_add_gmock(
test_hardware_management_srvs
test/test_hardware_management_srvs.cpp
Expand All @@ -185,6 +189,11 @@ if(BUILD_TESTING)
controller_manager_msgs
ros2_control_test_assets
)

find_package(ament_cmake_pytest REQUIRED)
install(FILES test/test_ros2_control_node.yaml
DESTINATION test)
ament_add_pytest_test(test_ros2_control_node test/test_ros2_control_node_launch.py)
endif()

# Install Python modules
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Original file line number Diff line number Diff line change
Expand Up @@ -28,15 +28,20 @@
import rclpy


def service_caller(node, service_name, service_type, request, service_timeout=10.0):
class ServiceNotFoundError(Exception):
pass


def service_caller(node, service_name, service_type, request, service_timeout=0.0):
cli = node.create_client(service_type, service_name)

if not cli.service_is_ready():
node.get_logger().debug(
f"waiting {service_timeout} seconds for service {service_name} to become available..."
)
if not cli.wait_for_service(service_timeout):
raise RuntimeError(f"Could not contact service {service_name}")
while not cli.service_is_ready():
node.get_logger().info(f"waiting for service {service_name} to become available...")
if service_timeout:
if not cli.wait_for_service(service_timeout):
raise ServiceNotFoundError(f"Could not contact service {service_name}")
elif not cli.wait_for_service(10.0):
node.get_logger().warn(f"Could not contact service {service_name}")

node.get_logger().debug(f"requester: making request: {request}\n")
future = cli.call_async(request)
Expand All @@ -47,7 +52,7 @@ def service_caller(node, service_name, service_type, request, service_timeout=10
raise RuntimeError(f"Exception while calling service: {future.exception()}")


def configure_controller(node, controller_manager_name, controller_name, service_timeout=10.0):
def configure_controller(node, controller_manager_name, controller_name, service_timeout=0.0):
request = ConfigureController.Request()
request.name = controller_name
return service_caller(
Expand All @@ -59,7 +64,7 @@ def configure_controller(node, controller_manager_name, controller_name, service
)


def list_controllers(node, controller_manager_name, service_timeout=10.0):
def list_controllers(node, controller_manager_name, service_timeout=0.0):
request = ListControllers.Request()
return service_caller(
node,
Expand All @@ -70,7 +75,7 @@ def list_controllers(node, controller_manager_name, service_timeout=10.0):
)


def list_controller_types(node, controller_manager_name, service_timeout=10.0):
def list_controller_types(node, controller_manager_name, service_timeout=0.0):
request = ListControllerTypes.Request()
return service_caller(
node,
Expand All @@ -81,7 +86,7 @@ def list_controller_types(node, controller_manager_name, service_timeout=10.0):
)


def list_hardware_components(node, controller_manager_name, service_timeout=10.0):
def list_hardware_components(node, controller_manager_name, service_timeout=0.0):
request = ListHardwareComponents.Request()
return service_caller(
node,
Expand All @@ -92,7 +97,7 @@ def list_hardware_components(node, controller_manager_name, service_timeout=10.0
)


def list_hardware_interfaces(node, controller_manager_name, service_timeout=10.0):
def list_hardware_interfaces(node, controller_manager_name, service_timeout=0.0):
request = ListHardwareInterfaces.Request()
return service_caller(
node,
Expand All @@ -103,7 +108,7 @@ def list_hardware_interfaces(node, controller_manager_name, service_timeout=10.0
)


def load_controller(node, controller_manager_name, controller_name, service_timeout=10.0):
def load_controller(node, controller_manager_name, controller_name, service_timeout=0.0):
request = LoadController.Request()
request.name = controller_name
return service_caller(
Expand All @@ -115,7 +120,7 @@ def load_controller(node, controller_manager_name, controller_name, service_time
)


def reload_controller_libraries(node, controller_manager_name, force_kill, service_timeout=10.0):
def reload_controller_libraries(node, controller_manager_name, force_kill, service_timeout=0.0):
request = ReloadControllerLibraries.Request()
request.force_kill = force_kill
return service_caller(
Expand All @@ -127,7 +132,9 @@ def reload_controller_libraries(node, controller_manager_name, force_kill, servi
)


def set_hardware_component_state(node, controller_manager_name, component_name, lifecyle_state):
def set_hardware_component_state(
node, controller_manager_name, component_name, lifecyle_state, service_timeout=0.0
):
request = SetHardwareComponentState.Request()
request.name = component_name
request.target_state = lifecyle_state
Expand Down Expand Up @@ -162,7 +169,7 @@ def switch_controllers(
)


def unload_controller(node, controller_manager_name, controller_name, service_timeout=10.0):
def unload_controller(node, controller_manager_name, controller_name, service_timeout=0.0):
request = UnloadController.Request()
request.name = controller_name
return service_caller(
Expand Down
78 changes: 25 additions & 53 deletions controller_manager/controller_manager/hardware_spawner.py
Original file line number Diff line number Diff line change
Expand Up @@ -15,13 +15,15 @@

import argparse
import sys
import time

from controller_manager import set_hardware_component_state
from controller_manager import (
list_hardware_components,
set_hardware_component_state,
)
from controller_manager.controller_manager_services import ServiceNotFoundError

from lifecycle_msgs.msg import State
import rclpy
from rclpy.duration import Duration
from rclpy.node import Node
from rclpy.signals import SignalHandlerOptions

Expand All @@ -43,18 +45,6 @@ def first_match(iterable, predicate):
return next((n for n in iterable if predicate(n)), None)


def wait_for_value_or(function, node, timeout, default, description):
while node.get_clock().now() < timeout:
result = function()
if result:
return result
node.get_logger().info(
f"Waiting for {description}", throttle_duration_sec=2, skip_first=True
)
time.sleep(0.2)
return default


def combine_name_and_namespace(name_and_namespace):
node_name, namespace = name_and_namespace
return namespace + ("" if namespace.endswith("/") else "/") + node_name
Expand All @@ -76,35 +66,11 @@ def has_service_names(node, node_name, node_namespace, service_names):
return all(service in client_names for service in service_names)


def wait_for_controller_manager(node, controller_manager, timeout_duration):
# List of service names from controller_manager we wait for
service_names = (
f"{controller_manager}/list_hardware_components",
f"{controller_manager}/set_hardware_component_state",
)

# Wait for controller_manager
timeout = node.get_clock().now() + Duration(seconds=timeout_duration)
node_and_namespace = wait_for_value_or(
lambda: find_node_and_namespace(node, controller_manager),
node,
timeout,
None,
f"'{controller_manager}' node to exist",
)

# Wait for the services if the node was found
if node_and_namespace:
node_name, namespace = node_and_namespace
return wait_for_value_or(
lambda: has_service_names(node, node_name, namespace, service_names),
node,
timeout,
False,
f"'{controller_manager}' services to be available",
)

return False
def is_hardware_component_loaded(
node, controller_manager, hardware_component, service_timeout=0.0
):
components = list_hardware_components(node, hardware_component, service_timeout).component
return any(c.name == hardware_component for c in components)


def handle_set_component_state_service_call(
Expand Down Expand Up @@ -168,10 +134,9 @@ def main(args=None):
"--controller-manager-timeout",
help="Time to wait for the controller manager",
required=False,
default=10,
type=int,
default=0,
type=float,
)

# add arguments which are mutually exclusive
activate_or_confiigure_grp.add_argument(
"--activate",
Expand Down Expand Up @@ -203,13 +168,15 @@ def main(args=None):
controller_manager_name = f"/{controller_manager_name}"

try:
if not wait_for_controller_manager(
node, controller_manager_name, controller_manager_timeout
if not is_hardware_component_loaded(
node, controller_manager_name, hardware_component, controller_manager_timeout
):
node.get_logger().error("Controller manager not available")
return 1

if activate:
node.get_logger().warn(
bcolors.WARNING
+ "Hardware Component is not loaded - state can not be changed."
+ bcolors.ENDC
)
elif activate:
activate_components(node, controller_manager_name, hardware_component)
elif configure:
configure_components(node, controller_manager_name, hardware_component)
Expand All @@ -219,6 +186,11 @@ def main(args=None):
)
parser.print_help()
return 0
except KeyboardInterrupt:
pass
except ServiceNotFoundError as err:
node.get_logger().fatal(str(err))
return 1
finally:
rclpy.shutdown()

Expand Down
2 changes: 1 addition & 1 deletion controller_manager/controller_manager/launch_utils.py
Original file line number Diff line number Diff line change
Expand Up @@ -29,7 +29,7 @@ def generate_load_controller_launch_description(
'unload_on_kill' LaunchArguments and a Node action that runs the controller_manager
spawner node to load and activate a controller
Examples # noqa: D416
Examples
--------
# Assuming the controller type and controller parameters are known to the controller_manager
generate_load_controller_launch_description('joint_state_broadcaster')
Expand Down
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