diff --git a/ackermann_steering_controller/package.xml b/ackermann_steering_controller/package.xml index 6724245d73..c07b1e32b2 100644 --- a/ackermann_steering_controller/package.xml +++ b/ackermann_steering_controller/package.xml @@ -26,6 +26,7 @@ ament_cmake_gmock controller_manager + hardware_interface_testing hardware_interface ros2_control_test_assets diff --git a/admittance_controller/package.xml b/admittance_controller/package.xml index 666a2e9d0c..587f87af3d 100644 --- a/admittance_controller/package.xml +++ b/admittance_controller/package.xml @@ -34,6 +34,7 @@ ament_cmake_gmock controller_manager + hardware_interface_testing kinematics_interface_kdl ros2_control_test_assets diff --git a/bicycle_steering_controller/package.xml b/bicycle_steering_controller/package.xml index 43e195019f..f175e58471 100644 --- a/bicycle_steering_controller/package.xml +++ b/bicycle_steering_controller/package.xml @@ -27,6 +27,7 @@ ament_cmake_gmock controller_manager hardware_interface + hardware_interface_testing ros2_control_test_assets diff --git a/diff_drive_controller/test/test_load_diff_drive_controller.cpp b/diff_drive_controller/test/test_load_diff_drive_controller.cpp index 1eb8939031..660208c560 100644 --- a/diff_drive_controller/test/test_load_diff_drive_controller.cpp +++ b/diff_drive_controller/test/test_load_diff_drive_controller.cpp @@ -16,6 +16,9 @@ #include #include "controller_manager/controller_manager.hpp" +#include "hardware_interface/resource_manager.hpp" +#include "rclcpp/executor.hpp" +#include "rclcpp/executors/single_threaded_executor.hpp" #include "rclcpp/utilities.hpp" #include "ros2_control_test_assets/descriptions.hpp" diff --git a/effort_controllers/package.xml b/effort_controllers/package.xml index 61d49586f5..5fa5f7058c 100644 --- a/effort_controllers/package.xml +++ b/effort_controllers/package.xml @@ -17,6 +17,8 @@ ament_cmake_gmock controller_manager + hardware_interface_testing + hardware_interface ros2_control_test_assets diff --git a/effort_controllers/test/test_load_joint_group_effort_controller.cpp b/effort_controllers/test/test_load_joint_group_effort_controller.cpp index 61bb1ddf9a..52f1f9934a 100644 --- a/effort_controllers/test/test_load_joint_group_effort_controller.cpp +++ b/effort_controllers/test/test_load_joint_group_effort_controller.cpp @@ -17,7 +17,9 @@ #include "controller_manager/controller_manager.hpp" #include "hardware_interface/resource_manager.hpp" +#include "rclcpp/executor.hpp" #include "rclcpp/executors/single_threaded_executor.hpp" +#include "rclcpp/utilities.hpp" #include "ros2_control_test_assets/descriptions.hpp" TEST(TestLoadJointGroupVelocityController, load_controller) diff --git a/force_torque_sensor_broadcaster/package.xml b/force_torque_sensor_broadcaster/package.xml index 5b393ebc13..ac5979df5b 100644 --- a/force_torque_sensor_broadcaster/package.xml +++ b/force_torque_sensor_broadcaster/package.xml @@ -23,6 +23,7 @@ ament_cmake_gmock controller_manager + hardware_interface_testing ros2_control_test_assets diff --git a/forward_command_controller/package.xml b/forward_command_controller/package.xml index eb88fdc317..ed43626a56 100644 --- a/forward_command_controller/package.xml +++ b/forward_command_controller/package.xml @@ -22,6 +22,7 @@ ament_cmake_gmock controller_manager + hardware_interface_testing ros2_control_test_assets diff --git a/gripper_controllers/package.xml b/gripper_controllers/package.xml index ef6b39eabc..c2e774f22e 100644 --- a/gripper_controllers/package.xml +++ b/gripper_controllers/package.xml @@ -27,6 +27,7 @@ ament_cmake_gmock controller_manager + hardware_interface_testing ros2_control_test_assets diff --git a/gripper_controllers/test/test_load_gripper_action_controllers.cpp b/gripper_controllers/test/test_load_gripper_action_controllers.cpp index 130b12e0bb..0ef5f0bcb2 100644 --- a/gripper_controllers/test/test_load_gripper_action_controllers.cpp +++ b/gripper_controllers/test/test_load_gripper_action_controllers.cpp @@ -17,7 +17,9 @@ #include "controller_manager/controller_manager.hpp" #include "hardware_interface/resource_manager.hpp" +#include "rclcpp/executor.hpp" #include "rclcpp/executors/single_threaded_executor.hpp" +#include "rclcpp/utilities.hpp" #include "ros2_control_test_assets/descriptions.hpp" TEST(TestLoadGripperActionControllers, load_controller) diff --git a/imu_sensor_broadcaster/package.xml b/imu_sensor_broadcaster/package.xml index 7f374866fc..2d44a9f213 100644 --- a/imu_sensor_broadcaster/package.xml +++ b/imu_sensor_broadcaster/package.xml @@ -25,6 +25,7 @@ ament_lint_auto ament_lint_common controller_manager + hardware_interface_testing ros2_control_test_assets diff --git a/joint_state_broadcaster/package.xml b/joint_state_broadcaster/package.xml index 589bc33547..917e430e90 100644 --- a/joint_state_broadcaster/package.xml +++ b/joint_state_broadcaster/package.xml @@ -25,6 +25,7 @@ ament_cmake_gmock controller_manager + hardware_interface_testing hardware_interface rclcpp ros2_control_test_assets diff --git a/joint_trajectory_controller/package.xml b/joint_trajectory_controller/package.xml index 12327fe648..1ce1661849 100644 --- a/joint_trajectory_controller/package.xml +++ b/joint_trajectory_controller/package.xml @@ -28,6 +28,7 @@ ament_cmake_gmock controller_manager + hardware_interface_testing ros2_control_test_assets diff --git a/pid_controller/package.xml b/pid_controller/package.xml new file mode 100644 index 0000000000..70c7bfa987 --- /dev/null +++ b/pid_controller/package.xml @@ -0,0 +1,36 @@ + + + + pid_controller + 4.5.0 + Controller based on PID implememenation from control_toolbox package. + Bence Magyar + Denis Štogl + Denis Štogl + Apache-2.0 + + ament_cmake + + generate_parameter_library + + angles + control_msgs + control_toolbox + controller_interface + hardware_interface + parameter_traits + pluginlib + rclcpp + rclcpp_lifecycle + realtime_tools + std_srvs + + ament_cmake_gmock + controller_manager + hardware_interface_testing + ros2_control_test_assets + + + ament_cmake + + diff --git a/position_controllers/package.xml b/position_controllers/package.xml index 6194eb1140..a32e7ca22f 100644 --- a/position_controllers/package.xml +++ b/position_controllers/package.xml @@ -17,6 +17,8 @@ ament_cmake_gmock controller_manager + hardware_interface_testing + hardware_interface ros2_control_test_assets diff --git a/position_controllers/test/test_load_joint_group_position_controller.cpp b/position_controllers/test/test_load_joint_group_position_controller.cpp index fe61039fdb..bc27b5e629 100644 --- a/position_controllers/test/test_load_joint_group_position_controller.cpp +++ b/position_controllers/test/test_load_joint_group_position_controller.cpp @@ -17,7 +17,9 @@ #include "controller_manager/controller_manager.hpp" #include "hardware_interface/resource_manager.hpp" +#include "rclcpp/executor.hpp" #include "rclcpp/executors/single_threaded_executor.hpp" +#include "rclcpp/utilities.hpp" #include "ros2_control_test_assets/descriptions.hpp" TEST(TestLoadJointGroupPositionController, load_controller) diff --git a/range_sensor_broadcaster/package.xml b/range_sensor_broadcaster/package.xml index 52ac3b19ec..3d7dec2208 100644 --- a/range_sensor_broadcaster/package.xml +++ b/range_sensor_broadcaster/package.xml @@ -22,7 +22,7 @@ ament_cmake_gmock controller_manager - hardware_interface + hardware_interface_testing ros2_control_test_assets diff --git a/tricycle_controller/package.xml b/tricycle_controller/package.xml index 589c63a554..0a72fbd192 100644 --- a/tricycle_controller/package.xml +++ b/tricycle_controller/package.xml @@ -29,6 +29,7 @@ ament_cmake_gmock controller_manager + hardware_interface_testing ros2_control_test_assets diff --git a/tricycle_controller/test/test_load_tricycle_controller.cpp b/tricycle_controller/test/test_load_tricycle_controller.cpp index 9298fae574..229d014fe9 100644 --- a/tricycle_controller/test/test_load_tricycle_controller.cpp +++ b/tricycle_controller/test/test_load_tricycle_controller.cpp @@ -21,7 +21,9 @@ #include "controller_manager/controller_manager.hpp" #include "hardware_interface/resource_manager.hpp" +#include "rclcpp/executor.hpp" #include "rclcpp/executors/single_threaded_executor.hpp" +#include "rclcpp/utilities.hpp" #include "ros2_control_test_assets/descriptions.hpp" TEST(TestLoadTricycleController, load_controller) diff --git a/tricycle_steering_controller/package.xml b/tricycle_steering_controller/package.xml index 32976745a9..45a3a9130f 100644 --- a/tricycle_steering_controller/package.xml +++ b/tricycle_steering_controller/package.xml @@ -27,7 +27,7 @@ ament_cmake_gmock controller_manager - hardware_interface + hardware_interface_testing ros2_control_test_assets diff --git a/velocity_controllers/package.xml b/velocity_controllers/package.xml index c5339d743f..e88779672c 100644 --- a/velocity_controllers/package.xml +++ b/velocity_controllers/package.xml @@ -17,6 +17,7 @@ ament_cmake_gmock controller_manager + hardware_interface_testing hardware_interface ros2_control_test_assets diff --git a/velocity_controllers/test/test_load_joint_group_velocity_controller.cpp b/velocity_controllers/test/test_load_joint_group_velocity_controller.cpp index 1872b5f746..e426349f96 100644 --- a/velocity_controllers/test/test_load_joint_group_velocity_controller.cpp +++ b/velocity_controllers/test/test_load_joint_group_velocity_controller.cpp @@ -17,7 +17,9 @@ #include "controller_manager/controller_manager.hpp" #include "hardware_interface/resource_manager.hpp" +#include "rclcpp/executor.hpp" #include "rclcpp/executors/single_threaded_executor.hpp" +#include "rclcpp/utilities.hpp" #include "ros2_control_test_assets/descriptions.hpp" TEST(TestLoadJointGroupVelocityController, load_controller)