Merge branch 'humble' into mergify/bp/humble/pr-889

ros-controls · Jan 11, 2024 · 5adf925 · 5adf925
2 parents d0f4e84 + cb1ddfb
commit 5adf925
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diff --git a/.github/workflows/ci-ros-lint.yml b/.github/workflows/ci-ros-lint.yml
@@ -5,37 +5,46 @@ on:
 jobs:
   ament_lint:
     name: ament_${{ matrix.linter }}
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-22.04
     strategy:
       fail-fast: false
       matrix:
           linter: [cppcheck, copyright, lint_cmake]
+    env:
+      AMENT_CPPCHECK_ALLOW_SLOW_VERSIONS: true
     steps:
     - uses: actions/checkout@v4
     - uses: ros-tooling/[email protected]
     - uses: ros-tooling/[email protected]
       with:
-        distribution: rolling
+        distribution: humble
         linter: ${{ matrix.linter }}
         package-name:
+          ackermann_steering_controller
+          admittance_controller
+          bicycle_steering_controller
           diff_drive_controller
           effort_controllers
           force_torque_sensor_broadcaster
           forward_command_controller
+          gripper_controllers
+          imu_sensor_broadcaster
           joint_state_broadcaster
           joint_trajectory_controller
-          gripper_controllers
           position_controllers
           range_sensor_broadcaster
           ros2_controllers
           ros2_controllers_test_nodes
+          rqt_joint_trajectory_controller
+          steering_controllers_library
           tricycle_controller
+          tricycle_steering_controller
           velocity_controllers
 
 
   ament_lint_100:
     name: ament_${{ matrix.linter }}
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-22.04
     strategy:
       fail-fast: false
       matrix:
@@ -45,20 +54,27 @@ jobs:
     - uses: ros-tooling/[email protected]
     - uses: ros-tooling/[email protected]
       with:
-        distribution: rolling
+        distribution: humble
         linter: cpplint
         arguments: "--linelength=100 --filter=-whitespace/newline"
         package-name:
+          ackermann_steering_controller
+          admittance_controller
+          bicycle_steering_controller
           diff_drive_controller
           effort_controllers
           force_torque_sensor_broadcaster
           forward_command_controller
+          gripper_controllers
+          imu_sensor_broadcaster
           joint_state_broadcaster
           joint_trajectory_controller
-          gripper_controllers
           position_controllers
           range_sensor_broadcaster
           ros2_controllers
           ros2_controllers_test_nodes
+          rqt_joint_trajectory_controller
+          steering_controllers_library
           tricycle_controller
+          tricycle_steering_controller
           velocity_controllers
diff --git a/.github/workflows/reviewer_lottery.yml b/.github/workflows/reviewer_lottery.yml
@@ -6,6 +6,7 @@ on:
 jobs:
   test:
     runs-on: ubuntu-latest
+    if: github.actor != 'dependabot[bot]' && github.actor != 'mergify[bot]'
     steps:
     - uses: actions/checkout@v4
     - uses: uesteibar/reviewer-lottery@v3

diff --git a/ackermann_steering_controller/CHANGELOG.rst b/ackermann_steering_controller/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package ackermann_steering_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.31.0 (2024-01-11)
+-------------------
+
 2.30.0 (2023-12-20)
 -------------------
 

diff --git a/ackermann_steering_controller/package.xml b/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>2.30.0</version>
+  <version>2.31.0</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>

diff --git a/admittance_controller/CHANGELOG.rst b/admittance_controller/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package admittance_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.31.0 (2024-01-11)
+-------------------
+
 2.30.0 (2023-12-20)
 -------------------
 

diff --git a/admittance_controller/package.xml b/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>2.30.0</version>
+  <version>2.31.0</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>

diff --git a/bicycle_steering_controller/CHANGELOG.rst b/bicycle_steering_controller/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package bicycle_steering_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.31.0 (2024-01-11)
+-------------------
+
 2.30.0 (2023-12-20)
 -------------------
 

diff --git a/bicycle_steering_controller/package.xml b/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>2.30.0</version>
+  <version>2.31.0</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>

diff --git a/diff_drive_controller/CHANGELOG.rst b/diff_drive_controller/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package diff_drive_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.31.0 (2024-01-11)
+-------------------
+
 2.30.0 (2023-12-20)
 -------------------
 * [DiffDriveController] Optional tf namespace prefixes instead of using node namespace (backport `#533 <https://github.com/ros-controls/ros2_controllers/issues/533>`_) (`#726 <https://github.com/ros-controls/ros2_controllers/issues/726>`_)

diff --git a/diff_drive_controller/package.xml b/diff_drive_controller/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>diff_drive_controller</name>
-  <version>2.30.0</version>
+  <version>2.31.0</version>
   <description>Controller for a differential drive mobile base.</description>
   <maintainer email="[email protected]">Bence Magyar</maintainer>
   <maintainer email="[email protected]">Jordan Palacios</maintainer>

diff --git a/effort_controllers/CHANGELOG.rst b/effort_controllers/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package effort_controllers
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.31.0 (2024-01-11)
+-------------------
+
 2.30.0 (2023-12-20)
 -------------------
 

diff --git a/effort_controllers/package.xml b/effort_controllers/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>effort_controllers</name>
-  <version>2.30.0</version>
+  <version>2.31.0</version>
   <description>Generic controller for forwarding commands.</description>
   <maintainer email="[email protected]">Bence Magyar</maintainer>
   <maintainer email="[email protected]">Jordan Palacios</maintainer>

diff --git a/force_torque_sensor_broadcaster/CHANGELOG.rst b/force_torque_sensor_broadcaster/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package force_torque_sensor_broadcaster
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.31.0 (2024-01-11)
+-------------------
+
 2.30.0 (2023-12-20)
 -------------------
 

diff --git a/force_torque_sensor_broadcaster/package.xml b/force_torque_sensor_broadcaster/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>force_torque_sensor_broadcaster</name>
-  <version>2.30.0</version>
+  <version>2.31.0</version>
   <description>Controller to publish state of force-torque sensors.</description>
   <maintainer email="[email protected]">Bence Magyar</maintainer>
   <maintainer email="[email protected]">Denis Štogl</maintainer>

diff --git a/forward_command_controller/CHANGELOG.rst b/forward_command_controller/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package forward_command_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.31.0 (2024-01-11)
+-------------------
+
 2.30.0 (2023-12-20)
 -------------------
 

diff --git a/forward_command_controller/package.xml b/forward_command_controller/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>forward_command_controller</name>
-  <version>2.30.0</version>
+  <version>2.31.0</version>
   <description>Generic controller for forwarding commands.</description>
   <maintainer email="[email protected]">Bence Magyar</maintainer>
   <maintainer email="[email protected]">Jordan Palacios</maintainer>

diff --git a/gripper_controllers/CHANGELOG.rst b/gripper_controllers/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package gripper_controllers
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.31.0 (2024-01-11)
+-------------------
+
 2.30.0 (2023-12-20)
 -------------------
 

diff --git a/gripper_controllers/package.xml b/gripper_controllers/package.xml
@@ -4,7 +4,7 @@
   schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>gripper_controllers</name>
-  <version>2.30.0</version>
+  <version>2.31.0</version>
   <description>The gripper_controllers package</description>
   <maintainer email="[email protected]">Bence Magyar</maintainer>
 

diff --git a/imu_sensor_broadcaster/CHANGELOG.rst b/imu_sensor_broadcaster/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package imu_sensor_broadcaster
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.31.0 (2024-01-11)
+-------------------
+
 2.30.0 (2023-12-20)
 -------------------
 

diff --git a/imu_sensor_broadcaster/package.xml b/imu_sensor_broadcaster/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>imu_sensor_broadcaster</name>
-  <version>2.30.0</version>
+  <version>2.31.0</version>
   <description>Controller to publish readings of IMU sensors.</description>
   <maintainer email="[email protected]">Bence Magyar</maintainer>
   <maintainer email="[email protected]">Denis Štogl</maintainer>

diff --git a/joint_state_broadcaster/CHANGELOG.rst b/joint_state_broadcaster/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package joint_state_broadcaster
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.31.0 (2024-01-11)
+-------------------
+
 2.30.0 (2023-12-20)
 -------------------
 

diff --git a/joint_state_broadcaster/package.xml b/joint_state_broadcaster/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>joint_state_broadcaster</name>
-  <version>2.30.0</version>
+  <version>2.31.0</version>
   <description>Broadcaster to publish joint state</description>
   <maintainer email="[email protected]">Bence Magyar</maintainer>
   <maintainer email="[email protected]">Denis Stogl</maintainer>

diff --git a/joint_trajectory_controller/CHANGELOG.rst b/joint_trajectory_controller/CHANGELOG.rst
@@ -2,6 +2,15 @@
 Changelog for package joint_trajectory_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.31.0 (2024-01-11)
+-------------------
+* [JTC] Remove read_only from 'joints', 'state_interfaces' and 'command_interfaces' parameters (`#967 <https://github.com/ros-controls/ros2_controllers/issues/967>`_) (`#968 <https://github.com/ros-controls/ros2_controllers/issues/968>`_)
+* [JTC] Add console output for tolerance checks (backport `#932 <https://github.com/ros-controls/ros2_controllers/issues/932>`_) (`#938 <https://github.com/ros-controls/ros2_controllers/issues/938>`_)
+* [JTC] Cleanup includes (`#943 <https://github.com/ros-controls/ros2_controllers/issues/943>`_) (`#959 <https://github.com/ros-controls/ros2_controllers/issues/959>`_)
+* Fix whitespace
+* Add rqt_JTC to docs (`#950 <https://github.com/ros-controls/ros2_controllers/issues/950>`_) (`#952 <https://github.com/ros-controls/ros2_controllers/issues/952>`_)
+* Contributors: Bence Magyar, mergify[bot]
+
 2.30.0 (2023-12-20)
 -------------------
 * Fix floating point comparison in JTC (backport `#879 <https://github.com/ros-controls/ros2_controllers/issues/879>`_)

diff --git a/joint_trajectory_controller/doc/userdoc.rst b/joint_trajectory_controller/doc/userdoc.rst
@@ -194,6 +194,7 @@ Further information
 
    Trajectory Representation <trajectory.rst>
    joint_trajectory_controller Parameters <parameters.rst>
+   rqt_joint_trajectory_controller <../../rqt_joint_trajectory_controller/doc/userdoc.rst>
 
 
 .. rubric:: Footnote

diff --git a/...trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller.hpp b/...trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller.hpp
@@ -16,10 +16,9 @@
 #define JOINT_TRAJECTORY_CONTROLLER__JOINT_TRAJECTORY_CONTROLLER_HPP_
 
 #include <chrono>
+#include <functional>  // for std::reference_wrapper
 #include <memory>
-#include <mutex>
 #include <string>
-#include <utility>
 #include <vector>
 
 #include "control_msgs/action/follow_joint_trajectory.hpp"
@@ -30,15 +29,15 @@
 #include "hardware_interface/types/hardware_interface_type_values.hpp"
 #include "joint_trajectory_controller/interpolation_methods.hpp"
 #include "joint_trajectory_controller/tolerances.hpp"
+#include "joint_trajectory_controller/trajectory.hpp"
 #include "joint_trajectory_controller/visibility_control.h"
 #include "rclcpp/duration.hpp"
 #include "rclcpp/subscription.hpp"
 #include "rclcpp/time.hpp"
 #include "rclcpp/timer.hpp"
 #include "rclcpp_action/server.hpp"
-#include "rclcpp_action/types.hpp"
-#include "rclcpp_lifecycle/lifecycle_publisher.hpp"
 #include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp"
+#include "rclcpp_lifecycle/state.hpp"
 #include "realtime_tools/realtime_buffer.h"
 #include "realtime_tools/realtime_publisher.h"
 #include "realtime_tools/realtime_server_goal_handle.h"
@@ -49,19 +48,8 @@
 
 using namespace std::chrono_literals;  // NOLINT
 
-namespace rclcpp_action
-{
-template <typename ActionT>
-class ServerGoalHandle;
-}  // namespace rclcpp_action
-namespace rclcpp_lifecycle
-{
-class State;
-}  // namespace rclcpp_lifecycle
-
 namespace joint_trajectory_controller
 {
-class Trajectory;
 
 class JointTrajectoryController : public controller_interface::ControllerInterface
 {

diff --git a/joint_trajectory_controller/include/joint_trajectory_controller/tolerances.hpp b/joint_trajectory_controller/include/joint_trajectory_controller/tolerances.hpp
@@ -30,9 +30,6 @@
 #ifndef JOINT_TRAJECTORY_CONTROLLER__TOLERANCES_HPP_
 #define JOINT_TRAJECTORY_CONTROLLER__TOLERANCES_HPP_
 
-#include <cassert>
-#include <cmath>
-#include <string>
 #include <vector>
 
 #include "control_msgs/action/follow_joint_trajectory.hpp"
@@ -150,7 +147,7 @@ inline bool check_state_tolerance_per_joint(
   if (show_errors)
   {
     const auto logger = rclcpp::get_logger("tolerances");
-    RCLCPP_ERROR(logger, "Path state tolerances failed:");
+    RCLCPP_ERROR(logger, "State tolerances failed for joint %d:", joint_idx);
 
     if (state_tolerance.position > 0.0 && abs(error_position) > state_tolerance.position)
     {

diff --git a/joint_trajectory_controller/package.xml b/joint_trajectory_controller/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>joint_trajectory_controller</name>
-  <version>2.30.0</version>
+  <version>2.31.0</version>
   <description>Controller for executing joint-space trajectories on a group of joints</description>
   <maintainer email="[email protected]">Bence Magyar</maintainer>
   <maintainer email="[email protected]">Dr. Denis Štogl</maintainer>