Merge branch 'master' into pr-add-gripper-velocity-target-main

.github/workflows/ci-coverage-build-humble.yml

@@ -55,12 +55,12 @@ jobs:
               }
             }
           colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
-      - uses: codecov/codecov-action@v3.1.5
+      - uses: codecov/codecov-action@v4.0.1
         with:
           file: ros_ws/lcov/total_coverage.info
           flags: unittests
           name: codecov-umbrella
-      - uses: actions/[email protected].0
+      - uses: actions/[email protected].1
         with:
           name: colcon-logs-coverage-humble
           path: ros_ws/log

.github/workflows/ci-coverage-build-iron.yml

@@ -55,12 +55,12 @@ jobs:
               }
             }
           colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
-      - uses: codecov/codecov-action@v3.1.5
+      - uses: codecov/codecov-action@v4.0.1
         with:
           file: ros_ws/lcov/total_coverage.info
           flags: unittests
           name: codecov-umbrella
-      - uses: actions/[email protected].0
+      - uses: actions/[email protected].1
         with:
           name: colcon-logs-coverage-iron
           path: ros_ws/log

.github/workflows/ci-coverage-build.yml

@@ -55,12 +55,12 @@ jobs:
               }
             }
           colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
-      - uses: codecov/codecov-action@v3.1.5
+      - uses: codecov/codecov-action@v4.0.1
         with:
           file: ros_ws/lcov/total_coverage.info
           flags: unittests
           name: codecov-umbrella
-      - uses: actions/[email protected].0
+      - uses: actions/[email protected].1
         with:
           name: colcon-logs-coverage-rolling
           path: ros_ws/log

.github/workflows/humble-debian-build.yml

@@ -20,6 +20,7 @@ jobs:
       - uses: actions/checkout@v4
         with:
           path: src/ros2_controllers
+          ref: ${{ github.event_name == 'schedule' && 'humble' || '' }}
       - name: Build and test
         shell: bash
         run: |

.github/workflows/humble-rhel-binary-build.yml

@@ -19,6 +19,7 @@ jobs:
       - uses: actions/checkout@v4
         with:
           path: src/ros2_controllers
+          ref: ${{ github.event_name == 'schedule' && 'humble' || '' }}
       - name: Install dependencies
         run: |
           rosdep update

.github/workflows/iron-debian-build.yml

@@ -20,6 +20,7 @@ jobs:
       - uses: actions/checkout@v4
         with:
           path: src/ros2_controllers
+          ref: ${{ github.event_name == 'schedule' && 'iron' || '' }}
       - name: Build and test
         shell: bash
         run: |

.github/workflows/iron-rhel-binary-build.yml

@@ -20,6 +20,7 @@ jobs:
       - uses: actions/checkout@v4
         with:
           path: src/ros2_controllers
+          ref: ${{ github.event_name == 'schedule' && 'iron' || '' }}
       - name: Install dependencies
         run: |
           rosdep update

.github/workflows/reusable-ros-tooling-source-build.yml

@@ -63,7 +63,7 @@ jobs:
             https://raw.githubusercontent.com/ros2/ros2/${{ inputs.ros2_repo_branch }}/ros2.repos
             https://raw.githubusercontent.com/${{ github.repository }}/${{ github.sha }}/ros2_controllers.${{ inputs.ros_distro }}.repos?token=${{ secrets.GITHUB_TOKEN }}
           colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
-      - uses: actions/[email protected].0
+      - uses: actions/[email protected].1
         with:
           name: colcon-logs-ubuntu-22.04
           path: ros_ws/log

.github/workflows/rolling-debian-build.yml

@@ -20,6 +20,8 @@ jobs:
       - uses: actions/checkout@v4
         with:
           path: src/ros2_controllers
+          # default behavior is correct on master branch
+          # ref: ${{ github.event_name == 'schedule' && 'master' || '' }}
       - name: Build and test
         shell: bash
         run: |

.github/workflows/rolling-rhel-binary-build.yml

@@ -20,6 +20,8 @@ jobs:
       - uses: actions/checkout@v4
         with:
           path: src/ros2_controllers
+          # default behavior is correct on master branch
+          # ref: ${{ github.event_name == 'schedule' && 'master' || '' }}
       - name: Install dependencies
         run: |
           rosdep update

ackermann_steering_controller/CHANGELOG.rst

@@ -2,6 +2,11 @@
 Changelog for package ackermann_steering_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.5.0 (2024-01-31)
+------------------
+* Add tests for `interface_configuration_type` consistently (`#899 <https://github.com/ros-controls/ros2_controllers/issues/899>`_)
+* Contributors: Christoph Fröhlich
+
 4.4.0 (2024-01-11)
 ------------------
 

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>4.4.0</version>
+  <version>4.5.0</version>
   <description>Steering controller for Ackermann kinematics. Rear fixed wheels are powering the vehicle and front wheels are steering it.</description>
   <license>Apache License 2.0</license>
   <maintainer email="[email protected]">Bence Magyar</maintainer>
@@ -27,6 +27,7 @@
 
   <test_depend>ament_cmake_gmock</test_depend>
   <test_depend>controller_manager</test_depend>
+  <test_depend>hardware_interface_testing</test_depend>
   <test_depend>hardware_interface</test_depend>
   <test_depend>ros2_control_test_assets</test_depend>
 

ackermann_steering_controller/test/test_ackermann_steering_controller.cpp

@@ -46,41 +46,43 @@ TEST_F(AckermannSteeringControllerTest, all_parameters_set_configure_success)
   ASSERT_EQ(controller_->ackermann_params_.rear_wheel_track, rear_wheel_track_);
 }
 
-TEST_F(AckermannSteeringControllerTest, check_exported_intefaces)
+TEST_F(AckermannSteeringControllerTest, check_exported_interfaces)
 {
   SetUpController();
 
   ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS);
 
-  auto command_intefaces = controller_->command_interface_configuration();
-  ASSERT_EQ(command_intefaces.names.size(), joint_command_values_.size());
+  auto cmd_if_conf = controller_->command_interface_configuration();
+  ASSERT_EQ(cmd_if_conf.names.size(), joint_command_values_.size());
   EXPECT_EQ(
-    command_intefaces.names[CMD_TRACTION_RIGHT_WHEEL],
+    cmd_if_conf.names[CMD_TRACTION_RIGHT_WHEEL],
     rear_wheels_names_[0] + "/" + traction_interface_name_);
   EXPECT_EQ(
-    command_intefaces.names[CMD_TRACTION_LEFT_WHEEL],
+    cmd_if_conf.names[CMD_TRACTION_LEFT_WHEEL],
     rear_wheels_names_[1] + "/" + traction_interface_name_);
   EXPECT_EQ(
-    command_intefaces.names[CMD_STEER_RIGHT_WHEEL],
+    cmd_if_conf.names[CMD_STEER_RIGHT_WHEEL],
     front_wheels_names_[0] + "/" + steering_interface_name_);
   EXPECT_EQ(
-    command_intefaces.names[CMD_STEER_LEFT_WHEEL],
+    cmd_if_conf.names[CMD_STEER_LEFT_WHEEL],
     front_wheels_names_[1] + "/" + steering_interface_name_);
+  EXPECT_EQ(cmd_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL);
 
-  auto state_intefaces = controller_->state_interface_configuration();
-  ASSERT_EQ(state_intefaces.names.size(), joint_state_values_.size());
+  auto state_if_conf = controller_->state_interface_configuration();
+  ASSERT_EQ(state_if_conf.names.size(), joint_state_values_.size());
   EXPECT_EQ(
-    state_intefaces.names[STATE_TRACTION_RIGHT_WHEEL],
+    state_if_conf.names[STATE_TRACTION_RIGHT_WHEEL],
     controller_->rear_wheels_state_names_[0] + "/" + traction_interface_name_);
   EXPECT_EQ(
-    state_intefaces.names[STATE_TRACTION_LEFT_WHEEL],
+    state_if_conf.names[STATE_TRACTION_LEFT_WHEEL],
     controller_->rear_wheels_state_names_[1] + "/" + traction_interface_name_);
   EXPECT_EQ(
-    state_intefaces.names[STATE_STEER_RIGHT_WHEEL],
+    state_if_conf.names[STATE_STEER_RIGHT_WHEEL],
     controller_->front_wheels_state_names_[0] + "/" + steering_interface_name_);
   EXPECT_EQ(
-    state_intefaces.names[STATE_STEER_LEFT_WHEEL],
+    state_if_conf.names[STATE_STEER_LEFT_WHEEL],
     controller_->front_wheels_state_names_[1] + "/" + steering_interface_name_);
+  EXPECT_EQ(state_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL);
 
   // check ref itfsTIME
   auto reference_interfaces = controller_->export_reference_interfaces();

ackermann_steering_controller/test/test_ackermann_steering_controller.hpp

@@ -62,7 +62,7 @@ class TestableAckermannSteeringController
 : public ackermann_steering_controller::AckermannSteeringController
 {
   FRIEND_TEST(AckermannSteeringControllerTest, all_parameters_set_configure_success);
-  FRIEND_TEST(AckermannSteeringControllerTest, check_exported_intefaces);
+  FRIEND_TEST(AckermannSteeringControllerTest, check_exported_interfaces);
   FRIEND_TEST(AckermannSteeringControllerTest, activate_success);
   FRIEND_TEST(AckermannSteeringControllerTest, update_success);
   FRIEND_TEST(AckermannSteeringControllerTest, deactivate_success);
@@ -147,7 +147,9 @@ class AckermannSteeringControllerFixture : public ::testing::Test
 protected:
   void SetUpController(const std::string controller_name = "test_ackermann_steering_controller")
   {
-    ASSERT_EQ(controller_->init(controller_name, "", 0), controller_interface::return_type::OK);
+    ASSERT_EQ(
+      controller_->init(controller_name, "", 0, "", controller_->define_custom_node_options()),
+      controller_interface::return_type::OK);
 
     if (position_feedback_ == true)
     {

ackermann_steering_controller/test/test_ackermann_steering_controller_preceeding.cpp

@@ -48,41 +48,43 @@ TEST_F(AckermannSteeringControllerTest, all_parameters_set_configure_success)
   ASSERT_EQ(controller_->ackermann_params_.rear_wheel_track, rear_wheel_track_);
 }
 
-TEST_F(AckermannSteeringControllerTest, check_exported_intefaces)
+TEST_F(AckermannSteeringControllerTest, check_exported_interfaces)
 {
   SetUpController();
 
   ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS);
 
-  auto command_intefaces = controller_->command_interface_configuration();
-  ASSERT_EQ(command_intefaces.names.size(), joint_command_values_.size());
+  auto cmd_if_conf = controller_->command_interface_configuration();
+  ASSERT_EQ(cmd_if_conf.names.size(), joint_command_values_.size());
   EXPECT_EQ(
-    command_intefaces.names[CMD_TRACTION_RIGHT_WHEEL],
+    cmd_if_conf.names[CMD_TRACTION_RIGHT_WHEEL],
     preceeding_prefix_ + "/" + rear_wheels_names_[0] + "/" + traction_interface_name_);
   EXPECT_EQ(
-    command_intefaces.names[CMD_TRACTION_LEFT_WHEEL],
+    cmd_if_conf.names[CMD_TRACTION_LEFT_WHEEL],
     preceeding_prefix_ + "/" + rear_wheels_names_[1] + "/" + traction_interface_name_);
   EXPECT_EQ(
-    command_intefaces.names[CMD_STEER_RIGHT_WHEEL],
+    cmd_if_conf.names[CMD_STEER_RIGHT_WHEEL],
     preceeding_prefix_ + "/" + front_wheels_names_[0] + "/" + steering_interface_name_);
   EXPECT_EQ(
-    command_intefaces.names[CMD_STEER_LEFT_WHEEL],
+    cmd_if_conf.names[CMD_STEER_LEFT_WHEEL],
     preceeding_prefix_ + "/" + front_wheels_names_[1] + "/" + steering_interface_name_);
+  EXPECT_EQ(cmd_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL);
 
-  auto state_intefaces = controller_->state_interface_configuration();
-  ASSERT_EQ(state_intefaces.names.size(), joint_state_values_.size());
+  auto state_if_conf = controller_->state_interface_configuration();
+  ASSERT_EQ(state_if_conf.names.size(), joint_state_values_.size());
   EXPECT_EQ(
-    state_intefaces.names[STATE_TRACTION_RIGHT_WHEEL],
+    state_if_conf.names[STATE_TRACTION_RIGHT_WHEEL],
     controller_->rear_wheels_state_names_[0] + "/" + traction_interface_name_);
   EXPECT_EQ(
-    state_intefaces.names[STATE_TRACTION_LEFT_WHEEL],
+    state_if_conf.names[STATE_TRACTION_LEFT_WHEEL],
     controller_->rear_wheels_state_names_[1] + "/" + traction_interface_name_);
   EXPECT_EQ(
-    state_intefaces.names[STATE_STEER_RIGHT_WHEEL],
+    state_if_conf.names[STATE_STEER_RIGHT_WHEEL],
     controller_->front_wheels_state_names_[0] + "/" + steering_interface_name_);
   EXPECT_EQ(
-    state_intefaces.names[STATE_STEER_LEFT_WHEEL],
+    state_if_conf.names[STATE_STEER_LEFT_WHEEL],
     controller_->front_wheels_state_names_[1] + "/" + steering_interface_name_);
+  EXPECT_EQ(state_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL);
 
   // check ref itfs
   auto reference_interfaces = controller_->export_reference_interfaces();

admittance_controller/CHANGELOG.rst

@@ -2,6 +2,12 @@
 Changelog for package admittance_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.5.0 (2024-01-31)
+------------------
+* Add tests for `interface_configuration_type` consistently (`#899 <https://github.com/ros-controls/ros2_controllers/issues/899>`_)
+* Let sphinx add parameter description with nested structures to documentation (`#652 <https://github.com/ros-controls/ros2_controllers/issues/652>`_)
+* Contributors: Christoph Fröhlich
+
 4.4.0 (2024-01-11)
 ------------------
 

admittance_controller/doc/userdoc.rst

@@ -17,10 +17,14 @@ ROS 2 interface of the controller
 Parameters
 ^^^^^^^^^^^
 
-The admittance controller's uses the `generate_parameter_library <https://github.com/PickNikRobotics/generate_parameter_library>`_ to handle its parameters.
-The parameter `definition file located in the src folder <https://github.com/ros-controls/ros2_controllers/blob/{REPOS_FILE_BRANCH}/admittance_controller/src/admittance_controller_parameters.yaml>`_ contains descriptions for all the parameters used by the controller.
-An example parameter file can be found in the `test folder of the controller <https://github.com/ros-controls/ros2_controllers/blob/{REPOS_FILE_BRANCH}/admittance_controller/test/test_params.yaml>`_
+The admittance controller uses the `generate_parameter_library <https://github.com/PickNikRobotics/generate_parameter_library>`_ to handle its parameters. The parameter `definition file located in the src folder <https://github.com/ros-controls/ros2_controllers/blob/{REPOS_FILE_BRANCH}/admittance_controller/src/admittance_controller_parameters.yaml>`_ contains descriptions for all the parameters used by the controller.
 
+.. generate_parameter_library_details:: ../src/admittance_controller_parameters.yaml
+
+An example parameter file for this controller can be found in `the test folder <https://github.com/ros-controls/ros2_controllers/blob/{REPOS_FILE_BRANCH}/admittance_controller/test/test_params.yaml>`_:
+
+.. literalinclude:: ../test/test_params.yaml
+   :language: yaml
 
 Topics
 ^^^^^^^

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>4.4.0</version>
+  <version>4.5.0</version>
   <description>Implementation of admittance controllers for different input and output interface.</description>
   <maintainer email="[email protected]">Denis Štogl</maintainer>
   <maintainer email="[email protected]">Bence Magyar</maintainer>
@@ -34,6 +34,7 @@
 
   <test_depend>ament_cmake_gmock</test_depend>
   <test_depend>controller_manager</test_depend>
+  <test_depend>hardware_interface_testing</test_depend>
   <test_depend>kinematics_interface_kdl</test_depend>
   <test_depend>ros2_control_test_assets</test_depend>
 

admittance_controller/test/test_admittance_controller.cpp

@@ -157,12 +157,15 @@ TEST_F(AdmittanceControllerTest, check_interfaces)
 
   auto command_interfaces = controller_->command_interface_configuration();
   ASSERT_EQ(command_interfaces.names.size(), joint_command_values_.size());
+  EXPECT_EQ(
+    command_interfaces.type, controller_interface::interface_configuration_type::INDIVIDUAL);
 
   ASSERT_EQ(
     controller_->command_interfaces_.size(), command_interface_types_.size() * joint_names_.size());
 
   auto state_interfaces = controller_->state_interface_configuration();
   ASSERT_EQ(state_interfaces.names.size(), joint_state_values_.size() + fts_state_values_.size());
+  EXPECT_EQ(state_interfaces.type, controller_interface::interface_configuration_type::INDIVIDUAL);
 
   ASSERT_EQ(
     controller_->state_interfaces_.size(),

bicycle_steering_controller/CHANGELOG.rst

@@ -2,6 +2,11 @@
 Changelog for package bicycle_steering_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.5.0 (2024-01-31)
+------------------
+* Add tests for `interface_configuration_type` consistently (`#899 <https://github.com/ros-controls/ros2_controllers/issues/899>`_)
+* Contributors: Christoph Fröhlich
+
 4.4.0 (2024-01-11)
 ------------------
 

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>4.4.0</version>
+  <version>4.5.0</version>
   <description>Steering controller with bicycle kinematics. Rear fixed wheel is powering the vehicle and front wheel is steering.</description>
   <license>Apache License 2.0</license>
   <maintainer email="[email protected]">Bence Magyar</maintainer>
@@ -28,6 +28,7 @@
   <test_depend>ament_cmake_gmock</test_depend>
   <test_depend>controller_manager</test_depend>
   <test_depend>hardware_interface</test_depend>
+  <test_depend>hardware_interface_testing</test_depend>
   <test_depend>ros2_control_test_assets</test_depend>
 
   <export>