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

ros-controls · Dec 21, 2023 · be6810c · be6810c
2 parents a580d3a + 799c399
commit be6810c
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diff --git a/.github/workflows/reusable-industrial-ci-with-cache.yml b/.github/workflows/reusable-industrial-ci-with-cache.yml
@@ -66,14 +66,14 @@ jobs:
           ref: ${{ inputs.ref_for_scheduled_build }}
       - name: cache target_ws
         if: ${{ ! matrix.env.CCOV }}
-        uses: pat-s/always-upload-cache@v2.1.5
+        uses: pat-s/always-upload-cache@v3.0.11
         with:
           path: ${{ env.BASEDIR }}/target_ws
           key: target_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('**/CMakeLists.txt', '**/package.xml') }}-${{ github.run_id }}
           restore-keys: |
             target_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('**/CMakeLists.txt', '**/package.xml') }}
       - name: cache ccache
-        uses: pat-s/always-upload-cache@v2.1.5
+        uses: pat-s/always-upload-cache@v3.0.11
         with:
           path: ${{ env.CCACHE_DIR }}
           key: ccache-${{ env.CACHE_PREFIX }}-${{ github.sha }}-${{ github.run_id }}

diff --git a/ackermann_steering_controller/CHANGELOG.rst b/ackermann_steering_controller/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package ackermann_steering_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.30.0 (2023-12-20)
+-------------------
+
 2.29.0 (2023-12-05)
 -------------------
 

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>2.29.0</version>
+  <version>2.30.0</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
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.30.0 (2023-12-20)
+-------------------
+
 2.29.0 (2023-12-05)
 -------------------
 

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>2.29.0</version>
+  <version>2.30.0</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
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.30.0 (2023-12-20)
+-------------------
+
 2.29.0 (2023-12-05)
 -------------------
 

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>2.29.0</version>
+  <version>2.30.0</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 +2,11 @@
 Changelog for package diff_drive_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+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>`_)
+* Contributors: mergify[bot]
+
 2.29.0 (2023-12-05)
 -------------------
 

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>2.29.0</version>
+  <version>2.30.0</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
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.30.0 (2023-12-20)
+-------------------
+
 2.29.0 (2023-12-05)
 -------------------
 

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>2.29.0</version>
+  <version>2.30.0</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
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.30.0 (2023-12-20)
+-------------------
+
 2.29.0 (2023-12-05)
 -------------------
 * [ForceTorqueSensorBroadcaster] Create ParamListener and get parameters on configure (backport `#698 <https://github.com/ros-controls/ros2_controllers/issues/698>`_) (`#750 <https://github.com/ros-controls/ros2_controllers/issues/750>`_)

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>2.29.0</version>
+  <version>2.30.0</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
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.30.0 (2023-12-20)
+-------------------
+
 2.29.0 (2023-12-05)
 -------------------
 

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>2.29.0</version>
+  <version>2.30.0</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
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.30.0 (2023-12-20)
+-------------------
+
 2.29.0 (2023-12-05)
 -------------------
 * Add test for effort gripper controller (`#769 <https://github.com/ros-controls/ros2_controllers/issues/769>`_) (`#867 <https://github.com/ros-controls/ros2_controllers/issues/867>`_)

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>2.29.0</version>
+  <version>2.30.0</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
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.30.0 (2023-12-20)
+-------------------
+
 2.29.0 (2023-12-05)
 -------------------
 

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>2.29.0</version>
+  <version>2.30.0</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
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.30.0 (2023-12-20)
+-------------------
+
 2.29.0 (2023-12-05)
 -------------------
 

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>2.29.0</version>
+  <version>2.30.0</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 +2,32 @@
 Changelog for package joint_trajectory_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.30.0 (2023-12-20)
+-------------------
+* Fix floating point comparison in JTC (backport `#879 <https://github.com/ros-controls/ros2_controllers/issues/879>`_)
+* [JTC] Continue with last trajectory-point on success (backport `#842 <https://github.com/ros-controls/ros2_controllers/issues/842>`_)
+* [JTC] Remove start_with_holding option (backport `#839 <https://github.com/ros-controls/ros2_controllers/issues/839>`_)
+* [JTC] Activate checks for parameter validation backport (`#857 <https://github.com/ros-controls/ros2_controllers/issues/857>`_)
+* [JTC] Improve update methods for tests (backport `#858 <https://github.com/ros-controls/ros2_controllers/issues/858>`_)
+* [JTC] Fix dynamic reconfigure of tolerances (backport `#849 <https://github.com/ros-controls/ros2_controllers/issues/849>`_)
+* [JTC] Remove unused home pose (backport `#845 <https://github.com/ros-controls/ros2_controllers/issues/845>`_)
+* [JTC] Activate update of dynamic parameters (backport `#761 <https://github.com/ros-controls/ros2_controllers/issues/761>`_)
+* [JTC] Fix tests when state offset is used (backport `#797 <https://github.com/ros-controls/ros2_controllers/issues/797>`_)
+* Rename wraparound class variables (backport `#834 <https://github.com/ros-controls/ros2_controllers/issues/834>`_)
+* Update requirements of state interfaces (backport `#798 <https://github.com/ros-controls/ros2_controllers/issues/798>`_)
+* [JTC] Fix typos, implicit cast, const member functions (backport `#748 <https://github.com/ros-controls/ros2_controllers/issues/748>`_)
+* Cleanup comments and unnecessary checks (backport `#803 <https://github.com/ros-controls/ros2_controllers/issues/803>`_)
+* [JTC] Add tests for acceleration command interface (backport `#752 <https://github.com/ros-controls/ros2_controllers/issues/752>`_)
+* [Docs] Improve interface description of JTC (backport `#770 <https://github.com/ros-controls/ros2_controllers/issues/770>`_)
+* [JTC] Add time-out for trajectory interfaces (backport `#609 <https://github.com/ros-controls/ros2_controllers/issues/609>`_)
+* [JTC] Fix hold position mode with goal_time>0 (backport `#758 <https://github.com/ros-controls/ros2_controllers/issues/758>`_)
+* [JTC] Add note on goal_time=0 in docs (backport `#773 <https://github.com/ros-controls/ros2_controllers/issues/773>`_)
+* [JTC] Make most parameters read-only (backport `#771 <https://github.com/ros-controls/ros2_controllers/issues/771>`_)
+* [JTC] Tolerance tests + Hold on time violation (backport `#613 <https://github.com/ros-controls/ros2_controllers/issues/613>`_)
+* [JTC] Explicitly set hold position (backport `#558 <https://github.com/ros-controls/ros2_controllers/issues/558>`_)
+* [Doc] Fix links (backport `#715 <https://github.com/ros-controls/ros2_controllers/issues/715>`_)
+* Contributors: Christoph Fröhlich, Dr Denis Stogl, Bence Magyar, Abishalini Sivaraman	
+
 2.29.0 (2023-12-05)
 -------------------
 

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>2.29.0</version>
+  <version>2.30.0</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>

diff --git a/position_controllers/CHANGELOG.rst b/position_controllers/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package position_controllers
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.30.0 (2023-12-20)
+-------------------
+
 2.29.0 (2023-12-05)
 -------------------
 

diff --git a/position_controllers/package.xml b/position_controllers/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>position_controllers</name>
-  <version>2.29.0</version>
+  <version>2.30.0</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/range_sensor_broadcaster/CHANGELOG.rst b/range_sensor_broadcaster/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package range_sensor_broadcaster
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.30.0 (2023-12-20)
+-------------------
+
 2.29.0 (2023-12-05)
 -------------------
 

diff --git a/range_sensor_broadcaster/package.xml b/range_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>range_sensor_broadcaster</name>
-  <version>2.29.0</version>
+  <version>2.30.0</version>
   <description>Controller to publish readings of Range sensors.</description>
   <maintainer email="[email protected]">Bence Magyar</maintainer>
   <author email="[email protected]">Florent Chretien</author>

diff --git a/ros2_controllers/CHANGELOG.rst b/ros2_controllers/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package ros2_controllers
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.30.0 (2023-12-20)
+-------------------
+
 2.29.0 (2023-12-05)
 -------------------
 

diff --git a/ros2_controllers/package.xml b/ros2_controllers/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>ros2_controllers</name>
-  <version>2.29.0</version>
+  <version>2.30.0</version>
   <description>Metapackage for ROS2 controllers related packages</description>
   <maintainer email="[email protected]">Bence Magyar</maintainer>
   <maintainer email="[email protected]">Jordan Palacios</maintainer>

diff --git a/ros2_controllers_test_nodes/CHANGELOG.rst b/ros2_controllers_test_nodes/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package ros2_controllers_test_nodes
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.30.0 (2023-12-20)
+-------------------
+
 2.29.0 (2023-12-05)
 -------------------
 

diff --git a/ros2_controllers_test_nodes/package.xml b/ros2_controllers_test_nodes/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_controllers_test_nodes</name>
-  <version>2.29.0</version>
+  <version>2.30.0</version>
   <description>Demo nodes for showing and testing functionalities of the ros2_control framework.</description>
 
   <maintainer email="[email protected]">Denis Štogl</maintainer>

diff --git a/ros2_controllers_test_nodes/setup.py b/ros2_controllers_test_nodes/setup.py
@@ -20,7 +20,7 @@
 
 setup(
     name=package_name,
-    version="2.29.0",
+    version="2.30.0",
     packages=[package_name],
     data_files=[
         ("share/ament_index/resource_index/packages", ["resource/" + package_name]),

diff --git a/rqt_joint_trajectory_controller/CHANGELOG.rst b/rqt_joint_trajectory_controller/CHANGELOG.rst
@@ -2,6 +2,12 @@
 Changelog for package rqt_joint_trajectory_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.30.0 (2023-12-20)
+-------------------
+* Fix rqt jtc bugs for continuous joints and other minor bugs (`#890 <https://github.com/ros-controls/ros2_controllers/issues/890>`_) (`#897 <https://github.com/ros-controls/ros2_controllers/issues/897>`_)
+* Adapted rqt_jtc to newest control_msgs for jtc (`#643 <https://github.com/ros-controls/ros2_controllers/issues/643>`_) (`#659 <https://github.com/ros-controls/ros2_controllers/issues/659>`_)
+* Contributors: Guillaume Walck, Sai Kishor Kothakota
+
 2.29.0 (2023-12-05)
 -------------------
 

diff --git a/rqt_joint_trajectory_controller/package.xml b/rqt_joint_trajectory_controller/package.xml
@@ -4,7 +4,7 @@
   schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>rqt_joint_trajectory_controller</name>
-  <version>2.29.0</version>
+  <version>2.30.0</version>
   <description>Graphical frontend for interacting with joint_trajectory_controller instances.</description>
 
   <maintainer email="[email protected]">Bence Magyar</maintainer>

diff --git a/rqt_joint_trajectory_controller/setup.py b/rqt_joint_trajectory_controller/setup.py
@@ -7,7 +7,7 @@
 
 setup(
     name=package_name,
-    version="2.29.0",
+    version="2.30.0",
     packages=[package_name],
     data_files=[
         ("share/ament_index/resource_index/packages", ["resource/" + package_name]),

diff --git a/steering_controllers_library/CHANGELOG.rst b/steering_controllers_library/CHANGELOG.rst
@@ -2,6 +2,11 @@
 Changelog for package steering_controllers_library
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.30.0 (2023-12-20)
+-------------------
+* Changing default int values to double in steering controller's yaml file (`#927 <https://github.com/ros-controls/ros2_controllers/issues/927>`_) (`#928 <https://github.com/ros-controls/ros2_controllers/issues/928>`_)
+* Contributors: mergify[bot]
+
 2.29.0 (2023-12-05)
 -------------------
 

diff --git a/steering_controllers_library/package.xml b/steering_controllers_library/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>steering_controllers_library</name>
-  <version>2.29.0</version>
+  <version>2.30.0</version>
   <description>Package for steering robot configurations including odometry and interfaces.</description>
   <license>Apache License 2.0</license>
   <maintainer email="[email protected]">Bence Magyar</maintainer>