Merge branch 'master' into export/state_interfaces/pid_controller

ros-controls · Aug 22, 2024 · e5540ee · e5540ee
2 parents 8a6039e + cdfc0af
commit e5540ee
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diff --git a/.github/workflows/humble-abi-compatibility.yml b/.github/workflows/humble-abi-compatibility.yml
@@ -8,8 +8,9 @@ on:
       - '**.hpp'
       - '**.h'
       - '**.cpp'
-      - '.github/workflows/humble-abi-compatibility.yml'
+      - '**.py'
       - '**.yaml'
+      - '.github/workflows/humble-abi-compatibility.yml'
       - '**/package.xml'
       - '**/CMakeLists.txt'
       - 'ros2_controllers-not-released.humble.repos'

diff --git a/.github/workflows/humble-binary-build.yml b/.github/workflows/humble-binary-build.yml
@@ -11,8 +11,9 @@ on:
       - '**.hpp'
       - '**.h'
       - '**.cpp'
-      - '.github/workflows/humble-binary-build.yml'
+      - '**.py'
       - '**.yaml'
+      - '.github/workflows/humble-binary-build.yml'
       - '**/package.xml'
       - '**/CMakeLists.txt'
       - 'ros2_controllers-not-released.humble.repos'
@@ -23,8 +24,9 @@ on:
       - '**.hpp'
       - '**.h'
       - '**.cpp'
-      - '.github/workflows/humble-binary-build.yml'
+      - '**.py'
       - '**.yaml'
+      - '.github/workflows/humble-binary-build.yml'
       - '**/package.xml'
       - '**/CMakeLists.txt'
       - 'ros2_controllers-not-released.humble.repos'

diff --git a/.github/workflows/humble-coverage-build.yml b/.github/workflows/humble-coverage-build.yml
@@ -8,9 +8,10 @@ on:
       - '**.hpp'
       - '**.h'
       - '**.cpp'
+      - '**.py'
+      - '**.yaml'
       - '.github/workflows/humble-coverage-build.yml'
       - 'codecov.yml'
-      - '**.yaml'
       - '**/package.xml'
       - '**/CMakeLists.txt'
       - 'ros2_controllers.humble.repos'
@@ -21,9 +22,10 @@ on:
       - '**.hpp'
       - '**.h'
       - '**.cpp'
+      - '**.py'
+      - '**.yaml'
       - '.github/workflows/humble-coverage-build.yml'
       - 'codecov.yml'
-      - '**.yaml'
       - '**/package.xml'
       - '**/CMakeLists.txt'
       - 'ros2_controllers.humble.repos'

diff --git a/.github/workflows/humble-debian-build.yml b/.github/workflows/humble-debian-build.yml
@@ -8,8 +8,9 @@ on:
       - '**.hpp'
       - '**.h'
       - '**.cpp'
-      - '.github/workflows/humble-debian-build.yml'
+      - '**.py'
       - '**.yaml'
+      - '.github/workflows/humble-debian-build.yml'
       - '**/package.xml'
       - '**/CMakeLists.txt'
       - 'ros2_controllers.humble.repos'

diff --git a/.github/workflows/humble-rhel-semi-binary-build.yml b/.github/workflows/humble-rhel-semi-binary-build.yml
@@ -8,8 +8,9 @@ on:
       - '**.hpp'
       - '**.h'
       - '**.cpp'
-      - '.github/workflows/humble-rhel-semi-binary-build.yml'
+      - '**.py'
       - '**.yaml'
+      - '.github/workflows/humble-rhel-semi-binary-build.yml'
       - '**/package.xml'
       - '**/CMakeLists.txt'
       - 'ros2_controllers.humble.repos'

diff --git a/.github/workflows/humble-semi-binary-build.yml b/.github/workflows/humble-semi-binary-build.yml
@@ -10,8 +10,9 @@ on:
       - '**.hpp'
       - '**.h'
       - '**.cpp'
-      - '.github/workflows/humble-semi-binary-build.yml'
+      - '**.py'
       - '**.yaml'
+      - '.github/workflows/humble-semi-binary-build.yml'
       - '**/package.xml'
       - '**/CMakeLists.txt'
       - 'ros2_controllers.humble.repos'
@@ -22,8 +23,9 @@ on:
       - '**.hpp'
       - '**.h'
       - '**.cpp'
-      - '.github/workflows/humble-semi-binary-build.yml'
+      - '**.py'
       - '**.yaml'
+      - '.github/workflows/humble-semi-binary-build.yml'
       - '**/package.xml'
       - '**/CMakeLists.txt'
       - 'ros2_controllers.humble.repos'

diff --git a/.github/workflows/humble-source-build.yml b/.github/workflows/humble-source-build.yml
@@ -8,6 +8,8 @@ on:
       - '**.hpp'
       - '**.h'
       - '**.cpp'
+      - '**.py'
+      - '**.yaml'
       - '.github/workflows/humble-source-build.yml'
       - '**/package.xml'
       - '**/CMakeLists.txt'

diff --git a/.github/workflows/iron-binary-build.yml b/.github/workflows/iron-binary-build.yml
@@ -13,8 +13,9 @@ on:
       - '**.hpp'
       - '**.h'
       - '**.cpp'
-      - '.github/workflows/iron-binary-build.yml'
+      - '**.py'
       - '**.yaml'
+      - '.github/workflows/iron-binary-build.yml'
       - '**/package.xml'
       - '**/CMakeLists.txt'
       - 'ros2_controllers-not-released.iron.repos'
@@ -25,8 +26,9 @@ on:
       - '**.hpp'
       - '**.h'
       - '**.cpp'
-      - '.github/workflows/iron-binary-build.yml'
+      - '**.py'
       - '**.yaml'
+      - '.github/workflows/iron-binary-build.yml'
       - '**/package.xml'
       - '**/CMakeLists.txt'
       - 'ros2_controllers-not-released.iron.repos'

diff --git a/.github/workflows/iron-coverage-build.yml b/.github/workflows/iron-coverage-build.yml
@@ -8,6 +8,7 @@ on:
       - '**.hpp'
       - '**.h'
       - '**.cpp'
+      - '**.py'
       - '**.yaml'
       - '.github/workflows/iron-coverage-build.yml'
       - 'codecov.yml'
@@ -21,6 +22,7 @@ on:
       - '**.hpp'
       - '**.h'
       - '**.cpp'
+      - '**.py'
       - '**.yaml'
       - '.github/workflows/iron-coverage-build.yml'
       - 'codecov.yml'

diff --git a/.github/workflows/iron-debian-build.yml b/.github/workflows/iron-debian-build.yml
@@ -8,6 +8,7 @@ on:
       - '**.hpp'
       - '**.h'
       - '**.cpp'
+      - '**.py'
       - '**.yaml'
       - '.github/workflows/iron-debian-build.yml'
       - '**/package.xml'

diff --git a/.github/workflows/iron-semi-binary-build.yml b/.github/workflows/iron-semi-binary-build.yml
@@ -12,6 +12,7 @@ on:
       - '**.hpp'
       - '**.h'
       - '**.cpp'
+      - '**.py'
       - '**.yaml'
       - '.github/workflows/iron-semi-binary-build.yml'
       - '**/package.xml'

diff --git a/.github/workflows/iron-source-build.yml b/.github/workflows/iron-source-build.yml
@@ -8,6 +8,7 @@ on:
       - '**.hpp'
       - '**.h'
       - '**.cpp'
+      - '**.py'
       - '**.yaml'
       - '.github/workflows/iron-source-build.yml'
       - '**/package.xml'

diff --git a/.github/workflows/jazzy-binary-build.yml b/.github/workflows/jazzy-binary-build.yml
@@ -13,6 +13,7 @@ on:
       - '**.hpp'
       - '**.h'
       - '**.cpp'
+      - '**.py'
       - '**.yaml'
       - '.github/workflows/jazzy-binary-build.yml'
       - '**/package.xml'

diff --git a/.github/workflows/jazzy-debian-build.yml b/.github/workflows/jazzy-debian-build.yml
@@ -8,6 +8,7 @@ on:
       - '**.hpp'
       - '**.h'
       - '**.cpp'
+      - '**.py'
       - '**.yaml'
       - '.github/workflows/jazzy-debian-build.yml'
       - '**/package.xml'

diff --git a/.github/workflows/jazzy-rhel-semi-binary-build.yml b/.github/workflows/jazzy-rhel-semi-binary-build.yml
@@ -8,6 +8,7 @@ on:
       - '**.hpp'
       - '**.h'
       - '**.cpp'
+      - '**.py'
       - '**.yaml'
       - '.github/workflows/jazzy-rhel-semi-binary-build.yml'
       - '**/package.xml'

diff --git a/.github/workflows/jazzy-semi-binary-build.yml b/.github/workflows/jazzy-semi-binary-build.yml
@@ -12,6 +12,7 @@ on:
       - '**.hpp'
       - '**.h'
       - '**.cpp'
+      - '**.py'
       - '**.yaml'
       - '.github/workflows/jazzy-semi-binary-build.yml'
       - '**/package.xml'
@@ -24,6 +25,7 @@ on:
       - '**.hpp'
       - '**.h'
       - '**.cpp'
+      - '**.py'
       - '**.yaml'
       - '.github/workflows/jazzy-semi-binary-build.yml'
       - '**/package.xml'

diff --git a/.github/workflows/jazzy-source-build.yml b/.github/workflows/jazzy-source-build.yml
@@ -8,6 +8,7 @@ on:
       - '**.hpp'
       - '**.h'
       - '**.cpp'
+      - '**.py'
       - '**.yaml'
       - '.github/workflows/jazzy-source-build.yml'
       - '**/package.xml'

diff --git a/.github/workflows/rolling-binary-build.yml b/.github/workflows/rolling-binary-build.yml
@@ -13,6 +13,8 @@ on:
       - '**.hpp'
       - '**.h'
       - '**.cpp'
+      - '**.py'
+      - '**.yaml'
       - '.github/workflows/rolling-binary-build.yml'
       - '**/package.xml'
       - '**/CMakeLists.txt'
@@ -24,6 +26,7 @@ on:
       - '**.hpp'
       - '**.h'
       - '**.cpp'
+      - '**.py'
       - '**.yaml'
       - '.github/workflows/rolling-binary-build.yml'
       - '**/package.xml'

diff --git a/.github/workflows/rolling-coverage-build.yml b/.github/workflows/rolling-coverage-build.yml
@@ -8,6 +8,7 @@ on:
       - '**.hpp'
       - '**.h'
       - '**.cpp'
+      - '**.py'
       - '**.yaml'
       - '.github/workflows/rolling-coverage-build.yml'
       - 'codecov.yml'
@@ -21,6 +22,7 @@ on:
       - '**.hpp'
       - '**.h'
       - '**.cpp'
+      - '**.py'
       - '**.yaml'
       - '.github/workflows/rolling-coverage-build.yml'
       - 'codecov.yml'

diff --git a/.github/workflows/rolling-debian-build.yml b/.github/workflows/rolling-debian-build.yml
@@ -8,6 +8,7 @@ on:
       - '**.hpp'
       - '**.h'
       - '**.cpp'
+      - '**.py'
       - '**.yaml'
       - '.github/workflows/rolling-debian-build.yml'
       - '**/package.xml'

diff --git a/.github/workflows/rolling-rhel-semi-binary-build.yml b/.github/workflows/rolling-rhel-semi-binary-build.yml
@@ -8,6 +8,7 @@ on:
       - '**.hpp'
       - '**.h'
       - '**.cpp'
+      - '**.py'
       - '**.yaml'
       - '.github/workflows/rolling-rhel-semi-binary-build.yml'
       - '**/package.xml'

diff --git a/.github/workflows/rolling-semi-binary-build.yml b/.github/workflows/rolling-semi-binary-build.yml
@@ -12,6 +12,7 @@ on:
       - '**.hpp'
       - '**.h'
       - '**.cpp'
+      - '**.py'
       - '**.yaml'
       - '.github/workflows/rolling-semi-binary-build.yml'
       - '**/package.xml'
@@ -24,6 +25,7 @@ on:
       - '**.hpp'
       - '**.h'
       - '**.cpp'
+      - '**.py'
       - '**.yaml'
       - '.github/workflows/rolling-semi-binary-build.yml'
       - '**/package.xml'

diff --git a/.github/workflows/rolling-source-build.yml b/.github/workflows/rolling-source-build.yml
@@ -8,6 +8,7 @@ on:
       - '**.hpp'
       - '**.h'
       - '**.cpp'
+      - '**.py'
       - '**.yaml'
       - '.github/workflows/rolling-source-build.yml'
       - '**/package.xml'

diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
@@ -37,7 +37,7 @@ repos:
 
   # Python hooks
   - repo: https://github.com/asottile/pyupgrade
-    rev: v3.16.0
+    rev: v3.17.0
     hooks:
     -   id: pyupgrade
         args: [--py36-plus]
@@ -133,7 +133,7 @@ repos:
         exclude: CHANGELOG\.rst|\.(svg|pyc|drawio)$
 
   - repo: https://github.com/python-jsonschema/check-jsonschema
-    rev: 0.28.6
+    rev: 0.29.1
     hooks:
       - id: check-github-workflows
         args: ["--verbose"]

diff --git a/ackermann_steering_controller/CHANGELOG.rst b/ackermann_steering_controller/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package ackermann_steering_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.12.1 (2024-08-14)
+-------------------
+
+4.12.0 (2024-07-23)
+-------------------
+* Add missing includes (`#1226 <https://github.com/ros-controls/ros2_controllers/issues/1226>`_)
+* Change the subscription timeout in the tests to 5ms (`#1219 <https://github.com/ros-controls/ros2_controllers/issues/1219>`_)
+* Unused header cleanup (`#1199 <https://github.com/ros-controls/ros2_controllers/issues/1199>`_)
+* Fix WaitSet issue in tests  (`#1206 <https://github.com/ros-controls/ros2_controllers/issues/1206>`_)
+* Fix parallel gripper controller CI (`#1202 <https://github.com/ros-controls/ros2_controllers/issues/1202>`_)
+* Contributors: Christoph Fröhlich, Henry Moore, Sai Kishor Kothakota
+
 4.11.0 (2024-07-09)
 -------------------
 * added changes corresponding to the logger and clock propagation in ResourceManager (`#1184 <https://github.com/ros-controls/ros2_controllers/issues/1184>`_)

diff --git a/ackermann_steering_controller/CMakeLists.txt b/ackermann_steering_controller/CMakeLists.txt
@@ -58,10 +58,8 @@ if(BUILD_TESTING)
   find_package(ros2_control_test_assets REQUIRED)
 
 
-  add_rostest_with_parameters_gmock(test_load_ackermann_steering_controller
-    test/test_load_ackermann_steering_controller.cpp
-    ${CMAKE_CURRENT_SOURCE_DIR}/test/ackermann_steering_controller_params.yaml
-  )
+  add_definitions(-DTEST_FILES_DIRECTORY="${CMAKE_CURRENT_SOURCE_DIR}/test")
+  ament_add_gmock(test_load_ackermann_steering_controller test/test_load_ackermann_steering_controller.cpp)
   ament_target_dependencies(test_load_ackermann_steering_controller
     controller_manager
     hardware_interface

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>4.11.0</version>
+  <version>4.12.1</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/ackermann_steering_controller/test/test_ackermann_steering_controller.hpp b/ackermann_steering_controller/test/test_ackermann_steering_controller.hpp
@@ -26,6 +26,8 @@
 #include "ackermann_steering_controller/ackermann_steering_controller.hpp"
 #include "hardware_interface/loaned_command_interface.hpp"
 #include "hardware_interface/loaned_state_interface.hpp"
+#include "rclcpp/executor.hpp"
+#include "rclcpp/executors.hpp"
 #include "rclcpp/time.hpp"
 #include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp"
 
@@ -216,7 +218,7 @@ class AckermannSteeringControllerFixture : public ::testing::Test
     while (max_sub_check_loop_count--)
     {
       controller_->update(rclcpp::Time(0, 0, RCL_ROS_TIME), rclcpp::Duration::from_seconds(0.01));
-      const auto timeout = std::chrono::milliseconds{1};
+      const auto timeout = std::chrono::milliseconds{5};
       const auto until = test_subscription_node.get_clock()->now() + timeout;
       while (!received_msg && test_subscription_node.get_clock()->now() < until)
       {

diff --git a/ackermann_steering_controller/test/test_load_ackermann_steering_controller.cpp b/ackermann_steering_controller/test/test_load_ackermann_steering_controller.cpp
@@ -29,12 +29,15 @@ TEST(TestLoadAckermannSteeringController, load_controller)
 
   controller_manager::ControllerManager cm(
     executor, ros2_control_test_assets::minimal_robot_urdf, true, "test_controller_manager");
+  const std::string test_file_path =
+    std::string(TEST_FILES_DIRECTORY) + "/ackermann_steering_controller_params.yaml";
 
-  ASSERT_NE(
-    cm.load_controller(
-      "test_ackermann_steering_controller",
-      "ackermann_steering_controller/AckermannSteeringController"),
-    nullptr);
+  cm.set_parameter({"test_ackermann_steering_controller.params_file", test_file_path});
+  cm.set_parameter(
+    {"test_ackermann_steering_controller.type",
+     "ackermann_steering_controller/AckermannSteeringController"});
+
+  ASSERT_NE(cm.load_controller("test_ackermann_steering_controller"), nullptr);
 }
 
 int main(int argc, char ** argv)