Merge branch 'master' into gpio_controllers

admittance_controller/CHANGELOG.rst

@@ -0,0 +1,110 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package admittance_controller
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+2.14.0 (2022-11-18)
+-------------------
+* Bring admittance_controller version up to speed
+* [AdmittanceController] Add missing dependecies for the tests (`#465 <https://github.com/ros-controls/ros2_controllers/issues/465>`_)
+  We need a concrete implementation of `kinematics_interface` for tests to work. We use `kinematics_interface_kdl` implementation in the tests.
+* Fix parameter library export (`#448 <https://github.com/ros-controls/ros2_controllers/issues/448>`_)
+* Add generic admittance controller for TCP wrenches (`#370 <https://github.com/ros-controls/ros2_controllers/issues/370>`_)
+  Co-authored-by: AndyZe <[email protected]>
+  Co-authored-by: Denis Štogl <[email protected]>
+* Contributors: Bence Magyar, Denis Štogl, Paul Gesel, Tyler Weaver
+
+* Bring admittance_controller version up to speed
+* [AdmittanceController] Add missing dependecies for the tests (`#465 <https://github.com/ros-controls/ros2_controllers/issues/465>`_)
+  We need a concrete implementation of `kinematics_interface` for tests to work. We use `kinematics_interface_kdl` implementation in the tests.
+* Fix parameter library export (`#448 <https://github.com/ros-controls/ros2_controllers/issues/448>`_)
+* Add generic admittance controller for TCP wrenches (`#370 <https://github.com/ros-controls/ros2_controllers/issues/370>`_)
+  Co-authored-by: AndyZe <[email protected]>
+  Co-authored-by: Denis Štogl <[email protected]>
+* Contributors: Bence Magyar, Denis Štogl, Paul Gesel, Tyler Weaver
+
+2.13.0 (2022-10-05)
+-------------------
+
+2.12.0 (2022-09-01)
+-------------------
+
+2.11.0 (2022-08-04)
+-------------------
+
+2.10.0 (2022-08-01)
+-------------------
+
+2.9.0 (2022-07-14)
+------------------
+
+2.8.0 (2022-07-09)
+------------------
+
+2.7.0 (2022-07-03)
+------------------
+
+2.6.0 (2022-06-18)
+------------------
+
+2.5.0 (2022-05-13)
+------------------
+
+2.4.0 (2022-04-29)
+------------------
+
+2.3.0 (2022-04-21)
+------------------
+
+2.2.0 (2022-03-25)
+------------------
+
+2.1.0 (2022-02-23)
+------------------
+
+2.0.1 (2022-02-01)
+------------------
+
+2.0.0 (2022-01-28)
+------------------
+
+1.3.0 (2022-01-11)
+------------------
+
+1.2.0 (2021-12-29)
+------------------
+
+1.1.0 (2021-10-25)
+------------------
+
+1.0.0 (2021-09-29)
+------------------
+
+0.5.0 (2021-08-30)
+------------------
+
+0.4.1 (2021-07-08)
+------------------
+
+0.4.0 (2021-06-28)
+------------------
+
+0.3.1 (2021-05-23)
+------------------
+
+0.3.0 (2021-05-21)
+------------------
+
+0.2.1 (2021-05-03)
+------------------
+
+0.2.0 (2021-02-06)
+------------------
+
+0.1.2 (2021-01-07)
+------------------
+
+0.1.1 (2021-01-06)
+------------------
+
+0.1.0 (2020-12-23)
+------------------

admittance_controller/package.xml

@@ -2,9 +2,10 @@
 <?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>0.0.0</version>
+  <version>2.14.0</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>
   <maintainer email="[email protected]">Andy Zelenak</maintainer>
   <license>Apache License 2.0</license>
 
@@ -30,11 +31,11 @@
   <depend>tf2_ros</depend>
   <depend>trajectory_msgs</depend>
 
-
   <test_depend>ament_cmake_gmock</test_depend>
   <test_depend>control_msgs</test_depend>
   <test_depend>controller_manager</test_depend>
   <test_depend>hardware_interface</test_depend>
+  <test_depend>kinematics_interface_kdl</test_depend>
   <test_depend>ros2_control_test_assets</test_depend>
 
   <export>

diff_drive_controller/CHANGELOG.rst

@@ -2,6 +2,12 @@
 Changelog for package diff_drive_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.14.0 (2022-11-18)
+-------------------
+* Odom Topic & Frame Namespaces  (`#461 <https://github.com/ros-controls/ros2_controllers/issues/461>`_)
+* Write detailed Diff-Drive-Controller documentation to make all the interfaces understandable. (`#371 <https://github.com/ros-controls/ros2_controllers/issues/371>`_)
+* Contributors: Denis Štogl, sp-sophia-labs
+
 2.13.0 (2022-10-05)
 -------------------
 

diff_drive_controller/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>diff_drive_controller</name>
-  <version>2.13.0</version>
+  <version>2.14.0</version>
   <description>Controller for a differential drive mobile base.</description>
   <maintainer email="[email protected]">Bence Magyar</maintainer>
   <maintainer email="[email protected]">Jordan Palacios</maintainer>

effort_controllers/CHANGELOG.rst

@@ -2,6 +2,9 @@
 Changelog for package effort_controllers
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.14.0 (2022-11-18)
+-------------------
+
 2.13.0 (2022-10-05)
 -------------------
 

effort_controllers/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>effort_controllers</name>
-  <version>2.13.0</version>
+  <version>2.14.0</version>
   <description>Generic controller for forwarding commands.</description>
   <maintainer email="[email protected]">Bence Magyar</maintainer>
   <maintainer email="[email protected]">Jordan Palacios</maintainer>

force_torque_sensor_broadcaster/CHANGELOG.rst

@@ -2,6 +2,11 @@
 Changelog for package force_torque_sensor_broadcaster
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.14.0 (2022-11-18)
+-------------------
+* Fix parameter library export (`#448 <https://github.com/ros-controls/ros2_controllers/issues/448>`_)
+* Contributors: Tyler Weaver
+
 2.13.0 (2022-10-05)
 -------------------
 

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>2.13.0</version>
+  <version>2.14.0</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>

forward_command_controller/CHANGELOG.rst

@@ -2,6 +2,11 @@
 Changelog for package forward_command_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.14.0 (2022-11-18)
+-------------------
+* Generate params for ForwardCommandController (`#396 <https://github.com/ros-controls/ros2_controllers/issues/396>`_)
+* Contributors: Tyler Weaver
+
 2.13.0 (2022-10-05)
 -------------------
 

forward_command_controller/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>forward_command_controller</name>
-  <version>2.13.0</version>
+  <version>2.14.0</version>
   <description>Generic controller for forwarding commands.</description>
   <maintainer email="[email protected]">Bence Magyar</maintainer>
   <maintainer email="[email protected]">Jordan Palacios</maintainer>

gripper_controllers/CHANGELOG.rst

@@ -2,6 +2,12 @@
 Changelog for package gripper_controllers
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.14.0 (2022-11-18)
+-------------------
+* Use optional from C++17 (`#460 <https://github.com/ros-controls/ros2_controllers/issues/460>`_)
+* Generate parameters for Gripper Action (`#398 <https://github.com/ros-controls/ros2_controllers/issues/398>`_)
+* Contributors: Bence Magyar, Tyler Weaver
+
 2.13.0 (2022-10-05)
 -------------------
 

gripper_controllers/CMakeLists.txt

@@ -63,6 +63,15 @@ if(BUILD_TESTING)
     controller_manager
     ros2_control_test_assets
   )
+
+  ament_add_gmock(
+    test_gripper_controllers
+    test/test_gripper_controllers.cpp
+  )
+  target_include_directories(test_gripper_controllers PRIVATE include)
+  target_link_libraries(test_gripper_controllers
+    gripper_action_controller
+  )
 endif()
 
 install(

gripper_controllers/include/gripper_controllers/gripper_action_controller.hpp

@@ -107,7 +107,7 @@ class GripperActionController : public controller_interface::ControllerInterface
   // pre-allocated memory that is re-used to set the realtime buffer
   Commands command_struct_, command_struct_rt_;
 
-private:
+protected:
   using GripperCommandAction = control_msgs::action::GripperCommand;
   using ActionServer = rclcpp_action::Server<GripperCommandAction>;
   using ActionServerPtr = ActionServer::SharedPtr;

gripper_controllers/include/gripper_controllers/gripper_action_controller_impl.hpp

@@ -211,7 +211,7 @@ controller_interface::CallbackReturn GripperActionController<HardwareInterface>:
   // Controlled joint
   if (params_.joint.empty())
   {
-    RCLCPP_ERROR(logger, "Could not find joint name on param server");
+    RCLCPP_ERROR(logger, "Joint name cannot be empty");
     return controller_interface::CallbackReturn::ERROR;
   }
 

gripper_controllers/package.xml

@@ -4,7 +4,7 @@
   schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>gripper_controllers</name>
-  <version>2.13.0</version>
+  <version>2.14.0</version>
   <description>The gripper_controllers package</description>
   <maintainer email="[email protected]">Bence Magyar</maintainer>