diff --git a/.github/workflows/ci-coverage-build-humble.yml b/.github/workflows/ci-coverage-build-humble.yml index a657674f4f..0065223501 100644 --- a/.github/workflows/ci-coverage-build-humble.yml +++ b/.github/workflows/ci-coverage-build-humble.yml @@ -21,7 +21,7 @@ jobs: with: required-ros-distributions: ${{ env.ROS_DISTRO }} - uses: actions/checkout@v4 - - uses: ros-tooling/action-ros-ci@0.3.5 + - uses: ros-tooling/action-ros-ci@0.3.6 with: target-ros2-distro: ${{ env.ROS_DISTRO }} import-token: ${{ secrets.GITHUB_TOKEN }} @@ -54,12 +54,12 @@ jobs: } } colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml - - uses: codecov/codecov-action@v3.1.4 + - uses: codecov/codecov-action@v4.0.1 with: file: ros_ws/lcov/total_coverage.info flags: unittests name: codecov-umbrella - - uses: actions/upload-artifact@v4.2.0 + - uses: actions/upload-artifact@v4.3.1 with: name: colcon-logs-coverage-humble path: ros_ws/log diff --git a/.github/workflows/ci-coverage-build-iron.yml b/.github/workflows/ci-coverage-build-iron.yml index de7e009da6..201a631923 100644 --- a/.github/workflows/ci-coverage-build-iron.yml +++ b/.github/workflows/ci-coverage-build-iron.yml @@ -21,7 +21,7 @@ jobs: with: required-ros-distributions: ${{ env.ROS_DISTRO }} - uses: actions/checkout@v4 - - uses: ros-tooling/action-ros-ci@0.3.5 + - uses: ros-tooling/action-ros-ci@0.3.6 with: target-ros2-distro: ${{ env.ROS_DISTRO }} import-token: ${{ secrets.GITHUB_TOKEN }} @@ -54,12 +54,12 @@ jobs: } } colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml - - uses: codecov/codecov-action@v3.1.4 + - uses: codecov/codecov-action@v4.0.1 with: file: ros_ws/lcov/total_coverage.info flags: unittests name: codecov-umbrella - - uses: actions/upload-artifact@v4.2.0 + - uses: actions/upload-artifact@v4.3.1 with: name: colcon-logs-coverage-iron path: ros_ws/log diff --git a/.github/workflows/ci-coverage-build.yml b/.github/workflows/ci-coverage-build.yml index 14ae0d604a..ffda7a2066 100644 --- a/.github/workflows/ci-coverage-build.yml +++ b/.github/workflows/ci-coverage-build.yml @@ -21,7 +21,7 @@ jobs: with: required-ros-distributions: ${{ env.ROS_DISTRO }} - uses: actions/checkout@v4 - - uses: ros-tooling/action-ros-ci@0.3.5 + - uses: ros-tooling/action-ros-ci@0.3.6 with: target-ros2-distro: ${{ env.ROS_DISTRO }} import-token: ${{ secrets.GITHUB_TOKEN }} @@ -54,12 +54,12 @@ jobs: } } colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml - - uses: codecov/codecov-action@v3.1.4 + - uses: codecov/codecov-action@v4.0.1 with: file: ros_ws/lcov/total_coverage.info flags: unittests name: codecov-umbrella - - uses: actions/upload-artifact@v4.2.0 + - uses: actions/upload-artifact@v4.3.1 with: name: colcon-logs-coverage-rolling path: ros_ws/log diff --git a/.github/workflows/ci-format.yml b/.github/workflows/ci-format.yml index 9f090b48ca..824baf1b77 100644 --- a/.github/workflows/ci-format.yml +++ b/.github/workflows/ci-format.yml @@ -17,6 +17,6 @@ jobs: python-version: '3.10' - name: Install system hooks run: sudo apt install -qq clang-format-14 cppcheck - - uses: pre-commit/action@v3.0.0 + - uses: pre-commit/action@v3.0.1 with: extra_args: --all-files --hook-stage manual diff --git a/.github/workflows/humble-debian-build.yml b/.github/workflows/humble-debian-build.yml new file mode 100644 index 0000000000..e8deb2caa5 --- /dev/null +++ b/.github/workflows/humble-debian-build.yml @@ -0,0 +1,30 @@ +name: Debian Humble Build +on: + workflow_dispatch: + pull_request: + branches: + - humble + schedule: + # Run every day to detect flakiness and broken dependencies + - cron: '03 1 * * *' + + +jobs: + humble_debian: + name: Humble debian build + runs-on: ubuntu-latest + env: + ROS_DISTRO: humble + container: ghcr.io/ros-controls/ros:humble-debian + steps: + - uses: actions/checkout@v4 + with: + path: src/ros2_controllers + - name: Build and test + shell: bash + run: | + source /opt/ros2_ws/install/setup.bash + vcs import src < src/ros2_controllers/ros2_controllers.${{ env.ROS_DISTRO }}.repos + colcon build --packages-skip rqt_controller_manager rqt_joint_trajectory_controller + colcon test --packages-skip rqt_controller_manager rqt_joint_trajectory_controller control_msgs controller_manager_msgs + colcon test-result --verbose diff --git a/.github/workflows/humble-rhel-binary-build.yml b/.github/workflows/humble-rhel-binary-build.yml new file mode 100644 index 0000000000..cd9b85b2e1 --- /dev/null +++ b/.github/workflows/humble-rhel-binary-build.yml @@ -0,0 +1,31 @@ +name: RHEL Humble Binary Build +on: + workflow_dispatch: + pull_request: + branches: + - humble + schedule: + # Run every day to detect flakiness and broken dependencies + - cron: '03 1 * * *' + +jobs: + humble_rhel_binary: + name: Humble RHEL binary build + runs-on: ubuntu-latest + env: + ROS_DISTRO: humble + container: ghcr.io/ros-controls/ros:humble-rhel + steps: + - uses: actions/checkout@v4 + with: + path: src/ros2_controllers + - name: Install dependencies + run: | + rosdep update + rosdep install -iyr --from-path src/ros2_controllers || true + - name: Build and test + run: | + source /opt/ros/${{ env.ROS_DISTRO }}/setup.bash + colcon build --packages-skip rqt_joint_trajectory_controller + colcon test --packages-skip rqt_joint_trajectory_controller + colcon test-result --verbose diff --git a/.github/workflows/iron-debian-build.yml b/.github/workflows/iron-debian-build.yml new file mode 100644 index 0000000000..09dbd051b2 --- /dev/null +++ b/.github/workflows/iron-debian-build.yml @@ -0,0 +1,30 @@ +name: Debian Iron Build +on: + workflow_dispatch: + pull_request: + branches: + - iron + schedule: + # Run every day to detect flakiness and broken dependencies + - cron: '03 1 * * *' + + +jobs: + iron_debian: + name: Iron debian build + runs-on: ubuntu-latest + env: + ROS_DISTRO: iron + container: ghcr.io/ros-controls/ros:iron-debian + steps: + - uses: actions/checkout@v4 + with: + path: src/ros2_controllers + - name: Build and test + shell: bash + run: | + source /opt/ros2_ws/install/setup.bash + vcs import src < src/ros2_controllers/ros2_controllers.${{ env.ROS_DISTRO }}.repos + colcon build --packages-skip rqt_controller_manager rqt_joint_trajectory_controller + colcon test --packages-skip rqt_controller_manager rqt_joint_trajectory_controller control_msgs controller_manager_msgs + colcon test-result --verbose diff --git a/.github/workflows/iron-rhel-binary-build.yml b/.github/workflows/iron-rhel-binary-build.yml index 5664d61768..0eb28b9673 100644 --- a/.github/workflows/iron-rhel-binary-build.yml +++ b/.github/workflows/iron-rhel-binary-build.yml @@ -1,7 +1,7 @@ -name: Iron RHEL Binary Build +name: RHEL Iron Binary Build on: workflow_dispatch: - push: + pull_request: branches: - iron schedule: @@ -20,9 +20,15 @@ jobs: - uses: actions/checkout@v4 with: path: src/ros2_controllers - - run: | + - name: Install dependencies + run: | rosdep update - rosdep install -iy --from-path src/ros2_controllers + rosdep install -iyr --from-path src/ros2_controllers || true + - name: Build and test + # source also underlay workspace with generate_parameter_library on rhel9 + run: | source /opt/ros/${{ env.ROS_DISTRO }}/setup.bash - colcon build - colcon test + source /opt/ros2_ws/install/setup.bash + colcon build --packages-skip rqt_joint_trajectory_controller + colcon test --packages-skip rqt_joint_trajectory_controller + colcon test-result --verbose diff --git a/.github/workflows/reusable-ros-tooling-source-build.yml b/.github/workflows/reusable-ros-tooling-source-build.yml index 0f20551214..3d5bc1cf35 100644 --- a/.github/workflows/reusable-ros-tooling-source-build.yml +++ b/.github/workflows/reusable-ros-tooling-source-build.yml @@ -32,7 +32,7 @@ jobs: - uses: actions/checkout@v4 with: ref: ${{ inputs.ref }} - - uses: ros-tooling/action-ros-ci@0.3.5 + - uses: ros-tooling/action-ros-ci@0.3.6 with: target-ros2-distro: ${{ inputs.ros_distro }} ref: ${{ inputs.ref }} @@ -63,7 +63,7 @@ jobs: https://raw.githubusercontent.com/ros2/ros2/${{ inputs.ros2_repo_branch }}/ros2.repos https://raw.githubusercontent.com/${{ github.repository }}/${{ github.sha }}/ros2_controllers.${{ inputs.ros_distro }}.repos?token=${{ secrets.GITHUB_TOKEN }} colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml - - uses: actions/upload-artifact@v4.2.0 + - uses: actions/upload-artifact@v4.3.1 with: name: colcon-logs-ubuntu-22.04 path: ros_ws/log diff --git a/.github/workflows/rolling-debian-build.yml b/.github/workflows/rolling-debian-build.yml new file mode 100644 index 0000000000..b6d0a4193a --- /dev/null +++ b/.github/workflows/rolling-debian-build.yml @@ -0,0 +1,30 @@ +name: Debian Rolling Build +on: + workflow_dispatch: + pull_request: + branches: + - master + schedule: + # Run every day to detect flakiness and broken dependencies + - cron: '03 1 * * *' + + +jobs: + rolling_debian: + name: Rolling debian build + runs-on: ubuntu-latest + env: + ROS_DISTRO: rolling + container: ghcr.io/ros-controls/ros:rolling-debian + steps: + - uses: actions/checkout@v4 + with: + path: src/ros2_controllers + - name: Build and test + shell: bash + run: | + source /opt/ros2_ws/install/setup.bash + vcs import src < src/ros2_controllers/ros2_controllers.${{ env.ROS_DISTRO }}.repos + colcon build --packages-skip rqt_controller_manager rqt_joint_trajectory_controller + colcon test --packages-skip rqt_controller_manager rqt_joint_trajectory_controller + colcon test-result --verbose diff --git a/.github/workflows/rolling-rhel-binary-build.yml b/.github/workflows/rolling-rhel-binary-build.yml index 04dc58775f..dece43b673 100644 --- a/.github/workflows/rolling-rhel-binary-build.yml +++ b/.github/workflows/rolling-rhel-binary-build.yml @@ -1,7 +1,7 @@ -name: Rolling RHEL Binary Build +name: RHEL Rolling Binary Build on: workflow_dispatch: - push: + pull_request: branches: - master schedule: @@ -20,9 +20,15 @@ jobs: - uses: actions/checkout@v4 with: path: src/ros2_controllers - - run: | + - name: Install dependencies + run: | rosdep update - rosdep install -iy --from-path src/ros2_controllers + rosdep install -iyr --from-path src/ros2_controllers || true + - name: Build and test + # source also underlay workspace with generate_parameter_library on rhel9 + run: | source /opt/ros/${{ env.ROS_DISTRO }}/setup.bash - colcon build - colcon test + source /opt/ros2_ws/install/setup.bash + colcon build --packages-skip rqt_joint_trajectory_controller + colcon test --packages-skip rqt_joint_trajectory_controller + colcon test-result --verbose diff --git a/README.md b/README.md index a8b2cb88f1..7c51b3d1ab 100644 --- a/README.md +++ b/README.md @@ -9,9 +9,9 @@ Commonly used and generalized controllers for ros2-control framework that are re ROS2 Distro | Branch | Build status | Documentation | Released packages :---------: | :----: | :----------: | :-----------: | :---------------: -**Rolling** | [`rolling`](https://github.com/ros-controls/ros2_controllers/tree/rolling) | [![Rolling Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/rolling-binary-build-main.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_controllers/actions/workflows/rolling-binary-build-main.yml?branch=master)
[![Rolling Semi-Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/rolling-semi-binary-build-main.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_controllers/actions/workflows/rolling-semi-binary-build-main.yml?branch=master) | | [ros2_controllers](https://index.ros.org/p/ros2_controllers/#rolling) -**Iron** | [`iron`](https://github.com/ros-controls/ros2_controllers/tree/iron) | [![Iron Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/iron-binary-build-main.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_controllers/actions/workflows/iron-binary-build-main.yml?branch=master)
[![Iron Semi-Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/iron-semi-binary-build-main.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_controllers/actions/workflows/iron-semi-binary-build-main.yml?branch=master) | | [ros2_controllers](https://index.ros.org/p/ros2_controllers/#iron) -**Humble** | [`humble`](https://github.com/ros-controls/ros2_controllers/tree/humble) | [![Humble Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/humble-binary-build-main.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_controllers/actions/workflows/humble-binary-build-main.yml?branch=master)
[![Humble Semi-Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/humble-semi-binary-build-main.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_controllers/actions/workflows/humble-semi-binary-build-main.yml?branch=master) | | [ros2_controllers](https://index.ros.org/p/ros2_controllers/#humble) +**Rolling** | [`rolling`](https://github.com/ros-controls/ros2_controllers/tree/rolling) | [![Rolling Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/rolling-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_controllers/actions/workflows/rolling-binary-build.yml?branch=master)
[![Rolling Semi-Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/rolling-semi-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_controllers/actions/workflows/rolling-semi-binary-build.yml?branch=master) | [control.ros.org](https://control.ros.org/master/doc/ros2_controllers/doc/controllers_index.html) | [ros2_controllers](https://index.ros.org/p/ros2_controllers/#rolling) +**Iron** | [`iron`](https://github.com/ros-controls/ros2_controllers/tree/iron) | [![Iron Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/iron-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_controllers/actions/workflows/iron-binary-build.yml?branch=master)
[![Iron Semi-Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/iron-semi-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_controllers/actions/workflows/iron-semi-binary-build.yml?branch=master) | [control.ros.org](https://control.ros.org/iron/doc/ros2_controllers/doc/controllers_index.html) | [ros2_controllers](https://index.ros.org/p/ros2_controllers/#iron) +**Humble** | [`humble`](https://github.com/ros-controls/ros2_controllers/tree/humble) | [![Humble Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/humble-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_controllers/actions/workflows/humble-binary-build.yml?branch=master)
[![Humble Semi-Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/humble-semi-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_controllers/actions/workflows/humble-semi-binary-build.yml?branch=master) | [control.ros.org](https://control.ros.org/humble/doc/ros2_controllers/doc/controllers_index.html) | [ros2_controllers](https://index.ros.org/p/ros2_controllers/#humble) ### Explanation of different build types diff --git a/ackermann_steering_controller/CHANGELOG.rst b/ackermann_steering_controller/CHANGELOG.rst index d4200a140e..c639978fe1 100644 --- a/ackermann_steering_controller/CHANGELOG.rst +++ b/ackermann_steering_controller/CHANGELOG.rst @@ -2,6 +2,12 @@ Changelog for package ackermann_steering_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +3.22.0 (2024-02-12) +------------------- +* Add test_depend on `hardware_interface_testing` (backport `#1018 `_) (`#1020 `_) +* Add tests for `interface_configuration_type` consistently (backport `#899 `_) (`#1007 `_) +* Contributors: mergify[bot] + 3.21.0 (2024-01-20) ------------------- diff --git a/ackermann_steering_controller/package.xml b/ackermann_steering_controller/package.xml index 101f47db85..5a2f3cacbd 100644 --- a/ackermann_steering_controller/package.xml +++ b/ackermann_steering_controller/package.xml @@ -2,7 +2,7 @@ ackermann_steering_controller - 3.21.0 + 3.22.0 Steering controller for Ackermann kinematics. Rear fixed wheels are powering the vehicle and front wheels are steering it. Apache License 2.0 Bence Magyar @@ -27,6 +27,7 @@ ament_cmake_gmock controller_manager + hardware_interface_testing hardware_interface ros2_control_test_assets diff --git a/ackermann_steering_controller/test/test_ackermann_steering_controller.cpp b/ackermann_steering_controller/test/test_ackermann_steering_controller.cpp index 480e90e166..ef5454a16c 100644 --- a/ackermann_steering_controller/test/test_ackermann_steering_controller.cpp +++ b/ackermann_steering_controller/test/test_ackermann_steering_controller.cpp @@ -46,41 +46,43 @@ TEST_F(AckermannSteeringControllerTest, all_parameters_set_configure_success) ASSERT_EQ(controller_->ackermann_params_.rear_wheel_track, rear_wheel_track_); } -TEST_F(AckermannSteeringControllerTest, check_exported_intefaces) +TEST_F(AckermannSteeringControllerTest, check_exported_interfaces) { SetUpController(); ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); - auto command_intefaces = controller_->command_interface_configuration(); - ASSERT_EQ(command_intefaces.names.size(), joint_command_values_.size()); + auto cmd_if_conf = controller_->command_interface_configuration(); + ASSERT_EQ(cmd_if_conf.names.size(), joint_command_values_.size()); EXPECT_EQ( - command_intefaces.names[CMD_TRACTION_RIGHT_WHEEL], + cmd_if_conf.names[CMD_TRACTION_RIGHT_WHEEL], rear_wheels_names_[0] + "/" + traction_interface_name_); EXPECT_EQ( - command_intefaces.names[CMD_TRACTION_LEFT_WHEEL], + cmd_if_conf.names[CMD_TRACTION_LEFT_WHEEL], rear_wheels_names_[1] + "/" + traction_interface_name_); EXPECT_EQ( - command_intefaces.names[CMD_STEER_RIGHT_WHEEL], + cmd_if_conf.names[CMD_STEER_RIGHT_WHEEL], front_wheels_names_[0] + "/" + steering_interface_name_); EXPECT_EQ( - command_intefaces.names[CMD_STEER_LEFT_WHEEL], + cmd_if_conf.names[CMD_STEER_LEFT_WHEEL], front_wheels_names_[1] + "/" + steering_interface_name_); + EXPECT_EQ(cmd_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL); - auto state_intefaces = controller_->state_interface_configuration(); - ASSERT_EQ(state_intefaces.names.size(), joint_state_values_.size()); + auto state_if_conf = controller_->state_interface_configuration(); + ASSERT_EQ(state_if_conf.names.size(), joint_state_values_.size()); EXPECT_EQ( - state_intefaces.names[STATE_TRACTION_RIGHT_WHEEL], + state_if_conf.names[STATE_TRACTION_RIGHT_WHEEL], controller_->rear_wheels_state_names_[0] + "/" + traction_interface_name_); EXPECT_EQ( - state_intefaces.names[STATE_TRACTION_LEFT_WHEEL], + state_if_conf.names[STATE_TRACTION_LEFT_WHEEL], controller_->rear_wheels_state_names_[1] + "/" + traction_interface_name_); EXPECT_EQ( - state_intefaces.names[STATE_STEER_RIGHT_WHEEL], + state_if_conf.names[STATE_STEER_RIGHT_WHEEL], controller_->front_wheels_state_names_[0] + "/" + steering_interface_name_); EXPECT_EQ( - state_intefaces.names[STATE_STEER_LEFT_WHEEL], + state_if_conf.names[STATE_STEER_LEFT_WHEEL], controller_->front_wheels_state_names_[1] + "/" + steering_interface_name_); + EXPECT_EQ(state_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL); // check ref itfsTIME auto reference_interfaces = controller_->export_reference_interfaces(); diff --git a/ackermann_steering_controller/test/test_ackermann_steering_controller.hpp b/ackermann_steering_controller/test/test_ackermann_steering_controller.hpp index 80258258c2..0352a79cab 100644 --- a/ackermann_steering_controller/test/test_ackermann_steering_controller.hpp +++ b/ackermann_steering_controller/test/test_ackermann_steering_controller.hpp @@ -62,7 +62,7 @@ class TestableAckermannSteeringController : public ackermann_steering_controller::AckermannSteeringController { FRIEND_TEST(AckermannSteeringControllerTest, all_parameters_set_configure_success); - FRIEND_TEST(AckermannSteeringControllerTest, check_exported_intefaces); + FRIEND_TEST(AckermannSteeringControllerTest, check_exported_interfaces); FRIEND_TEST(AckermannSteeringControllerTest, activate_success); FRIEND_TEST(AckermannSteeringControllerTest, update_success); FRIEND_TEST(AckermannSteeringControllerTest, deactivate_success); diff --git a/ackermann_steering_controller/test/test_ackermann_steering_controller_preceeding.cpp b/ackermann_steering_controller/test/test_ackermann_steering_controller_preceeding.cpp index 2d951588c5..1a16bed838 100644 --- a/ackermann_steering_controller/test/test_ackermann_steering_controller_preceeding.cpp +++ b/ackermann_steering_controller/test/test_ackermann_steering_controller_preceeding.cpp @@ -48,41 +48,43 @@ TEST_F(AckermannSteeringControllerTest, all_parameters_set_configure_success) ASSERT_EQ(controller_->ackermann_params_.rear_wheel_track, rear_wheel_track_); } -TEST_F(AckermannSteeringControllerTest, check_exported_intefaces) +TEST_F(AckermannSteeringControllerTest, check_exported_interfaces) { SetUpController(); ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); - auto command_intefaces = controller_->command_interface_configuration(); - ASSERT_EQ(command_intefaces.names.size(), joint_command_values_.size()); + auto cmd_if_conf = controller_->command_interface_configuration(); + ASSERT_EQ(cmd_if_conf.names.size(), joint_command_values_.size()); EXPECT_EQ( - command_intefaces.names[CMD_TRACTION_RIGHT_WHEEL], + cmd_if_conf.names[CMD_TRACTION_RIGHT_WHEEL], preceeding_prefix_ + "/" + rear_wheels_names_[0] + "/" + traction_interface_name_); EXPECT_EQ( - command_intefaces.names[CMD_TRACTION_LEFT_WHEEL], + cmd_if_conf.names[CMD_TRACTION_LEFT_WHEEL], preceeding_prefix_ + "/" + rear_wheels_names_[1] + "/" + traction_interface_name_); EXPECT_EQ( - command_intefaces.names[CMD_STEER_RIGHT_WHEEL], + cmd_if_conf.names[CMD_STEER_RIGHT_WHEEL], preceeding_prefix_ + "/" + front_wheels_names_[0] + "/" + steering_interface_name_); EXPECT_EQ( - command_intefaces.names[CMD_STEER_LEFT_WHEEL], + cmd_if_conf.names[CMD_STEER_LEFT_WHEEL], preceeding_prefix_ + "/" + front_wheels_names_[1] + "/" + steering_interface_name_); + EXPECT_EQ(cmd_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL); - auto state_intefaces = controller_->state_interface_configuration(); - ASSERT_EQ(state_intefaces.names.size(), joint_state_values_.size()); + auto state_if_conf = controller_->state_interface_configuration(); + ASSERT_EQ(state_if_conf.names.size(), joint_state_values_.size()); EXPECT_EQ( - state_intefaces.names[STATE_TRACTION_RIGHT_WHEEL], + state_if_conf.names[STATE_TRACTION_RIGHT_WHEEL], controller_->rear_wheels_state_names_[0] + "/" + traction_interface_name_); EXPECT_EQ( - state_intefaces.names[STATE_TRACTION_LEFT_WHEEL], + state_if_conf.names[STATE_TRACTION_LEFT_WHEEL], controller_->rear_wheels_state_names_[1] + "/" + traction_interface_name_); EXPECT_EQ( - state_intefaces.names[STATE_STEER_RIGHT_WHEEL], + state_if_conf.names[STATE_STEER_RIGHT_WHEEL], controller_->front_wheels_state_names_[0] + "/" + steering_interface_name_); EXPECT_EQ( - state_intefaces.names[STATE_STEER_LEFT_WHEEL], + state_if_conf.names[STATE_STEER_LEFT_WHEEL], controller_->front_wheels_state_names_[1] + "/" + steering_interface_name_); + EXPECT_EQ(state_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL); // check ref itfs auto reference_interfaces = controller_->export_reference_interfaces(); diff --git a/admittance_controller/CHANGELOG.rst b/admittance_controller/CHANGELOG.rst index b1a366ded7..924a228f2f 100644 --- a/admittance_controller/CHANGELOG.rst +++ b/admittance_controller/CHANGELOG.rst @@ -2,6 +2,13 @@ Changelog for package admittance_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +3.22.0 (2024-02-12) +------------------- +* Add test_depend on `hardware_interface_testing` (backport `#1018 `_) (`#1020 `_) +* Add tests for `interface_configuration_type` consistently (backport `#899 `_) (`#1007 `_) +* Let sphinx add parameter description with nested structures to documentation (`#652 `_) (`#1006 `_) +* Contributors: mergify[bot] + 3.21.0 (2024-01-20) ------------------- diff --git a/admittance_controller/doc/userdoc.rst b/admittance_controller/doc/userdoc.rst index 0e4469cd50..8056a017d7 100644 --- a/admittance_controller/doc/userdoc.rst +++ b/admittance_controller/doc/userdoc.rst @@ -17,10 +17,14 @@ ROS 2 interface of the controller Parameters ^^^^^^^^^^^ -The admittance controller's uses the `generate_parameter_library `_ to handle its parameters. -The parameter `definition file located in the src folder `_ contains descriptions for all the parameters used by the controller. -An example parameter file can be found in the `test folder of the controller `_ +The admittance controller uses the `generate_parameter_library `_ to handle its parameters. The parameter `definition file located in the src folder `_ contains descriptions for all the parameters used by the controller. +.. generate_parameter_library_details:: ../src/admittance_controller_parameters.yaml + +An example parameter file for this controller can be found in `the test folder `_: + +.. literalinclude:: ../test/test_params.yaml + :language: yaml Topics ^^^^^^^ diff --git a/admittance_controller/package.xml b/admittance_controller/package.xml index e649771f06..ec8dacb3d7 100644 --- a/admittance_controller/package.xml +++ b/admittance_controller/package.xml @@ -2,7 +2,7 @@ admittance_controller - 3.21.0 + 3.22.0 Implementation of admittance controllers for different input and output interface. Denis Štogl Bence Magyar @@ -34,6 +34,7 @@ ament_cmake_gmock controller_manager + hardware_interface_testing kinematics_interface_kdl ros2_control_test_assets diff --git a/admittance_controller/test/test_admittance_controller.cpp b/admittance_controller/test/test_admittance_controller.cpp index fe1d3214e0..6b03249df8 100644 --- a/admittance_controller/test/test_admittance_controller.cpp +++ b/admittance_controller/test/test_admittance_controller.cpp @@ -157,12 +157,15 @@ TEST_F(AdmittanceControllerTest, check_interfaces) auto command_interfaces = controller_->command_interface_configuration(); ASSERT_EQ(command_interfaces.names.size(), joint_command_values_.size()); + EXPECT_EQ( + command_interfaces.type, controller_interface::interface_configuration_type::INDIVIDUAL); ASSERT_EQ( controller_->command_interfaces_.size(), command_interface_types_.size() * joint_names_.size()); auto state_interfaces = controller_->state_interface_configuration(); ASSERT_EQ(state_interfaces.names.size(), joint_state_values_.size() + fts_state_values_.size()); + EXPECT_EQ(state_interfaces.type, controller_interface::interface_configuration_type::INDIVIDUAL); ASSERT_EQ( controller_->state_interfaces_.size(), diff --git a/bicycle_steering_controller/CHANGELOG.rst b/bicycle_steering_controller/CHANGELOG.rst index 75c43ff4d3..a5435a355d 100644 --- a/bicycle_steering_controller/CHANGELOG.rst +++ b/bicycle_steering_controller/CHANGELOG.rst @@ -2,6 +2,12 @@ Changelog for package bicycle_steering_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +3.22.0 (2024-02-12) +------------------- +* Add test_depend on `hardware_interface_testing` (backport `#1018 `_) (`#1020 `_) +* Add tests for `interface_configuration_type` consistently (backport `#899 `_) (`#1007 `_) +* Contributors: mergify[bot] + 3.21.0 (2024-01-20) ------------------- diff --git a/bicycle_steering_controller/package.xml b/bicycle_steering_controller/package.xml index 1954dc052d..8f525a35d7 100644 --- a/bicycle_steering_controller/package.xml +++ b/bicycle_steering_controller/package.xml @@ -2,7 +2,7 @@ bicycle_steering_controller - 3.21.0 + 3.22.0 Steering controller with bicycle kinematics. Rear fixed wheel is powering the vehicle and front wheel is steering. Apache License 2.0 Bence Magyar @@ -28,6 +28,7 @@ ament_cmake_gmock controller_manager hardware_interface + hardware_interface_testing ros2_control_test_assets diff --git a/bicycle_steering_controller/test/test_bicycle_steering_controller.cpp b/bicycle_steering_controller/test/test_bicycle_steering_controller.cpp index 06b0c7e846..3dcdc0b1db 100644 --- a/bicycle_steering_controller/test/test_bicycle_steering_controller.cpp +++ b/bicycle_steering_controller/test/test_bicycle_steering_controller.cpp @@ -44,29 +44,29 @@ TEST_F(BicycleSteeringControllerTest, all_parameters_set_configure_success) ASSERT_EQ(controller_->bicycle_params_.rear_wheel_radius, rear_wheels_radius_); } -TEST_F(BicycleSteeringControllerTest, check_exported_intefaces) +TEST_F(BicycleSteeringControllerTest, check_exported_interfaces) { SetUpController(); ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); - auto command_intefaces = controller_->command_interface_configuration(); - ASSERT_EQ(command_intefaces.names.size(), joint_command_values_.size()); + auto cmd_if_conf = controller_->command_interface_configuration(); + ASSERT_EQ(cmd_if_conf.names.size(), joint_command_values_.size()); EXPECT_EQ( - command_intefaces.names[CMD_TRACTION_WHEEL], - rear_wheels_names_[0] + "/" + traction_interface_name_); + cmd_if_conf.names[CMD_TRACTION_WHEEL], rear_wheels_names_[0] + "/" + traction_interface_name_); EXPECT_EQ( - command_intefaces.names[CMD_STEER_WHEEL], - front_wheels_names_[0] + "/" + steering_interface_name_); + cmd_if_conf.names[CMD_STEER_WHEEL], front_wheels_names_[0] + "/" + steering_interface_name_); + EXPECT_EQ(cmd_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL); - auto state_intefaces = controller_->state_interface_configuration(); - ASSERT_EQ(state_intefaces.names.size(), joint_state_values_.size()); + auto state_if_conf = controller_->state_interface_configuration(); + ASSERT_EQ(state_if_conf.names.size(), joint_state_values_.size()); EXPECT_EQ( - state_intefaces.names[STATE_TRACTION_WHEEL], + state_if_conf.names[STATE_TRACTION_WHEEL], controller_->rear_wheels_state_names_[0] + "/" + traction_interface_name_); EXPECT_EQ( - state_intefaces.names[STATE_STEER_AXIS], + state_if_conf.names[STATE_STEER_AXIS], controller_->front_wheels_state_names_[0] + "/" + steering_interface_name_); + EXPECT_EQ(state_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL); // check ref itfsTIME auto reference_interfaces = controller_->export_reference_interfaces(); diff --git a/bicycle_steering_controller/test/test_bicycle_steering_controller.hpp b/bicycle_steering_controller/test/test_bicycle_steering_controller.hpp index 065f9e1a0d..b82509440b 100644 --- a/bicycle_steering_controller/test/test_bicycle_steering_controller.hpp +++ b/bicycle_steering_controller/test/test_bicycle_steering_controller.hpp @@ -60,7 +60,7 @@ class TestableBicycleSteeringController : public bicycle_steering_controller::BicycleSteeringController { FRIEND_TEST(BicycleSteeringControllerTest, all_parameters_set_configure_success); - FRIEND_TEST(BicycleSteeringControllerTest, check_exported_intefaces); + FRIEND_TEST(BicycleSteeringControllerTest, check_exported_interfaces); FRIEND_TEST(BicycleSteeringControllerTest, activate_success); FRIEND_TEST(BicycleSteeringControllerTest, update_success); FRIEND_TEST(BicycleSteeringControllerTest, deactivate_success); diff --git a/bicycle_steering_controller/test/test_bicycle_steering_controller_preceeding.cpp b/bicycle_steering_controller/test/test_bicycle_steering_controller_preceeding.cpp index 875910ba23..bc3a182753 100644 --- a/bicycle_steering_controller/test/test_bicycle_steering_controller_preceeding.cpp +++ b/bicycle_steering_controller/test/test_bicycle_steering_controller_preceeding.cpp @@ -46,31 +46,31 @@ TEST_F(BicycleSteeringControllerTest, all_parameters_set_configure_success) ASSERT_EQ(controller_->bicycle_params_.rear_wheel_radius, rear_wheels_radius_); } -TEST_F(BicycleSteeringControllerTest, check_exported_intefaces) +TEST_F(BicycleSteeringControllerTest, check_exported_interfaces) { SetUpController(); ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); - auto command_intefaces = controller_->command_interface_configuration(); - ASSERT_EQ(command_intefaces.names.size(), joint_command_values_.size()); + auto cmd_if_conf = controller_->command_interface_configuration(); + ASSERT_EQ(cmd_if_conf.names.size(), joint_command_values_.size()); EXPECT_EQ( - command_intefaces.names[CMD_TRACTION_WHEEL], + cmd_if_conf.names[CMD_TRACTION_WHEEL], preceeding_prefix_ + "/" + rear_wheels_names_[0] + "/" + traction_interface_name_); - EXPECT_EQ( - command_intefaces.names[CMD_STEER_WHEEL], + cmd_if_conf.names[CMD_STEER_WHEEL], preceeding_prefix_ + "/" + front_wheels_names_[0] + "/" + steering_interface_name_); + EXPECT_EQ(cmd_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL); - auto state_intefaces = controller_->state_interface_configuration(); - ASSERT_EQ(state_intefaces.names.size(), joint_state_values_.size()); - + auto state_if_conf = controller_->state_interface_configuration(); + ASSERT_EQ(state_if_conf.names.size(), joint_state_values_.size()); EXPECT_EQ( - state_intefaces.names[STATE_TRACTION_WHEEL], + state_if_conf.names[STATE_TRACTION_WHEEL], controller_->rear_wheels_state_names_[0] + "/" + traction_interface_name_); EXPECT_EQ( - state_intefaces.names[STATE_STEER_AXIS], + state_if_conf.names[STATE_STEER_AXIS], controller_->front_wheels_state_names_[0] + "/" + steering_interface_name_); + EXPECT_EQ(state_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL); // check ref itfs auto reference_interfaces = controller_->export_reference_interfaces(); diff --git a/diff_drive_controller/CHANGELOG.rst b/diff_drive_controller/CHANGELOG.rst index a012a81c1b..fc41483185 100644 --- a/diff_drive_controller/CHANGELOG.rst +++ b/diff_drive_controller/CHANGELOG.rst @@ -2,6 +2,13 @@ Changelog for package diff_drive_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +3.22.0 (2024-02-12) +------------------- +* Add test_depend on `hardware_interface_testing` (backport `#1018 `_) (`#1020 `_) +* Add tests for `interface_configuration_type` consistently (backport `#899 `_) (`#1007 `_) +* Let sphinx add parameter description with nested structures to documentation (`#652 `_) (`#1006 `_) +* Contributors: mergify[bot] + 3.21.0 (2024-01-20) ------------------- diff --git a/diff_drive_controller/doc/parameters_context.yaml b/diff_drive_controller/doc/parameters_context.yaml new file mode 100644 index 0000000000..81e92806f5 --- /dev/null +++ b/diff_drive_controller/doc/parameters_context.yaml @@ -0,0 +1,9 @@ +linear.x: | + Joint limits structure for the linear ``x``-axis. + The limiter ignores position limits. + For details see ``joint_limits`` package from ros2_control repository. + +angular.z: | + Joint limits structure for the rotation about ``z``-axis. + The limiter ignores position limits. + For details see ``joint_limits`` package from ros2_control repository. diff --git a/diff_drive_controller/doc/userdoc.rst b/diff_drive_controller/doc/userdoc.rst index f8318bc4b8..89b7bd22e4 100644 --- a/diff_drive_controller/doc/userdoc.rst +++ b/diff_drive_controller/doc/userdoc.rst @@ -67,17 +67,12 @@ Publishers Parameters ,,,,,,,,,,,, -Check `parameter definition file for details `_. +This controller uses the `generate_parameter_library `_ to handle its parameters. The parameter `definition file located in the src folder `_ contains descriptions for all the parameters used by the controller. -Note that the documentation on parameters for joint limits can be found in `their header file `_. -Those parameters are: +.. generate_parameter_library_details:: ../src/diff_drive_controller_parameter.yaml + parameters_context.yaml -linear.x [JointLimits structure] - Joint limits structure for the linear X-axis. - The limiter ignores position limits. - For details see ``joint_limits`` package from ros2_control repository. +An example parameter file for this controller can be found in `the test directory `_: -angular.z [JointLimits structure] - Joint limits structure for the rotation about Z-axis. - The limiter ignores position limits. - For details see ``joint_limits`` package from ros2_control repository. +.. literalinclude:: ../test/config/test_diff_drive_controller.yaml + :language: yaml diff --git a/diff_drive_controller/package.xml b/diff_drive_controller/package.xml index 497d6da8c7..8bad7e37ae 100644 --- a/diff_drive_controller/package.xml +++ b/diff_drive_controller/package.xml @@ -1,7 +1,7 @@ diff_drive_controller - 3.21.0 + 3.22.0 Controller for a differential drive mobile base. Bence Magyar Jordan Palacios @@ -26,6 +26,7 @@ ament_cmake_gmock controller_manager + hardware_interface_testing ros2_control_test_assets diff --git a/diff_drive_controller/test/test_diff_drive_controller.cpp b/diff_drive_controller/test/test_diff_drive_controller.cpp index edaaa84e4b..db89d4f873 100644 --- a/diff_drive_controller/test/test_diff_drive_controller.cpp +++ b/diff_drive_controller/test/test_diff_drive_controller.cpp @@ -247,12 +247,12 @@ TEST_F(TestDiffDriveController, configure_succeeds_when_wheels_are_specified) ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), CallbackReturn::SUCCESS); - ASSERT_THAT( - controller_->state_interface_configuration().names, - SizeIs(left_wheel_names.size() + right_wheel_names.size())); - ASSERT_THAT( - controller_->command_interface_configuration().names, - SizeIs(left_wheel_names.size() + right_wheel_names.size())); + auto state_if_conf = controller_->state_interface_configuration(); + ASSERT_THAT(state_if_conf.names, SizeIs(left_wheel_names.size() + right_wheel_names.size())); + EXPECT_EQ(state_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL); + auto cmd_if_conf = controller_->command_interface_configuration(); + ASSERT_THAT(cmd_if_conf.names, SizeIs(left_wheel_names.size() + right_wheel_names.size())); + EXPECT_EQ(cmd_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL); } TEST_F(TestDiffDriveController, configure_succeeds_tf_test_prefix_false_no_namespace) 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/CHANGELOG.rst b/effort_controllers/CHANGELOG.rst index 659282397e..7dba9146cd 100644 --- a/effort_controllers/CHANGELOG.rst +++ b/effort_controllers/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package effort_controllers ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +3.22.0 (2024-02-12) +------------------- +* Add test_depend on `hardware_interface_testing` (backport `#1018 `_) (`#1020 `_) +* Contributors: mergify[bot] + 3.21.0 (2024-01-20) ------------------- diff --git a/effort_controllers/package.xml b/effort_controllers/package.xml index 42225d6a8b..2d025c7fc2 100644 --- a/effort_controllers/package.xml +++ b/effort_controllers/package.xml @@ -1,7 +1,7 @@ effort_controllers - 3.21.0 + 3.22.0 Generic controller for forwarding commands. Bence Magyar Jordan Palacios @@ -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/CHANGELOG.rst b/force_torque_sensor_broadcaster/CHANGELOG.rst index e1f03cb8cb..8d9ad1c920 100644 --- a/force_torque_sensor_broadcaster/CHANGELOG.rst +++ b/force_torque_sensor_broadcaster/CHANGELOG.rst @@ -2,6 +2,14 @@ Changelog for package force_torque_sensor_broadcaster ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +3.22.0 (2024-02-12) +------------------- +* Add test_depend on `hardware_interface_testing` (backport `#1018 `_) (`#1020 `_) +* Add tests for `interface_configuration_type` consistently (backport `#899 `_) (`#1007 `_) +* Let sphinx add parameter description with nested structures to documentation (`#652 `_) (`#1006 `_) +* Revert "[ForceTorqueSensorBroadcaster] Create ParamListener and get parameters on configure (`#698 `_)" (`#988 `_) (`#1004 `_) +* Contributors: mergify[bot] + 3.21.0 (2024-01-20) ------------------- diff --git a/force_torque_sensor_broadcaster/doc/parameters_context.yaml b/force_torque_sensor_broadcaster/doc/parameters_context.yaml new file mode 100644 index 0000000000..6991427316 --- /dev/null +++ b/force_torque_sensor_broadcaster/doc/parameters_context.yaml @@ -0,0 +1,12 @@ +interface_names: | + (optional) Defines custom, per axis interface names. + This is used if different prefixes, i.e., sensor name, or non-standard interface names are used. + It is sufficient that only one ``interface_name`` is defined. + This enables the broadcaster to use force sensing cells with less than six measuring axes. + An example definition is: + + .. code-block:: yaml + + interface_names: + force: + x: example_name/example_interface diff --git a/force_torque_sensor_broadcaster/doc/userdoc.rst b/force_torque_sensor_broadcaster/doc/userdoc.rst index 053723e8f0..df0430e3bb 100644 --- a/force_torque_sensor_broadcaster/doc/userdoc.rst +++ b/force_torque_sensor_broadcaster/doc/userdoc.rst @@ -12,25 +12,17 @@ The controller is a wrapper around ``ForceTorqueSensor`` semantic component (see Parameters ^^^^^^^^^^^ -The interfaces can be defined in two ways, using ``sensor_name`` or ``interface_names`` parameter. -Those two parameters can not be defined at the same time +This controller uses the `generate_parameter_library `_ to handle its parameters. The parameter `definition file located in the src folder `_ contains descriptions for all the parameters used by the controller. -frame_id (mandatory) - Frame in which the output message will be published. +The interfaces can be defined in two ways, using the ``sensor_name`` or the ``interface_names`` parameter: +Those two parameters cannot be defined at the same time. -sensor_name (optional) - Defines sensor name used as prefix for its interfaces. - If used standard interface names for a 6D FTS will be used: /force.x, ..., /torque.z. +Full list of parameters: -interface_names.[force|torque].[x|y|z] (optional) - Defines custom, per axis interface names. - This is used if different prefixes, i.e., sensor name, or non-standard interface names are used. - It is sufficient that only one ``interface_name`` is defined. - This enables broadcaster use for force sensing cells with less then six measuring axes. - Example definition is: +.. generate_parameter_library_details:: ../src/force_torque_sensor_broadcaster_parameters.yaml + parameters_context.yaml - .. code-block:: yaml +An example parameter file for this controller can be found in `the test directory `_: - interface_names: - force: - x: example_name/example_interface +.. literalinclude:: ../test/force_torque_sensor_broadcaster_params.yaml + :language: yaml diff --git a/force_torque_sensor_broadcaster/package.xml b/force_torque_sensor_broadcaster/package.xml index dfca1c2198..f2e784b475 100644 --- a/force_torque_sensor_broadcaster/package.xml +++ b/force_torque_sensor_broadcaster/package.xml @@ -2,7 +2,7 @@ force_torque_sensor_broadcaster - 3.21.0 + 3.22.0 Controller to publish state of force-torque sensors. Bence Magyar Denis Štogl @@ -23,6 +23,7 @@ ament_cmake_gmock controller_manager + hardware_interface_testing ros2_control_test_assets diff --git a/force_torque_sensor_broadcaster/src/force_torque_sensor_broadcaster.cpp b/force_torque_sensor_broadcaster/src/force_torque_sensor_broadcaster.cpp index e9a173380b..9b570d353f 100644 --- a/force_torque_sensor_broadcaster/src/force_torque_sensor_broadcaster.cpp +++ b/force_torque_sensor_broadcaster/src/force_torque_sensor_broadcaster.cpp @@ -29,12 +29,6 @@ ForceTorqueSensorBroadcaster::ForceTorqueSensorBroadcaster() } controller_interface::CallbackReturn ForceTorqueSensorBroadcaster::on_init() -{ - return controller_interface::CallbackReturn::SUCCESS; -} - -controller_interface::CallbackReturn ForceTorqueSensorBroadcaster::on_configure( - const rclcpp_lifecycle::State & /*previous_state*/) { try { @@ -43,10 +37,18 @@ controller_interface::CallbackReturn ForceTorqueSensorBroadcaster::on_configure( } catch (const std::exception & e) { - fprintf(stderr, "Exception thrown during configure stage with message: %s \n", e.what()); + fprintf(stderr, "Exception thrown during init stage with message: %s \n", e.what()); return controller_interface::CallbackReturn::ERROR; } + return controller_interface::CallbackReturn::SUCCESS; +} + +controller_interface::CallbackReturn ForceTorqueSensorBroadcaster::on_configure( + const rclcpp_lifecycle::State & /*previous_state*/) +{ + params_ = param_listener_->get_params(); + const bool no_interface_names_defined = params_.interface_names.force.x.empty() && params_.interface_names.force.y.empty() && params_.interface_names.force.z.empty() && params_.interface_names.torque.x.empty() && diff --git a/force_torque_sensor_broadcaster/src/force_torque_sensor_broadcaster_parameters.yaml b/force_torque_sensor_broadcaster/src/force_torque_sensor_broadcaster_parameters.yaml index 68a85d9d8e..3e75ab6012 100644 --- a/force_torque_sensor_broadcaster/src/force_torque_sensor_broadcaster_parameters.yaml +++ b/force_torque_sensor_broadcaster/src/force_torque_sensor_broadcaster_parameters.yaml @@ -10,7 +10,8 @@ force_torque_sensor_broadcaster: sensor_name: { type: string, default_value: "", - description: "Name of the sensor used as prefix for interfaces if there are no individual interface names defined.", + description: "Name of the sensor used as prefix for interfaces if there are no individual interface names defined. + If used, standard interface names for a 6D FTS will be used: ``/force.x, ..., /torque.z``", } interface_names: force: diff --git a/force_torque_sensor_broadcaster/test/test_force_torque_sensor_broadcaster.cpp b/force_torque_sensor_broadcaster/test/test_force_torque_sensor_broadcaster.cpp index 246ffc7275..b9e634ff55 100644 --- a/force_torque_sensor_broadcaster/test/test_force_torque_sensor_broadcaster.cpp +++ b/force_torque_sensor_broadcaster/test/test_force_torque_sensor_broadcaster.cpp @@ -113,12 +113,11 @@ TEST_F(ForceTorqueSensorBroadcasterTest, SensorName_InterfaceNames_Set) SetUpFTSBroadcaster(); // set the 'sensor_name' - fts_broadcaster_->get_node()->declare_parameter("sensor_name", sensor_name_); + fts_broadcaster_->get_node()->set_parameter({"sensor_name", sensor_name_}); // set the 'interface_names' - fts_broadcaster_->get_node()->declare_parameter("interface_names.force.x", "fts_sensor/force.x"); - fts_broadcaster_->get_node()->declare_parameter( - "interface_names.torque.z", "fts_sensor/torque.z"); + fts_broadcaster_->get_node()->set_parameter({"interface_names.force.x", "fts_sensor/force.x"}); + fts_broadcaster_->get_node()->set_parameter({"interface_names.torque.z", "fts_sensor/torque.z"}); // configure failed, both 'sensor_name' and 'interface_names' supplied ASSERT_EQ(fts_broadcaster_->on_configure(rclcpp_lifecycle::State()), NODE_ERROR); @@ -129,7 +128,7 @@ TEST_F(ForceTorqueSensorBroadcasterTest, SensorName_IsEmpty_InterfaceNames_NotSe SetUpFTSBroadcaster(); // set the 'sensor_name' empty - fts_broadcaster_->get_node()->declare_parameter("sensor_name", ""); + fts_broadcaster_->get_node()->set_parameter({"sensor_name", ""}); // configure failed, 'sensor_name' parameter empty ASSERT_EQ(fts_broadcaster_->on_configure(rclcpp_lifecycle::State()), NODE_ERROR); @@ -140,8 +139,8 @@ TEST_F(ForceTorqueSensorBroadcasterTest, InterfaceNames_IsEmpty_SensorName_NotSe SetUpFTSBroadcaster(); // set the 'interface_names' empty - fts_broadcaster_->get_node()->declare_parameter("interface_names.force.x", ""); - fts_broadcaster_->get_node()->declare_parameter("interface_names.torque.z", ""); + fts_broadcaster_->get_node()->set_parameter({"interface_names.force.x", ""}); + fts_broadcaster_->get_node()->set_parameter({"interface_names.torque.z", ""}); // configure failed, 'interface_name' parameter empty ASSERT_EQ(fts_broadcaster_->on_configure(rclcpp_lifecycle::State()), NODE_ERROR); @@ -152,10 +151,10 @@ TEST_F(ForceTorqueSensorBroadcasterTest, SensorName_Configure_Success) SetUpFTSBroadcaster(); // set the 'sensor_name' - fts_broadcaster_->get_node()->declare_parameter("sensor_name", sensor_name_); + fts_broadcaster_->get_node()->set_parameter({"sensor_name", sensor_name_}); // set the 'frame_id' - fts_broadcaster_->get_node()->declare_parameter("frame_id", frame_id_); + fts_broadcaster_->get_node()->set_parameter({"frame_id", frame_id_}); // configure passed ASSERT_EQ(fts_broadcaster_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); @@ -163,8 +162,10 @@ TEST_F(ForceTorqueSensorBroadcasterTest, SensorName_Configure_Success) // check interface configuration auto cmd_if_conf = fts_broadcaster_->command_interface_configuration(); ASSERT_THAT(cmd_if_conf.names, IsEmpty()); + ASSERT_EQ(cmd_if_conf.type, controller_interface::interface_configuration_type::NONE); auto state_if_conf = fts_broadcaster_->state_interface_configuration(); ASSERT_THAT(state_if_conf.names, SizeIs(6lu)); + ASSERT_EQ(state_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL); } TEST_F(ForceTorqueSensorBroadcasterTest, InterfaceNames_Configure_Success) @@ -172,12 +173,11 @@ TEST_F(ForceTorqueSensorBroadcasterTest, InterfaceNames_Configure_Success) SetUpFTSBroadcaster(); // set the 'interface_names' - fts_broadcaster_->get_node()->declare_parameter("interface_names.force.x", "fts_sensor/force.x"); - fts_broadcaster_->get_node()->declare_parameter( - "interface_names.torque.z", "fts_sensor/torque.z"); + fts_broadcaster_->get_node()->set_parameter({"interface_names.force.x", "fts_sensor/force.x"}); + fts_broadcaster_->get_node()->set_parameter({"interface_names.torque.z", "fts_sensor/torque.z"}); // set the 'frame_id' - fts_broadcaster_->get_node()->declare_parameter("frame_id", frame_id_); + fts_broadcaster_->get_node()->set_parameter({"frame_id", frame_id_}); // configure passed ASSERT_EQ(fts_broadcaster_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); @@ -188,8 +188,8 @@ TEST_F(ForceTorqueSensorBroadcasterTest, SensorName_ActivateDeactivate_Success) SetUpFTSBroadcaster(); // set the params 'sensor_name' and 'frame_id' - fts_broadcaster_->get_node()->declare_parameter("sensor_name", sensor_name_); - fts_broadcaster_->get_node()->declare_parameter("frame_id", frame_id_); + fts_broadcaster_->get_node()->set_parameter({"sensor_name", sensor_name_}); + fts_broadcaster_->get_node()->set_parameter({"frame_id", frame_id_}); // configure and activate success ASSERT_EQ(fts_broadcaster_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); @@ -198,8 +198,10 @@ TEST_F(ForceTorqueSensorBroadcasterTest, SensorName_ActivateDeactivate_Success) // check interface configuration auto cmd_if_conf = fts_broadcaster_->command_interface_configuration(); ASSERT_THAT(cmd_if_conf.names, IsEmpty()); + ASSERT_EQ(cmd_if_conf.type, controller_interface::interface_configuration_type::NONE); auto state_if_conf = fts_broadcaster_->state_interface_configuration(); ASSERT_THAT(state_if_conf.names, SizeIs(6lu)); + ASSERT_EQ(state_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL); // deactivate passed ASSERT_EQ(fts_broadcaster_->on_deactivate(rclcpp_lifecycle::State()), NODE_SUCCESS); @@ -207,8 +209,10 @@ TEST_F(ForceTorqueSensorBroadcasterTest, SensorName_ActivateDeactivate_Success) // check interface configuration cmd_if_conf = fts_broadcaster_->command_interface_configuration(); ASSERT_THAT(cmd_if_conf.names, IsEmpty()); + ASSERT_EQ(cmd_if_conf.type, controller_interface::interface_configuration_type::NONE); state_if_conf = fts_broadcaster_->state_interface_configuration(); ASSERT_THAT(state_if_conf.names, SizeIs(6lu)); // did not change + ASSERT_EQ(state_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL); } TEST_F(ForceTorqueSensorBroadcasterTest, SensorName_Update_Success) @@ -216,8 +220,8 @@ TEST_F(ForceTorqueSensorBroadcasterTest, SensorName_Update_Success) SetUpFTSBroadcaster(); // set the params 'sensor_name' and 'frame_id' - fts_broadcaster_->get_node()->declare_parameter("sensor_name", sensor_name_); - fts_broadcaster_->get_node()->declare_parameter("frame_id", frame_id_); + fts_broadcaster_->get_node()->set_parameter({"sensor_name", sensor_name_}); + fts_broadcaster_->get_node()->set_parameter({"frame_id", frame_id_}); ASSERT_EQ(fts_broadcaster_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); ASSERT_EQ(fts_broadcaster_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS); @@ -232,10 +236,9 @@ TEST_F(ForceTorqueSensorBroadcasterTest, InterfaceNames_Success) SetUpFTSBroadcaster(); // set the params 'interface_names' and 'frame_id' - fts_broadcaster_->get_node()->declare_parameter("interface_names.force.x", "fts_sensor/force.x"); - fts_broadcaster_->get_node()->declare_parameter( - "interface_names.torque.z", "fts_sensor/torque.z"); - fts_broadcaster_->get_node()->declare_parameter("frame_id", frame_id_); + fts_broadcaster_->get_node()->set_parameter({"interface_names.force.x", "fts_sensor/force.x"}); + fts_broadcaster_->get_node()->set_parameter({"interface_names.torque.z", "fts_sensor/torque.z"}); + fts_broadcaster_->get_node()->set_parameter({"frame_id", frame_id_}); ASSERT_EQ(fts_broadcaster_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); ASSERT_EQ(fts_broadcaster_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS); @@ -249,8 +252,8 @@ TEST_F(ForceTorqueSensorBroadcasterTest, SensorName_Publish_Success) SetUpFTSBroadcaster(); // set the params 'sensor_name' and 'frame_id' - fts_broadcaster_->get_node()->declare_parameter("sensor_name", sensor_name_); - fts_broadcaster_->get_node()->declare_parameter("frame_id", frame_id_); + fts_broadcaster_->get_node()->set_parameter({"sensor_name", sensor_name_}); + fts_broadcaster_->get_node()->set_parameter({"frame_id", frame_id_}); ASSERT_EQ(fts_broadcaster_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); ASSERT_EQ(fts_broadcaster_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS); @@ -272,10 +275,9 @@ TEST_F(ForceTorqueSensorBroadcasterTest, InterfaceNames_Publish_Success) SetUpFTSBroadcaster(); // set the params 'interface_names' and 'frame_id' - fts_broadcaster_->get_node()->declare_parameter("interface_names.force.x", "fts_sensor/force.x"); - fts_broadcaster_->get_node()->declare_parameter( - "interface_names.torque.z", "fts_sensor/torque.z"); - fts_broadcaster_->get_node()->declare_parameter("frame_id", frame_id_); + fts_broadcaster_->get_node()->set_parameter({"interface_names.force.x", "fts_sensor/force.x"}); + fts_broadcaster_->get_node()->set_parameter({"interface_names.torque.z", "fts_sensor/torque.z"}); + fts_broadcaster_->get_node()->set_parameter({"frame_id", frame_id_}); ASSERT_EQ(fts_broadcaster_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); ASSERT_EQ(fts_broadcaster_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS); @@ -297,16 +299,13 @@ TEST_F(ForceTorqueSensorBroadcasterTest, All_InterfaceNames_Publish_Success) SetUpFTSBroadcaster(); // set all the params 'interface_names' and 'frame_id' - fts_broadcaster_->get_node()->declare_parameter("interface_names.force.x", "fts_sensor/force.x"); - fts_broadcaster_->get_node()->declare_parameter("interface_names.force.y", "fts_sensor/force.y"); - fts_broadcaster_->get_node()->declare_parameter("interface_names.force.z", "fts_sensor/force.z"); - fts_broadcaster_->get_node()->declare_parameter( - "interface_names.torque.x", "fts_sensor/torque.x"); - fts_broadcaster_->get_node()->declare_parameter( - "interface_names.torque.y", "fts_sensor/torque.y"); - fts_broadcaster_->get_node()->declare_parameter( - "interface_names.torque.z", "fts_sensor/torque.z"); - fts_broadcaster_->get_node()->declare_parameter("frame_id", frame_id_); + fts_broadcaster_->get_node()->set_parameter({"interface_names.force.x", "fts_sensor/force.x"}); + fts_broadcaster_->get_node()->set_parameter({"interface_names.force.y", "fts_sensor/force.y"}); + fts_broadcaster_->get_node()->set_parameter({"interface_names.force.z", "fts_sensor/force.z"}); + fts_broadcaster_->get_node()->set_parameter({"interface_names.torque.x", "fts_sensor/torque.x"}); + fts_broadcaster_->get_node()->set_parameter({"interface_names.torque.y", "fts_sensor/torque.y"}); + fts_broadcaster_->get_node()->set_parameter({"interface_names.torque.z", "fts_sensor/torque.z"}); + fts_broadcaster_->get_node()->set_parameter({"frame_id", frame_id_}); ASSERT_EQ(fts_broadcaster_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); ASSERT_EQ(fts_broadcaster_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS); diff --git a/forward_command_controller/CHANGELOG.rst b/forward_command_controller/CHANGELOG.rst index b71a201c5b..8acea07e4b 100644 --- a/forward_command_controller/CHANGELOG.rst +++ b/forward_command_controller/CHANGELOG.rst @@ -2,6 +2,12 @@ Changelog for package forward_command_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +3.22.0 (2024-02-12) +------------------- +* Add test_depend on `hardware_interface_testing` (backport `#1018 `_) (`#1020 `_) +* Add tests for `interface_configuration_type` consistently (backport `#899 `_) (`#1007 `_) +* Contributors: mergify[bot] + 3.21.0 (2024-01-20) ------------------- diff --git a/forward_command_controller/package.xml b/forward_command_controller/package.xml index 684531acac..b138a0ca69 100644 --- a/forward_command_controller/package.xml +++ b/forward_command_controller/package.xml @@ -1,7 +1,7 @@ forward_command_controller - 3.21.0 + 3.22.0 Generic controller for forwarding commands. Bence Magyar Jordan Palacios @@ -22,6 +22,7 @@ ament_cmake_gmock controller_manager + hardware_interface_testing ros2_control_test_assets diff --git a/forward_command_controller/test/test_forward_command_controller.cpp b/forward_command_controller/test/test_forward_command_controller.cpp index 338c569ec6..bdaa143128 100644 --- a/forward_command_controller/test/test_forward_command_controller.cpp +++ b/forward_command_controller/test/test_forward_command_controller.cpp @@ -137,6 +137,7 @@ TEST_F(ForwardCommandControllerTest, ConfigureParamsSuccess) ASSERT_THAT(cmd_if_conf.names, SizeIs(2lu)); auto state_if_conf = controller_->state_interface_configuration(); ASSERT_THAT(state_if_conf.names, IsEmpty()); + ASSERT_EQ(state_if_conf.type, controller_interface::interface_configuration_type::NONE); } TEST_F(ForwardCommandControllerTest, ActivateWithWrongJointsNamesFails) @@ -189,6 +190,7 @@ TEST_F(ForwardCommandControllerTest, ActivateSuccess) ASSERT_THAT(cmd_if_conf.names, SizeIs(joint_names_.size())); auto state_if_conf = controller_->state_interface_configuration(); ASSERT_THAT(state_if_conf.names, IsEmpty()); + ASSERT_EQ(state_if_conf.type, controller_interface::interface_configuration_type::NONE); ASSERT_EQ( controller_->on_activate(rclcpp_lifecycle::State()), @@ -197,8 +199,10 @@ TEST_F(ForwardCommandControllerTest, ActivateSuccess) // check interface configuration cmd_if_conf = controller_->command_interface_configuration(); ASSERT_THAT(cmd_if_conf.names, SizeIs(joint_names_.size())); + EXPECT_EQ(cmd_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL); state_if_conf = controller_->state_interface_configuration(); ASSERT_THAT(state_if_conf.names, IsEmpty()); + ASSERT_EQ(state_if_conf.type, controller_interface::interface_configuration_type::NONE); } TEST_F(ForwardCommandControllerTest, CommandSuccessTest) @@ -352,6 +356,7 @@ TEST_F(ForwardCommandControllerTest, ActivateDeactivateCommandsResetSuccess) EXPECT_EQ(cmd_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL); auto state_if_conf = controller_->state_interface_configuration(); ASSERT_THAT(state_if_conf.names, IsEmpty()); + EXPECT_EQ(state_if_conf.type, controller_interface::interface_configuration_type::NONE); node_state = controller_->get_node()->activate(); ASSERT_EQ(node_state.id(), lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE); @@ -359,8 +364,10 @@ TEST_F(ForwardCommandControllerTest, ActivateDeactivateCommandsResetSuccess) // check interface configuration cmd_if_conf = controller_->command_interface_configuration(); ASSERT_THAT(cmd_if_conf.names, SizeIs(joint_names_.size())); + EXPECT_EQ(cmd_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL); state_if_conf = controller_->state_interface_configuration(); ASSERT_THAT(state_if_conf.names, IsEmpty()); + EXPECT_EQ(state_if_conf.type, controller_interface::interface_configuration_type::NONE); auto command_msg = std::make_shared(); command_msg->data = {10.0, 20.0, 30.0}; @@ -383,8 +390,10 @@ TEST_F(ForwardCommandControllerTest, ActivateDeactivateCommandsResetSuccess) // check interface configuration cmd_if_conf = controller_->command_interface_configuration(); ASSERT_THAT(cmd_if_conf.names, SizeIs(joint_names_.size())); // did not change + EXPECT_EQ(cmd_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL); state_if_conf = controller_->state_interface_configuration(); ASSERT_THAT(state_if_conf.names, IsEmpty()); + EXPECT_EQ(state_if_conf.type, controller_interface::interface_configuration_type::NONE); // command ptr should be reset (nullptr) after deactivation - same check as in `update` ASSERT_FALSE( diff --git a/forward_command_controller/test/test_multi_interface_forward_command_controller.cpp b/forward_command_controller/test/test_multi_interface_forward_command_controller.cpp index 4942deb0bf..d50aa587c4 100644 --- a/forward_command_controller/test/test_multi_interface_forward_command_controller.cpp +++ b/forward_command_controller/test/test_multi_interface_forward_command_controller.cpp @@ -297,6 +297,7 @@ TEST_F(MultiInterfaceForwardCommandControllerTest, ActivateDeactivateCommandsRes EXPECT_EQ(cmd_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL); auto state_if_conf = controller_->state_interface_configuration(); ASSERT_THAT(state_if_conf.names, IsEmpty()); + EXPECT_EQ(state_if_conf.type, controller_interface::interface_configuration_type::NONE); // send command auto command_ptr = std::make_shared(); @@ -322,6 +323,7 @@ TEST_F(MultiInterfaceForwardCommandControllerTest, ActivateDeactivateCommandsRes EXPECT_EQ(cmd_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL); state_if_conf = controller_->state_interface_configuration(); ASSERT_THAT(state_if_conf.names, IsEmpty()); + EXPECT_EQ(state_if_conf.type, controller_interface::interface_configuration_type::NONE); // command ptr should be reset (nullptr) after deactivation - same check as in `update` ASSERT_FALSE( diff --git a/gripper_controllers/CHANGELOG.rst b/gripper_controllers/CHANGELOG.rst index 0422f67d6e..55297928bc 100644 --- a/gripper_controllers/CHANGELOG.rst +++ b/gripper_controllers/CHANGELOG.rst @@ -2,6 +2,12 @@ Changelog for package gripper_controllers ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +3.22.0 (2024-02-12) +------------------- +* Add test_depend on `hardware_interface_testing` (backport `#1018 `_) (`#1020 `_) +* Let sphinx add parameter description with nested structures to documentation (`#652 `_) (`#1006 `_) +* Contributors: mergify[bot] + 3.21.0 (2024-01-20) ------------------- diff --git a/gripper_controllers/doc/userdoc.rst b/gripper_controllers/doc/userdoc.rst index 28262e90f9..7f51c8f4ac 100644 --- a/gripper_controllers/doc/userdoc.rst +++ b/gripper_controllers/doc/userdoc.rst @@ -5,10 +5,23 @@ Gripper Action Controller -------------------------------- -Controller for executing a gripper command action for simple single-dof grippers. +Controllers for executing a gripper command action for simple single-dof grippers: + +- ``position_controllers/GripperActionController`` +- ``effort_controllers/GripperActionController`` Parameters ^^^^^^^^^^^ -This controller uses the `generate_parameter_library `_ to handle its parameters. +These controllers use the `generate_parameter_library `_ to handle its parameters. The parameter `definition file located in the src folder `_ contains descriptions for all the parameters used by the controller. + +List of parameters +========================= .. generate_parameter_library_details:: ../src/gripper_action_controller_parameters.yaml + + +An example parameter file +========================= + +.. generate_parameter_library_default:: + ../src/gripper_action_controller_parameters.yaml diff --git a/gripper_controllers/package.xml b/gripper_controllers/package.xml index 5e3fcad8bc..b199982bac 100644 --- a/gripper_controllers/package.xml +++ b/gripper_controllers/package.xml @@ -4,7 +4,7 @@ schematypens="http://www.w3.org/2001/XMLSchema"?> gripper_controllers - 3.21.0 + 3.22.0 The gripper_controllers package Bence Magyar @@ -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/CHANGELOG.rst b/imu_sensor_broadcaster/CHANGELOG.rst index fc09094bfe..1ae7b7aef1 100644 --- a/imu_sensor_broadcaster/CHANGELOG.rst +++ b/imu_sensor_broadcaster/CHANGELOG.rst @@ -2,6 +2,13 @@ Changelog for package imu_sensor_broadcaster ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +3.22.0 (2024-02-12) +------------------- +* Add test_depend on `hardware_interface_testing` (backport `#1018 `_) (`#1020 `_) +* Add tests for `interface_configuration_type` consistently (backport `#899 `_) (`#1007 `_) +* Let sphinx add parameter description with nested structures to documentation (`#652 `_) (`#1006 `_) +* Contributors: mergify[bot] + 3.21.0 (2024-01-20) ------------------- diff --git a/imu_sensor_broadcaster/doc/userdoc.rst b/imu_sensor_broadcaster/doc/userdoc.rst index 3b8ae172db..09b51a7ecb 100644 --- a/imu_sensor_broadcaster/doc/userdoc.rst +++ b/imu_sensor_broadcaster/doc/userdoc.rst @@ -11,6 +11,17 @@ The controller is a wrapper around ``IMUSensor`` semantic component (see ``contr Parameters ^^^^^^^^^^^ -This controller uses the `generate_parameter_library `_ to handle its parameters. +This controller uses the `generate_parameter_library `_ to handle its parameters. The parameter `definition file located in the src folder `_ contains descriptions for all the parameters used by the controller. +List of parameters +========================= .. generate_parameter_library_details:: ../src/imu_sensor_broadcaster_parameters.yaml + + +An example parameter file +========================= + +An example parameter file for this controller can be found in `the test directory `_: + +.. literalinclude:: ../test/imu_sensor_broadcaster_params.yaml + :language: yaml diff --git a/imu_sensor_broadcaster/package.xml b/imu_sensor_broadcaster/package.xml index 8d70409efb..d2f88615a8 100644 --- a/imu_sensor_broadcaster/package.xml +++ b/imu_sensor_broadcaster/package.xml @@ -2,7 +2,7 @@ imu_sensor_broadcaster - 3.21.0 + 3.22.0 Controller to publish readings of IMU sensors. Bence Magyar Denis Štogl @@ -25,6 +25,7 @@ ament_lint_auto ament_lint_common controller_manager + hardware_interface_testing ros2_control_test_assets diff --git a/imu_sensor_broadcaster/test/test_imu_sensor_broadcaster.cpp b/imu_sensor_broadcaster/test/test_imu_sensor_broadcaster.cpp index f336ece2ad..0886748293 100644 --- a/imu_sensor_broadcaster/test/test_imu_sensor_broadcaster.cpp +++ b/imu_sensor_broadcaster/test/test_imu_sensor_broadcaster.cpp @@ -120,8 +120,10 @@ TEST_F(IMUSensorBroadcasterTest, SensorName_Configure_Success) // check interface configuration auto cmd_if_conf = imu_broadcaster_->command_interface_configuration(); ASSERT_THAT(cmd_if_conf.names, IsEmpty()); + EXPECT_EQ(cmd_if_conf.type, controller_interface::interface_configuration_type::NONE); auto state_if_conf = imu_broadcaster_->state_interface_configuration(); ASSERT_THAT(state_if_conf.names, SizeIs(10lu)); + EXPECT_EQ(state_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL); } TEST_F(IMUSensorBroadcasterTest, SensorName_Activate_Success) @@ -139,8 +141,10 @@ TEST_F(IMUSensorBroadcasterTest, SensorName_Activate_Success) // check interface configuration auto cmd_if_conf = imu_broadcaster_->command_interface_configuration(); ASSERT_THAT(cmd_if_conf.names, IsEmpty()); + EXPECT_EQ(cmd_if_conf.type, controller_interface::interface_configuration_type::NONE); auto state_if_conf = imu_broadcaster_->state_interface_configuration(); ASSERT_THAT(state_if_conf.names, SizeIs(10lu)); + EXPECT_EQ(state_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL); // deactivate passed ASSERT_EQ(imu_broadcaster_->on_deactivate(rclcpp_lifecycle::State()), NODE_SUCCESS); @@ -148,8 +152,10 @@ TEST_F(IMUSensorBroadcasterTest, SensorName_Activate_Success) // check interface configuration cmd_if_conf = imu_broadcaster_->command_interface_configuration(); ASSERT_THAT(cmd_if_conf.names, IsEmpty()); + EXPECT_EQ(cmd_if_conf.type, controller_interface::interface_configuration_type::NONE); state_if_conf = imu_broadcaster_->state_interface_configuration(); ASSERT_THAT(state_if_conf.names, SizeIs(10lu)); // did not change + EXPECT_EQ(state_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL); } TEST_F(IMUSensorBroadcasterTest, SensorName_Update_Success) diff --git a/joint_state_broadcaster/CHANGELOG.rst b/joint_state_broadcaster/CHANGELOG.rst index 77bbc3f986..db389a88a2 100644 --- a/joint_state_broadcaster/CHANGELOG.rst +++ b/joint_state_broadcaster/CHANGELOG.rst @@ -2,6 +2,13 @@ Changelog for package joint_state_broadcaster ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +3.22.0 (2024-02-12) +------------------- +* Add test_depend on `hardware_interface_testing` (backport `#1018 `_) (`#1020 `_) +* Add tests for `interface_configuration_type` consistently (backport `#899 `_) (`#1007 `_) +* Let sphinx add parameter description with nested structures to documentation (`#652 `_) (`#1006 `_) +* Contributors: mergify[bot] + 3.21.0 (2024-01-20) ------------------- diff --git a/joint_state_broadcaster/doc/joint_state_broadcaster_parameter_context.yml b/joint_state_broadcaster/doc/joint_state_broadcaster_parameter_context.yml new file mode 100644 index 0000000000..c96f8301ae --- /dev/null +++ b/joint_state_broadcaster/doc/joint_state_broadcaster_parameter_context.yml @@ -0,0 +1,46 @@ +map_interface_to_joint_state: | + Optional parameter (map) providing mapping between custom interface names to standard fields in ``joint_states`` message. + Usecases: + + #. Hydraulics robots where feedback and commanded values often have an offset and reliance on open-loop control is common. + Typically one would map both values in separate interfaces in the framework. + To visualize those data multiple joint_state_broadcaster instances and robot_state_publishers would be used to visualize both values in RViz. + #. A robot provides multiple measuring techniques for its joint values which results in slightly different values. + Typically one would use separate interface for providing those values in the framework. + Using multiple joint_state_broadcaster instances we could publish and show both in RViz. + + Format (each line is optional): + + .. code-block:: yaml + + \tmap_interface_to_joint_state: + \t\tposition: + \t\tvelocity: + \t\teffort: + + + Examples: + + .. code-block:: yaml + + \tmap_interface_to_joint_state: + \t\tposition: kf_estimated_position + + + .. code-block:: yaml + + \tmap_interface_to_joint_state: + \t\tvelocity: derived_velocity + \t\teffort: derived_effort + + + .. code-block:: yaml + + \tmap_interface_to_joint_state: + \t\teffort: torque_sensor + + + .. code-block:: yaml + + \tmap_interface_to_joint_state: + \t\teffort: current_sensor diff --git a/joint_state_broadcaster/doc/userdoc.rst b/joint_state_broadcaster/doc/userdoc.rst index c9164ec723..c7bf4fa9a1 100644 --- a/joint_state_broadcaster/doc/userdoc.rst +++ b/joint_state_broadcaster/doc/userdoc.rst @@ -22,70 +22,19 @@ If none of the requested interface are not defined, the controller returns error Parameters ---------- +This controller uses the `generate_parameter_library `_ to handle its parameters. The parameter `definition file located in the src folder `_ contains descriptions for all the parameters used by the controller. -use_local_topics - Optional parameter (boolean; default: ``False``) defining if ``joint_states`` and ``dynamic_joint_states`` messages should be published into local namespace, e.g., ``/my_state_broadcaster/joint_states``. +List of parameters +,,,,,,,,,,,,,,,,,, -joints - Optional parameter (string array) to support broadcasting of only specific joints and interfaces. - It has to be used in combination with the ``interfaces`` parameter. - Joint state broadcaster asks for access to all defined interfaces on all defined joints. +.. generate_parameter_library_details:: + ../src/joint_state_broadcaster_parameters.yaml + joint_state_broadcaster_parameter_context.yml -interfaces - Optional parameter (string array) to support broadcasting of only specific joints and interfaces. - It has to be used in combination with the ``joints`` parameter. +An example parameter file +,,,,,,,,,,,,,,,,,,,,,,,,, - -extra_joints - Optional parameter (string array) with names of extra joints to be added to ``joint_states`` and ``dynamic_joint_states`` with state set to 0. - - -map_interface_to_joint_state - Optional parameter (map) providing mapping between custom interface names to standard fields in ``joint_states`` message. - Usecases: - - 1. Hydraulics robots where feedback and commanded values often have an offset and reliance on open-loop control is common. - Typically one would map both values in separate interfaces in the framework. - To visualize those data multiple joint_state_broadcaster instances and robot_state_publishers would be used to visualize both values in RViz. - - 1. A robot provides multiple measuring techniques for its joint values which results in slightly different values. - Typically one would use separate interface for providing those values in the framework. - Using multiple joint_state_broadcaster instances we could publish and show both in RViz. - - Format (each line is optional): - - .. code-block:: yaml - - map_interface_to_joint_state: - position: - velocity: - effort: - - - Examples: - - .. code-block:: yaml - - map_interface_to_joint_state: - position: kf_estimated_position - - - .. code-block:: yaml - - map_interface_to_joint_state: - velocity: derived_velocity - effort: derived_effort - - - .. code-block:: yaml - - map_interface_to_joint_state: - effort: torque_sensor - - - .. code-block:: yaml - - map_interface_to_joint_state: - effort: current_sensor +.. generate_parameter_library_default:: + ../src/joint_state_broadcaster_parameters.yaml diff --git a/joint_state_broadcaster/package.xml b/joint_state_broadcaster/package.xml index 393cf75fd3..1719c50113 100644 --- a/joint_state_broadcaster/package.xml +++ b/joint_state_broadcaster/package.xml @@ -1,7 +1,7 @@ joint_state_broadcaster - 3.21.0 + 3.22.0 Broadcaster to publish joint state Bence Magyar Denis Stogl @@ -25,6 +25,7 @@ ament_cmake_gmock controller_manager + hardware_interface_testing hardware_interface rclcpp ros2_control_test_assets diff --git a/joint_state_broadcaster/src/joint_state_broadcaster_parameters.yaml b/joint_state_broadcaster/src/joint_state_broadcaster_parameters.yaml index ba0d4f0051..8f0d4da6c5 100644 --- a/joint_state_broadcaster/src/joint_state_broadcaster_parameters.yaml +++ b/joint_state_broadcaster/src/joint_state_broadcaster_parameters.yaml @@ -2,18 +2,29 @@ joint_state_broadcaster: use_local_topics: { type: bool, default_value: false, + description: "Defining if ``joint_states`` and ``dynamic_joint_states`` messages should be published into local namespace, e.g., ``/my_state_broadcaster/joint_states``." } joints: { type: string_array, default_value: [], + description: "Parameter to support broadcasting of only specific joints and interfaces. + It has to be used in combination with the ``interfaces`` parameter. + If either ``joints`` or ``interfaces`` is left empty, all available state interfaces will be + published. + Joint state broadcaster asks for access to all defined interfaces on all defined joints." } extra_joints: { type: string_array, default_value: [], + description: "Names of extra joints to be added to ``joint_states`` and ``dynamic_joint_states`` with state set to 0." } interfaces: { type: string_array, default_value: [], + description: "Parameter to support broadcasting of only specific joints and interfaces. + It has to be used in combination with the ``joints`` parameter. + If either ``joints`` or ``interfaces`` is left empty, all available state interfaces will be + published." } map_interface_to_joint_state: position: { diff --git a/joint_state_broadcaster/test/test_joint_state_broadcaster.cpp b/joint_state_broadcaster/test/test_joint_state_broadcaster.cpp index cfe985b638..04bf10089a 100644 --- a/joint_state_broadcaster/test/test_joint_state_broadcaster.cpp +++ b/joint_state_broadcaster/test/test_joint_state_broadcaster.cpp @@ -180,8 +180,10 @@ TEST_F(JointStateBroadcasterTest, ActivateEmptyTest) // check interface configuration auto cmd_if_conf = state_broadcaster_->command_interface_configuration(); ASSERT_THAT(cmd_if_conf.names, IsEmpty()); + EXPECT_EQ(cmd_if_conf.type, controller_interface::interface_configuration_type::NONE); auto state_if_conf = state_broadcaster_->state_interface_configuration(); ASSERT_THAT(state_if_conf.names, IsEmpty()); + EXPECT_EQ(state_if_conf.type, controller_interface::interface_configuration_type::ALL); // publishers initialized ASSERT_TRUE(state_broadcaster_->realtime_joint_state_publisher_); @@ -227,8 +229,10 @@ TEST_F(JointStateBroadcasterTest, ActivateTestWithoutJointsParameter) // check interface configuration auto cmd_if_conf = state_broadcaster_->command_interface_configuration(); ASSERT_THAT(cmd_if_conf.names, IsEmpty()); + EXPECT_EQ(cmd_if_conf.type, controller_interface::interface_configuration_type::NONE); auto state_if_conf = state_broadcaster_->state_interface_configuration(); ASSERT_THAT(state_if_conf.names, IsEmpty()); + EXPECT_EQ(state_if_conf.type, controller_interface::interface_configuration_type::ALL); // publishers initialized ASSERT_TRUE(state_broadcaster_->realtime_joint_state_publisher_); @@ -274,8 +278,10 @@ TEST_F(JointStateBroadcasterTest, ActivateTestWithoutInterfacesParameter) // check interface configuration auto cmd_if_conf = state_broadcaster_->command_interface_configuration(); ASSERT_THAT(cmd_if_conf.names, IsEmpty()); + EXPECT_EQ(cmd_if_conf.type, controller_interface::interface_configuration_type::NONE); auto state_if_conf = state_broadcaster_->state_interface_configuration(); ASSERT_THAT(state_if_conf.names, IsEmpty()); + EXPECT_EQ(state_if_conf.type, controller_interface::interface_configuration_type::ALL); // publishers initialized ASSERT_TRUE(state_broadcaster_->realtime_joint_state_publisher_); @@ -321,8 +327,10 @@ TEST_F(JointStateBroadcasterTest, ActivateDeactivateTestTwoJointsOneInterface) // check interface configuration auto cmd_if_conf = state_broadcaster_->command_interface_configuration(); ASSERT_THAT(cmd_if_conf.names, IsEmpty()); + EXPECT_EQ(cmd_if_conf.type, controller_interface::interface_configuration_type::NONE); auto state_if_conf = state_broadcaster_->state_interface_configuration(); ASSERT_THAT(state_if_conf.names, SizeIs(JOINT_NAMES.size() * IF_NAMES.size())); + EXPECT_EQ(state_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL); // publishers initialized ASSERT_TRUE(state_broadcaster_->realtime_joint_state_publisher_); @@ -360,9 +368,11 @@ TEST_F(JointStateBroadcasterTest, ActivateDeactivateTestTwoJointsOneInterface) // check interface configuration cmd_if_conf = state_broadcaster_->command_interface_configuration(); ASSERT_THAT(cmd_if_conf.names, IsEmpty()); + EXPECT_EQ(cmd_if_conf.type, controller_interface::interface_configuration_type::NONE); state_if_conf = state_broadcaster_->state_interface_configuration(); ASSERT_THAT( state_if_conf.names, SizeIs(JOINT_NAMES.size() * IF_NAMES.size())); // does not change + EXPECT_EQ(state_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL); } TEST_F(JointStateBroadcasterTest, ActivateTestOneJointTwoInterfaces) @@ -381,8 +391,10 @@ TEST_F(JointStateBroadcasterTest, ActivateTestOneJointTwoInterfaces) // check interface configuration auto cmd_if_conf = state_broadcaster_->command_interface_configuration(); ASSERT_THAT(cmd_if_conf.names, IsEmpty()); + EXPECT_EQ(cmd_if_conf.type, controller_interface::interface_configuration_type::NONE); auto state_if_conf = state_broadcaster_->state_interface_configuration(); ASSERT_THAT(state_if_conf.names, SizeIs(JOINT_NAMES.size() * IF_NAMES.size())); + EXPECT_EQ(state_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL); // publishers initialized ASSERT_TRUE(state_broadcaster_->realtime_joint_state_publisher_); @@ -455,8 +467,10 @@ TEST_F(JointStateBroadcasterTest, ActivateTestTwoJointTwoInterfacesOneMissing) // check interface configuration auto cmd_if_conf = state_broadcaster_->command_interface_configuration(); ASSERT_THAT(cmd_if_conf.names, IsEmpty()); + EXPECT_EQ(cmd_if_conf.type, controller_interface::interface_configuration_type::NONE); auto state_if_conf = state_broadcaster_->state_interface_configuration(); ASSERT_THAT(state_if_conf.names, SizeIs(JOINT_NAMES.size() * IF_NAMES.size())); + EXPECT_EQ(state_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL); // publishers initialized ASSERT_TRUE(state_broadcaster_->realtime_joint_state_publisher_); @@ -504,8 +518,10 @@ TEST_F(JointStateBroadcasterTest, TestCustomInterfaceWithoutMapping) // check interface configuration auto cmd_if_conf = state_broadcaster_->command_interface_configuration(); ASSERT_THAT(cmd_if_conf.names, IsEmpty()); + EXPECT_EQ(cmd_if_conf.type, controller_interface::interface_configuration_type::NONE); auto state_if_conf = state_broadcaster_->state_interface_configuration(); ASSERT_THAT(state_if_conf.names, SizeIs(JOINT_NAMES.size() * IF_NAMES.size())); + EXPECT_EQ(state_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL); // joint state initialized const auto & joint_state_msg = state_broadcaster_->realtime_joint_state_publisher_->msg_; @@ -547,8 +563,10 @@ TEST_F(JointStateBroadcasterTest, TestCustomInterfaceMapping) // check interface configuration auto cmd_if_conf = state_broadcaster_->command_interface_configuration(); ASSERT_THAT(cmd_if_conf.names, IsEmpty()); + EXPECT_EQ(cmd_if_conf.type, controller_interface::interface_configuration_type::NONE); auto state_if_conf = state_broadcaster_->state_interface_configuration(); ASSERT_THAT(state_if_conf.names, SizeIs(JOINT_NAMES.size() * IF_NAMES.size())); + EXPECT_EQ(state_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL); // joint state initialized const auto & joint_state_msg = state_broadcaster_->realtime_joint_state_publisher_->msg_; diff --git a/joint_trajectory_controller/CHANGELOG.rst b/joint_trajectory_controller/CHANGELOG.rst index 2ff95bf1c0..ff0671b3b9 100644 --- a/joint_trajectory_controller/CHANGELOG.rst +++ b/joint_trajectory_controller/CHANGELOG.rst @@ -2,6 +2,17 @@ Changelog for package joint_trajectory_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +3.22.0 (2024-02-12) +------------------- +* Fix usage of M_PI on Windows (`#1036 `_) (`#1038 `_) +* Add test_depend on `hardware_interface_testing` (backport `#1018 `_) (`#1020 `_) +* Add tests for `interface_configuration_type` consistently (backport `#899 `_) (`#1007 `_) +* Let sphinx add parameter description with nested structures to documentation (`#652 `_) (`#1006 `_) +* [JTC] Fill action error_strings (`#887 `_) (`#1010 `_) +* [JTC] Invalidate empty trajectory messages (`#902 `_) (`#1001 `_) +* Revert "[JTC] Remove read_only from 'joints', 'state_interfaces' and 'command_interfaces' parameters (`#967 `_)" (`#978 `_) (`#987 `_) +* Contributors: mergify[bot] + 3.21.0 (2024-01-20) ------------------- * [Docs] Update deprecated topic name (`#964 `_) (`#965 `_) diff --git a/joint_trajectory_controller/CMakeLists.txt b/joint_trajectory_controller/CMakeLists.txt index 88bb7891a3..0ce262aa58 100644 --- a/joint_trajectory_controller/CMakeLists.txt +++ b/joint_trajectory_controller/CMakeLists.txt @@ -58,6 +58,7 @@ if(BUILD_TESTING) ament_add_gmock(test_trajectory test/test_trajectory.cpp) target_link_libraries(test_trajectory joint_trajectory_controller) + target_compile_definitions(test_trajectory PRIVATE _USE_MATH_DEFINES) ament_add_gmock(test_trajectory_controller test/test_trajectory_controller.cpp) @@ -65,6 +66,7 @@ if(BUILD_TESTING) target_link_libraries(test_trajectory_controller joint_trajectory_controller ) + target_compile_definitions(joint_trajectory_controller PRIVATE _USE_MATH_DEFINES) ament_add_gmock(test_load_joint_trajectory_controller test/test_load_joint_trajectory_controller.cpp diff --git a/joint_trajectory_controller/doc/parameters.rst b/joint_trajectory_controller/doc/parameters.rst index 8ad2b406d6..dbb50fcbeb 100644 --- a/joint_trajectory_controller/doc/parameters.rst +++ b/joint_trajectory_controller/doc/parameters.rst @@ -5,146 +5,18 @@ Details about parameters ^^^^^^^^^^^^^^^^^^^^^^^^ -joints (list(string)) - Joint names to control and listen to. +This controller uses the `generate_parameter_library `_ to handle its parameters. The parameter `definition file located in the src folder `_ contains descriptions for all the parameters used by the controller. -command_joints (list(string)) - Joint names to control. This parameters is used if JTC is used in a controller chain where command and state interfaces don't have same names. -command_interface (list(string)) - Command interfaces provided by the hardware interface for all joints. +List of parameters +========================= - Values: [position | velocity | acceleration] (multiple allowed) +.. generate_parameter_library_details:: + ../src/joint_trajectory_controller_parameters.yaml + parameters_context.yaml -state_interfaces (list(string)) - State interfaces provided by the hardware for all joints. +An example parameter file +========================= - Values: position (mandatory) [velocity, [acceleration]]. - Acceleration interface can only be used in combination with position and velocity. - -action_monitor_rate (double) - Rate to monitor status changes when the controller is executing action (control_msgs::action::FollowJointTrajectory). - - Default: 20.0 - -allow_partial_joints_goal (boolean) - Allow joint goals defining trajectory for only some joints. - - Default: false - -allow_integration_in_goal_trajectories (boolean) - Allow integration in goal trajectories to accept goals without position or velocity specified - - Default: false - -interpolation_method (string) - The type of interpolation to use, if any. Can be "splines" or "none". - - Default: splines - -open_loop_control (boolean) - Use controller in open-loop control mode: - - * The controller ignores the states provided by hardware interface but using last commands as states for starting the trajectory interpolation. - * It deactivates the feedback control, see the ``gains`` structure. - - This is useful if hardware states are not following commands, i.e., an offset between those (typical for hydraulic manipulators). - - .. Note:: - If this flag is set, the controller tries to read the values from the command interfaces on activation. - If they have real numeric values, those will be used instead of state interfaces. - Therefore it is important set command interfaces to NaN (i.e., ``std::numeric_limits::quiet_NaN()``) or state values when the hardware is started. - - Default: false - -start_with_holding (bool) - If true, start with holding position after activation. Otherwise, no command will be sent until - the first trajectory is received. - - Default: true - -allow_nonzero_velocity_at_trajectory_end (boolean) - If false, the last velocity point has to be zero or the goal will be rejected. - - Default: false - -cmd_timeout (double) - Timeout after which the input command is considered stale. - Timeout is counted from the end of the trajectory (the last point). - ``cmd_timeout`` must be greater than ``constraints.goal_time``, - otherwise ignored. - - If zero, timeout is deactivated" - - Default: 0.0 - -constraints (structure) - Default values for tolerances if no explicit values are states in JointTrajectory message. - -constraints.stopped_velocity_tolerance (double) - Default value for end velocity deviation. - - Default: 0.01 - -constraints.goal_time (double) - Maximally allowed tolerance for not reaching the end of the trajectory in a predefined time. - If set to zero, the controller will wait a potentially infinite amount of time. - - Default: 0.0 (not checked) - -constraints..trajectory (double) - Maximally allowed deviation from the target trajectory for a given joint. - - Default: 0.0 (tolerance is not enforced) - -constraints..goal (double) - Maximally allowed deviation from the goal (end of the trajectory) for a given joint. - - Default: 0.0 (tolerance is not enforced) - -gains (structure) - Only relevant, if ``open_loop_control`` is not set. - - If ``velocity`` is the only command interface for all joints or an ``effort`` command interface is configured, PID controllers are used for every joint. - This structure contains the controller gains for every joint with the control law - - .. math:: - - u = k_{ff} v_d + k_p e + k_i \sum e dt + k_d (v_d - v) - - with the desired velocity :math:`v_d`, the measured velocity :math:`v`, the position error :math:`e` (definition see ``angle_wraparound`` below), - the controller period :math:`dt`, and the ``velocity`` or ``effort`` manipulated variable (control variable) :math:`u`, respectively. - -gains..p (double) - Proportional gain :math:`k_p` for PID - - Default: 0.0 - -gains..i (double) - Integral gain :math:`k_i` for PID - - Default: 0.0 - -gains..d (double) - Derivative gain :math:`k_d` for PID - - Default: 0.0 - -gains..i_clamp (double) - Integral clamp. Symmetrical in both positive and negative direction. - - Default: 0.0 - -gains..ff_velocity_scale (double) - Feed-forward scaling :math:`k_{ff}` of velocity - - Default: 0.0 - -gains..angle_wraparound (bool) - For joints that wrap around (without end stop, ie. are continuous), - where the shortest rotation to the target position is the desired motion. - If true, the position error :math:`e = normalize(s_d - s)` is normalized between :math:`-\pi, \pi`. - Otherwise :math:`e = s_d - s` is used, with the desired position :math:`s_d` and the measured - position :math:`s` from the state interface. - - Default: false +.. generate_parameter_library_default:: + ../src/joint_trajectory_controller_parameters.yaml diff --git a/joint_trajectory_controller/doc/parameters_context.yaml b/joint_trajectory_controller/doc/parameters_context.yaml new file mode 100644 index 0000000000..2ffe8aed36 --- /dev/null +++ b/joint_trajectory_controller/doc/parameters_context.yaml @@ -0,0 +1,13 @@ +constraints: + Default values for tolerances if no explicit values are set in the ``JointTrajectory`` message. + +gains: | + Only relevant, if ``open_loop_control`` is not set. + + If ``velocity`` is the only command interface for all joints or an ``effort`` command interface is configured, PID controllers are used for every joint. + This structure contains the controller gains for every joint with the control law + + .. math:: u = k_{ff} v_d + k_p e + k_i \sum e dt + k_d (v_d - v) + + with the desired velocity :math:`v_d`, the measured velocity :math:`v`, the position error :math:`e` (definition see ``angle_wraparound`` below), + the controller period :math:`dt`, and the ``velocity`` or ``effort`` manipulated variable (control variable) :math:`u`, respectively. diff --git a/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller.hpp b/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller.hpp index 93ab6d7e1e..9b52673250 100644 --- a/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller.hpp +++ b/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller.hpp @@ -155,7 +155,8 @@ class JointTrajectoryController : public controller_interface::ControllerInterfa std::vector pids_; // Feed-forward velocity weight factor when calculating closed loop pid adapter's command std::vector ff_velocity_scale_; - // Configuration for every joint, if position error is wrapped around + // Configuration for every joint if it wraps around (ie. is continuous, position error is + // normalized) std::vector joints_angle_wraparound_; // reserved storage for result of the command when closed loop pid adapter is used std::vector tmp_command_; diff --git a/joint_trajectory_controller/include/joint_trajectory_controller/trajectory.hpp b/joint_trajectory_controller/include/joint_trajectory_controller/trajectory.hpp index 3bd4873a31..b00d79481c 100644 --- a/joint_trajectory_controller/include/joint_trajectory_controller/trajectory.hpp +++ b/joint_trajectory_controller/include/joint_trajectory_controller/trajectory.hpp @@ -44,14 +44,19 @@ class Trajectory const trajectory_msgs::msg::JointTrajectoryPoint & current_point, std::shared_ptr joint_trajectory); - /// Set the point before the trajectory message is replaced/appended - /// Example: if we receive a new trajectory message and it's first point is 0.5 seconds - /// from the current one, we call this function to log the current state, then - /// append/replace the current trajectory + /** + * Set the point before the trajectory message is replaced/appended + * Example: if we receive a new trajectory message and it's first point is 0.5 seconds + * from the current one, we call this function to log the current state, then + * append/replace the current trajectory + * \param joints_angle_wraparound Vector of boolean where true value corresponds to a joint that + * wrap around (ie. is continuous). + */ JOINT_TRAJECTORY_CONTROLLER_PUBLIC void set_point_before_trajectory_msg( const rclcpp::Time & current_time, - const trajectory_msgs::msg::JointTrajectoryPoint & current_point); + const trajectory_msgs::msg::JointTrajectoryPoint & current_point, + const std::vector & joints_angle_wraparound = std::vector()); JOINT_TRAJECTORY_CONTROLLER_PUBLIC void update(std::shared_ptr joint_trajectory); @@ -189,6 +194,17 @@ inline std::vector mapping(const T & t1, const T & t2) return mapping_vector; } +/** + * \param current_position The current position given from the controller, which will be adapted. + * \param next_position Next position from which to compute the wraparound offset, i.e., + * the first trajectory point + * \param joints_angle_wraparound Vector of boolean where true value corresponds to a joint that + * wrap around (ie. is continuous). + */ +void wraparound_joint( + std::vector & current_position, const std::vector next_position, + const std::vector & joints_angle_wraparound); + } // namespace joint_trajectory_controller #endif // JOINT_TRAJECTORY_CONTROLLER__TRAJECTORY_HPP_ diff --git a/joint_trajectory_controller/package.xml b/joint_trajectory_controller/package.xml index 2dc9f5fb13..812a6ab4a2 100644 --- a/joint_trajectory_controller/package.xml +++ b/joint_trajectory_controller/package.xml @@ -1,7 +1,7 @@ joint_trajectory_controller - 3.21.0 + 3.22.0 Controller for executing joint-space trajectories on a group of joints Bence Magyar Dr. Denis Štogl @@ -28,6 +28,7 @@ ament_cmake_gmock controller_manager + hardware_interface_testing ros2_control_test_assets diff --git a/joint_trajectory_controller/src/joint_trajectory_controller.cpp b/joint_trajectory_controller/src/joint_trajectory_controller.cpp index 5903f1dbb8..a5b24e5292 100644 --- a/joint_trajectory_controller/src/joint_trajectory_controller.cpp +++ b/joint_trajectory_controller/src/joint_trajectory_controller.cpp @@ -202,11 +202,13 @@ controller_interface::return_type JointTrajectoryController::update( first_sample = true; if (params_.open_loop_control) { - traj_external_point_ptr_->set_point_before_trajectory_msg(time, last_commanded_state_); + traj_external_point_ptr_->set_point_before_trajectory_msg( + time, last_commanded_state_, joints_angle_wraparound_); } else { - traj_external_point_ptr_->set_point_before_trajectory_msg(time, state_current_); + traj_external_point_ptr_->set_point_before_trajectory_msg( + time, state_current_, joints_angle_wraparound_); } } @@ -343,6 +345,7 @@ controller_interface::return_type JointTrajectoryController::update( { auto result = std::make_shared(); result->set__error_code(FollowJTrajAction::Result::PATH_TOLERANCE_VIOLATED); + result->set__error_string("Aborted due to path tolerance violation"); active_goal->setAborted(result); // TODO(matthew-reynolds): Need a lock-free write here // See https://github.com/ros-controls/ros2_controllers/issues/168 @@ -359,9 +362,10 @@ controller_interface::return_type JointTrajectoryController::update( { if (!outside_goal_tolerance) { - auto res = std::make_shared(); - res->set__error_code(FollowJTrajAction::Result::SUCCESSFUL); - active_goal->setSucceeded(res); + auto result = std::make_shared(); + result->set__error_code(FollowJTrajAction::Result::SUCCESSFUL); + result->set__error_string("Goal successfully reached!"); + active_goal->setSucceeded(result); // TODO(matthew-reynolds): Need a lock-free write here // See https://github.com/ros-controls/ros2_controllers/issues/168 rt_active_goal_.writeFromNonRT(RealtimeGoalHandlePtr()); @@ -374,17 +378,19 @@ controller_interface::return_type JointTrajectoryController::update( } else if (!within_goal_time) { + const std::string error_string = "Aborted due to goal_time_tolerance exceeding by " + + std::to_string(time_difference) + " seconds"; + auto result = std::make_shared(); result->set__error_code(FollowJTrajAction::Result::GOAL_TOLERANCE_VIOLATED); + result->set__error_string(error_string); active_goal->setAborted(result); // TODO(matthew-reynolds): Need a lock-free write here // See https://github.com/ros-controls/ros2_controllers/issues/168 rt_active_goal_.writeFromNonRT(RealtimeGoalHandlePtr()); rt_has_pending_goal_.writeFromNonRT(false); - RCLCPP_WARN( - get_node()->get_logger(), "Aborted due goal_time_tolerance exceeding by %f seconds", - time_difference); + RCLCPP_WARN(get_node()->get_logger(), error_string.c_str()); traj_msg_external_point_ptr_.reset(); traj_msg_external_point_ptr_.initRT(set_hold_position()); @@ -1396,6 +1402,12 @@ bool JointTrajectoryController::validate_trajectory_msg( } } + if (trajectory.points.empty()) + { + RCLCPP_ERROR(get_node()->get_logger(), "Empty trajectory received."); + return false; + } + if (!params_.allow_nonzero_velocity_at_trajectory_end) { for (size_t i = 0; i < trajectory.points.back().velocities.size(); ++i) diff --git a/joint_trajectory_controller/src/joint_trajectory_controller_parameters.yaml b/joint_trajectory_controller/src/joint_trajectory_controller_parameters.yaml index ca6900acb5..083b362ab7 100644 --- a/joint_trajectory_controller/src/joint_trajectory_controller_parameters.yaml +++ b/joint_trajectory_controller/src/joint_trajectory_controller_parameters.yaml @@ -2,7 +2,7 @@ joint_trajectory_controller: joints: { type: string_array, default_value: [], - description: "Names of joints used by the controller", + description: "Joint names to control and listen to", read_only: true, validation: { unique<>: null, @@ -11,7 +11,7 @@ joint_trajectory_controller: command_joints: { type: string_array, default_value: [], - description: "Names of the commanding joints used by the controller", + description: "Joint names to control. This parameters is used if JTC is used in a controller chain where command and state interfaces don't have same names.", read_only: true, validation: { unique<>: null, @@ -20,7 +20,7 @@ joint_trajectory_controller: command_interfaces: { type: string_array, default_value: [], - description: "Names of command interfaces to claim", + description: "Command interfaces provided by the hardware interface for all joints", read_only: true, validation: { unique<>: null, @@ -31,7 +31,7 @@ joint_trajectory_controller: state_interfaces: { type: string_array, default_value: [], - description: "Names of state interfaces to claim", + description: "State interfaces provided by the hardware for all joints.", read_only: true, validation: { unique<>: null, @@ -42,12 +42,21 @@ joint_trajectory_controller: allow_partial_joints_goal: { type: bool, default_value: false, - description: "Goals with partial set of joints are allowed", + description: "Allow joint goals defining trajectory for only some joints.", } open_loop_control: { type: bool, default_value: false, - description: "Run the controller in open-loop, i.e., read hardware states only when starting controller. This is useful when robot is not exactly following the commanded trajectory.", + description: "Use controller in open-loop control mode + \n\n + * The controller ignores the states provided by hardware interface but using last commands as states for starting the trajectory interpolation.\n + * It deactivates the feedback control, see the ``gains`` structure. + \n\n + This is useful if hardware states are not following commands, i.e., an offset between those (typical for hydraulic manipulators). + \n\n + If this flag is set, the controller tries to read the values from the command interfaces on activation. + If they have real numeric values, those will be used instead of state interfaces. + Therefore it is important set command interfaces to NaN (i.e., ``std::numeric_limits::quiet_NaN()``) or state values when the hardware is started.\n", read_only: true, } allow_integration_in_goal_trajectories: { @@ -58,7 +67,7 @@ joint_trajectory_controller: action_monitor_rate: { type: double, default_value: 20.0, - description: "Rate status changes will be monitored", + description: "Rate to monitor status changes when the controller is executing action (control_msgs::action::FollowJointTrajectory)", read_only: true, validation: { gt_eq: [0.1] @@ -88,7 +97,7 @@ joint_trajectory_controller: default_value: 0.0, # seconds description: "Timeout after which the input command is considered stale. Timeout is counted from the end of the trajectory (the last point). - cmd_timeout must be greater than constraints.goal_time, otherwise ignored. + ``cmd_timeout`` must be greater than ``constraints.goal_time``, otherwise ignored. If zero, timeout is deactivated", } gains: @@ -96,17 +105,17 @@ joint_trajectory_controller: p: { type: double, default_value: 0.0, - description: "Proportional gain for PID" + description: "Proportional gain :math:`k_p` for PID" } i: { type: double, default_value: 0.0, - description: "Integral gain for PID" + description: "Integral gain :math:`k_i` for PID" } d: { type: double, default_value: 0.0, - description: "Derivative gain for PID" + description: "Derivative gain :math:`k_d` for PID" } i_clamp: { type: double, @@ -116,7 +125,7 @@ joint_trajectory_controller: ff_velocity_scale: { type: double, default_value: 0.0, - description: "Feed-forward scaling of velocity." + description: "Feed-forward scaling :math:`k_{ff}` of velocity" } normalize_error: { type: bool, @@ -126,8 +135,11 @@ joint_trajectory_controller: angle_wraparound: { type: bool, default_value: false, - description: "For joints that wrap around (ie. are continuous). - Normalizes position-error to -pi to pi." + description: 'For joints that wrap around (without end stop, ie. are continuous), + where the shortest rotation to the target position is the desired motion. + If true, the position error :math:`e = normalize(s_d - s)` is normalized between :math:`-\pi, \pi`. + Otherwise :math:`e = s_d - s` is used, with the desired position :math:`s_d` and the measured + position :math:`s` from the state interface.' } constraints: stopped_velocity_tolerance: { diff --git a/joint_trajectory_controller/src/trajectory.cpp b/joint_trajectory_controller/src/trajectory.cpp index fae4c41ff9..0ed7f2ff13 100644 --- a/joint_trajectory_controller/src/trajectory.cpp +++ b/joint_trajectory_controller/src/trajectory.cpp @@ -16,6 +16,7 @@ #include +#include "angles/angles.h" #include "hardware_interface/macros.hpp" #include "rclcpp/duration.hpp" #include "rclcpp/time.hpp" @@ -44,10 +45,39 @@ Trajectory::Trajectory( void Trajectory::set_point_before_trajectory_msg( const rclcpp::Time & current_time, - const trajectory_msgs::msg::JointTrajectoryPoint & current_point) + const trajectory_msgs::msg::JointTrajectoryPoint & current_point, + const std::vector & joints_angle_wraparound) { time_before_traj_msg_ = current_time; state_before_traj_msg_ = current_point; + + // Compute offsets due to wrapping joints + wraparound_joint( + state_before_traj_msg_.positions, trajectory_msg_->points[0].positions, + joints_angle_wraparound); +} + +void wraparound_joint( + std::vector & current_position, const std::vector next_position, + const std::vector & joints_angle_wraparound) +{ + double dist; + // joints_angle_wraparound is even empty, or has the same size as the number of joints + for (size_t i = 0; i < joints_angle_wraparound.size(); i++) + { + if (joints_angle_wraparound[i]) + { + dist = angles::shortest_angular_distance(current_position[i], next_position[i]); + + // Deal with singularity at M_PI shortest distance + if (std::abs(std::abs(dist) - M_PI) < 1e-9) + { + dist = next_position[i] > current_position[i] ? std::abs(dist) : -std::abs(dist); + } + + current_position[i] = next_position[i] - dist; + } + } } void Trajectory::update(std::shared_ptr joint_trajectory) diff --git a/joint_trajectory_controller/test/test_trajectory.cpp b/joint_trajectory_controller/test/test_trajectory.cpp index b52aa67a04..6e0c53ac77 100644 --- a/joint_trajectory_controller/test/test_trajectory.cpp +++ b/joint_trajectory_controller/test/test_trajectory.cpp @@ -821,3 +821,59 @@ TEST(TestTrajectory, skip_interpolation) } } } + +TEST(TestWrapAroundJoint, no_wraparound) +{ + const std::vector initial_position(3, 0.); + std::vector next_position(3, M_PI * 3. / 2.); + + std::vector current_position(initial_position); + std::vector joints_angle_wraparound(3, false); + joint_trajectory_controller::wraparound_joint( + current_position, next_position, joints_angle_wraparound); + EXPECT_EQ(current_position[0], initial_position[0]); + EXPECT_EQ(current_position[1], initial_position[1]); + EXPECT_EQ(current_position[2], initial_position[2]); +} + +TEST(TestWrapAroundJoint, wraparound_single_joint) +{ + const std::vector initial_position(3, 0.); + std::vector next_position(3, M_PI * 3. / 2.); + + std::vector current_position(initial_position); + std::vector joints_angle_wraparound{true, false, false}; + joint_trajectory_controller::wraparound_joint( + current_position, next_position, joints_angle_wraparound); + EXPECT_EQ(current_position[0], initial_position[0] + 2 * M_PI); + EXPECT_EQ(current_position[1], initial_position[1]); + EXPECT_EQ(current_position[2], initial_position[2]); +} + +TEST(TestWrapAroundJoint, wraparound_all_joints) +{ + const std::vector initial_position(3, 0.); + std::vector next_position(3, M_PI * 3. / 2.); + + std::vector current_position(initial_position); + std::vector joints_angle_wraparound(3, true); + joint_trajectory_controller::wraparound_joint( + current_position, next_position, joints_angle_wraparound); + EXPECT_EQ(current_position[0], initial_position[0] + 2 * M_PI); + EXPECT_EQ(current_position[1], initial_position[1] + 2 * M_PI); + EXPECT_EQ(current_position[2], initial_position[2] + 2 * M_PI); +} + +TEST(TestWrapAroundJoint, wraparound_all_joints_no_offset) +{ + const std::vector initial_position(3, 0.); + std::vector next_position(3, M_PI * 3. / 2.); + + std::vector current_position(next_position); + std::vector joints_angle_wraparound(3, true); + joint_trajectory_controller::wraparound_joint( + current_position, next_position, joints_angle_wraparound); + EXPECT_EQ(current_position[0], next_position[0]); + EXPECT_EQ(current_position[1], next_position[1]); + EXPECT_EQ(current_position[2], next_position[2]); +} diff --git a/joint_trajectory_controller/test/test_trajectory_controller.cpp b/joint_trajectory_controller/test/test_trajectory_controller.cpp index 22f999849e..ae6e0974e0 100644 --- a/joint_trajectory_controller/test/test_trajectory_controller.cpp +++ b/joint_trajectory_controller/test/test_trajectory_controller.cpp @@ -120,13 +120,13 @@ TEST_P(TrajectoryControllerTestParameterized, activate) auto state = traj_controller_->get_node()->configure(); ASSERT_EQ(state.id(), State::PRIMARY_STATE_INACTIVE); - auto cmd_interface_config = traj_controller_->command_interface_configuration(); - ASSERT_EQ( - cmd_interface_config.names.size(), joint_names_.size() * command_interface_types_.size()); + auto cmd_if_conf = traj_controller_->command_interface_configuration(); + ASSERT_EQ(cmd_if_conf.names.size(), joint_names_.size() * command_interface_types_.size()); + EXPECT_EQ(cmd_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL); - auto state_interface_config = traj_controller_->state_interface_configuration(); - ASSERT_EQ( - state_interface_config.names.size(), joint_names_.size() * state_interface_types_.size()); + auto state_if_conf = traj_controller_->state_interface_configuration(); + ASSERT_EQ(state_if_conf.names.size(), joint_names_.size() * state_interface_types_.size()); + EXPECT_EQ(state_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL); state = ActivateTrajectoryController(); ASSERT_EQ(state.id(), State::PRIMARY_STATE_ACTIVE); @@ -481,14 +481,16 @@ TEST_P(TrajectoryControllerTestParameterized, hold_on_startup) // Floating-point value comparison threshold const double EPS = 1e-6; /** - * @brief check if position error of revolute joints are angle_wraparound if not configured so + * @brief check if position error of revolute joints are wrapped around if not configured so */ TEST_P(TrajectoryControllerTestParameterized, position_error_not_angle_wraparound) { rclcpp::executors::MultiThreadedExecutor executor; constexpr double k_p = 10.0; std::vector params = {}; - SetUpAndActivateTrajectoryController(executor, params, true, k_p, 0.0, false); + bool angle_wraparound = false; + SetUpAndActivateTrajectoryController(executor, params, true, k_p, 0.0, angle_wraparound); + subscribeToState(); size_t n_joints = joint_names_.size(); @@ -498,10 +500,8 @@ TEST_P(TrajectoryControllerTestParameterized, position_error_not_angle_wraparoun // *INDENT-OFF* std::vector> points{ {{3.3, 4.4, 6.6}}, {{7.7, 8.8, 9.9}}, {{10.10, 11.11, 12.12}}}; - std::vector> points_velocities{ - {{0.01, 0.01, 0.01}}, {{0.05, 0.05, 0.05}}, {{0.06, 0.06, 0.06}}}; // *INDENT-ON* - publish(time_from_start, points, rclcpp::Time(), {}, points_velocities); + publish(time_from_start, points, rclcpp::Time()); traj_controller_->wait_for_trajectory(executor); updateControllerAsync(rclcpp::Duration(FIRST_POINT_TIME)); @@ -565,35 +565,24 @@ TEST_P(TrajectoryControllerTestParameterized, position_error_not_angle_wraparoun if (traj_controller_->has_effort_command_interface()) { - // use_closed_loop_pid_adapter_ - if (traj_controller_->use_closed_loop_pid_adapter()) - { - // we expect u = k_p * (s_d-s) for positions - EXPECT_NEAR( - k_p * (state_reference.positions[0] - INITIAL_POS_JOINTS[0]), joint_eff_[0], - k_p * COMMON_THRESHOLD); - EXPECT_NEAR( - k_p * (state_reference.positions[1] - INITIAL_POS_JOINTS[1]), joint_eff_[1], - k_p * COMMON_THRESHOLD); - EXPECT_NEAR( - k_p * (state_reference.positions[2] - INITIAL_POS_JOINTS[2]), joint_eff_[2], - k_p * COMMON_THRESHOLD); - } - else - { - // interpolated points_velocities only - // check command interface - EXPECT_LT(0.0, joint_eff_[0]); - EXPECT_LT(0.0, joint_eff_[1]); - EXPECT_LT(0.0, joint_eff_[2]); - } + // with effort command interface, use_closed_loop_pid_adapter is always true + // we expect u = k_p * (s_d-s) for positions + EXPECT_NEAR( + k_p * (state_reference.positions[0] - INITIAL_POS_JOINTS[0]), joint_eff_[0], + k_p * COMMON_THRESHOLD); + EXPECT_NEAR( + k_p * (state_reference.positions[1] - INITIAL_POS_JOINTS[1]), joint_eff_[1], + k_p * COMMON_THRESHOLD); + EXPECT_NEAR( + k_p * (state_reference.positions[2] - INITIAL_POS_JOINTS[2]), joint_eff_[2], + k_p * COMMON_THRESHOLD); } executor.cancel(); } /** - * @brief check if position error of revolute joints are angle_wraparound if configured so + * @brief check if position error of revolute joints are wrapped around if configured so */ TEST_P(TrajectoryControllerTestParameterized, position_error_angle_wraparound) { @@ -636,7 +625,7 @@ TEST_P(TrajectoryControllerTestParameterized, position_error_angle_wraparound) EXPECT_NEAR(points[0][1], state_reference.positions[1], COMMON_THRESHOLD); EXPECT_NEAR(points[0][2], state_reference.positions[2], COMMON_THRESHOLD); - // is error.positions[2] angle_wraparound? + // is error.positions[2] wrapped around? EXPECT_NEAR(state_error.positions[0], state_reference.positions[0] - INITIAL_POS_JOINTS[0], EPS); EXPECT_NEAR(state_error.positions[1], state_reference.positions[1] - INITIAL_POS_JOINTS[1], EPS); EXPECT_NEAR( @@ -655,15 +644,15 @@ TEST_P(TrajectoryControllerTestParameterized, position_error_angle_wraparound) // use_closed_loop_pid_adapter_ if (traj_controller_->use_closed_loop_pid_adapter()) { - // we expect u = k_p * (s_d-s) for positions[0] and positions[1] + // we expect u = k_p * (s_d-s) for joint0 and joint1 EXPECT_NEAR( k_p * (state_reference.positions[0] - INITIAL_POS_JOINTS[0]), joint_vel_[0], k_p * COMMON_THRESHOLD); EXPECT_NEAR( k_p * (state_reference.positions[1] - INITIAL_POS_JOINTS[1]), joint_vel_[1], k_p * COMMON_THRESHOLD); - // is error of positions[2] angle_wraparound? - EXPECT_GT(0.0, joint_vel_[2]); + // is error of positions[2] wrapped around? + EXPECT_GT(0.0, joint_vel_[2]); // direction change because of angle wrap EXPECT_NEAR( k_p * (state_reference.positions[2] - INITIAL_POS_JOINTS[2] - 2 * M_PI), joint_vel_[2], k_p * COMMON_THRESHOLD); @@ -680,30 +669,19 @@ TEST_P(TrajectoryControllerTestParameterized, position_error_angle_wraparound) if (traj_controller_->has_effort_command_interface()) { - // use_closed_loop_pid_adapter_ - if (traj_controller_->use_closed_loop_pid_adapter()) - { - // we expect u = k_p * (s_d-s) for positions[0] and positions[1] - EXPECT_NEAR( - k_p * (state_reference.positions[0] - INITIAL_POS_JOINTS[0]), joint_eff_[0], - k_p * COMMON_THRESHOLD); - EXPECT_NEAR( - k_p * (state_reference.positions[1] - INITIAL_POS_JOINTS[1]), joint_eff_[1], - k_p * COMMON_THRESHOLD); - // is error of positions[2] angle_wraparound? - EXPECT_GT(0.0, joint_eff_[2]); - EXPECT_NEAR( - k_p * (state_reference.positions[2] - INITIAL_POS_JOINTS[2] - 2 * M_PI), joint_eff_[2], - k_p * COMMON_THRESHOLD); - } - else - { - // interpolated points_velocities only - // check command interface - EXPECT_LT(0.0, joint_eff_[0]); - EXPECT_LT(0.0, joint_eff_[1]); - EXPECT_LT(0.0, joint_eff_[2]); - } + // with effort command interface, use_closed_loop_pid_adapter is always true + // we expect u = k_p * (s_d-s) for joint0 and joint1 + EXPECT_NEAR( + k_p * (state_reference.positions[0] - INITIAL_POS_JOINTS[0]), joint_eff_[0], + k_p * COMMON_THRESHOLD); + EXPECT_NEAR( + k_p * (state_reference.positions[1] - INITIAL_POS_JOINTS[1]), joint_eff_[1], + k_p * COMMON_THRESHOLD); + // is error of positions[2] wrapped around? + EXPECT_GT(0.0, joint_eff_[2]); + EXPECT_NEAR( + k_p * (state_reference.positions[2] - INITIAL_POS_JOINTS[2] - 2 * M_PI), joint_eff_[2], + k_p * COMMON_THRESHOLD); } executor.cancel(); @@ -1211,6 +1189,11 @@ TEST_P(TrajectoryControllerTestParameterized, invalid_message) traj_msg.joint_names = {"bad_name"}; EXPECT_FALSE(traj_controller_->validate_trajectory_msg(traj_msg)); + // empty message + traj_msg = good_traj_msg; + traj_msg.points.clear(); + EXPECT_FALSE(traj_controller_->validate_trajectory_msg(traj_msg)); + // No position data traj_msg = good_traj_msg; traj_msg.points[0].positions.clear(); @@ -1247,8 +1230,41 @@ TEST_P(TrajectoryControllerTestParameterized, invalid_message) EXPECT_FALSE(traj_controller_->validate_trajectory_msg(traj_msg)); } -/// With allow_integration_in_goal_trajectories parameter trajectory missing position or -/// velocities are accepted +/** + * @brief Test invalid velocity at trajectory end with parameter set to false + */ +TEST_P( + TrajectoryControllerTestParameterized, + expect_invalid_when_message_with_nonzero_end_velocity_and_when_param_false) +{ + rclcpp::Parameter nonzero_vel_parameters("allow_nonzero_velocity_at_trajectory_end", false); + rclcpp::executors::SingleThreadedExecutor executor; + SetUpAndActivateTrajectoryController(executor, {nonzero_vel_parameters}); + + trajectory_msgs::msg::JointTrajectory traj_msg; + traj_msg.joint_names = joint_names_; + traj_msg.header.stamp = rclcpp::Time(0); + + // empty message (no throw!) + ASSERT_NO_THROW(traj_controller_->validate_trajectory_msg(traj_msg)); + EXPECT_FALSE(traj_controller_->validate_trajectory_msg(traj_msg)); + + // Nonzero velocity at trajectory end! + traj_msg.points.resize(1); + traj_msg.points[0].time_from_start = rclcpp::Duration::from_seconds(0.25); + traj_msg.points[0].positions.resize(1); + traj_msg.points[0].positions = {1.0, 2.0, 3.0}; + traj_msg.points[0].velocities.resize(1); + traj_msg.points[0].velocities = {-1.0, -2.0, -3.0}; + EXPECT_FALSE(traj_controller_->validate_trajectory_msg(traj_msg)); +} + +/** + * @brief missing_positions_message_accepted Test mismatched joint and reference vector sizes + * + * @note With allow_integration_in_goal_trajectories parameter trajectory missing position or + * velocities are accepted + */ TEST_P(TrajectoryControllerTestParameterized, missing_positions_message_accepted) { rclcpp::Parameter allow_integration_parameters("allow_integration_in_goal_trajectories", true); diff --git a/position_controllers/CHANGELOG.rst b/position_controllers/CHANGELOG.rst index 1ac5935eb1..3b619ebab3 100644 --- a/position_controllers/CHANGELOG.rst +++ b/position_controllers/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package position_controllers ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +3.22.0 (2024-02-12) +------------------- +* Add test_depend on `hardware_interface_testing` (backport `#1018 `_) (`#1020 `_) +* Contributors: mergify[bot] + 3.21.0 (2024-01-20) ------------------- diff --git a/position_controllers/package.xml b/position_controllers/package.xml index 303e7cde5c..bb83cbdb03 100644 --- a/position_controllers/package.xml +++ b/position_controllers/package.xml @@ -1,7 +1,7 @@ position_controllers - 3.21.0 + 3.22.0 Generic controller for forwarding commands. Bence Magyar Jordan Palacios @@ -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/CHANGELOG.rst b/range_sensor_broadcaster/CHANGELOG.rst index be84cfe8e0..a3f9568c4f 100644 --- a/range_sensor_broadcaster/CHANGELOG.rst +++ b/range_sensor_broadcaster/CHANGELOG.rst @@ -2,6 +2,13 @@ Changelog for package range_sensor_broadcaster ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +3.22.0 (2024-02-12) +------------------- +* Add test_depend on `hardware_interface_testing` (backport `#1018 `_) (`#1020 `_) +* Add tests for `interface_configuration_type` consistently (backport `#899 `_) (`#1007 `_) +* Let sphinx add parameter description with nested structures to documentation (`#652 `_) (`#1006 `_) +* Contributors: mergify[bot] + 3.21.0 (2024-01-20) ------------------- diff --git a/range_sensor_broadcaster/doc/userdoc.rst b/range_sensor_broadcaster/doc/userdoc.rst index e35bec67ad..39fb98b3aa 100644 --- a/range_sensor_broadcaster/doc/userdoc.rst +++ b/range_sensor_broadcaster/doc/userdoc.rst @@ -11,5 +11,21 @@ The controller is a wrapper around ``RangeSensor`` semantic component (see ``con Parameters ^^^^^^^^^^^ +The Range Sensor Broadcaster uses the `generate_parameter_library `_ to handle its parameters. The parameter `definition file located in the src folder `_ contains descriptions for all the parameters used by the controller. + +List of parameters +========================= .. generate_parameter_library_details:: ../src/range_sensor_broadcaster_parameters.yaml + + +An example parameter file +========================= + +.. generate_parameter_library_default:: + ../src/range_sensor_broadcaster_parameters.yaml + +An example parameter file for this controller can be found in `the test directory `_: + +.. literalinclude:: ../test/range_sensor_broadcaster_params.yaml + :language: yaml diff --git a/range_sensor_broadcaster/package.xml b/range_sensor_broadcaster/package.xml index f48b2587e2..1f8c8c3fcd 100644 --- a/range_sensor_broadcaster/package.xml +++ b/range_sensor_broadcaster/package.xml @@ -2,7 +2,7 @@ range_sensor_broadcaster - 3.21.0 + 3.22.0 Controller to publish readings of Range sensors. Bence Magyar Florent Chretien @@ -22,7 +22,7 @@ ament_cmake_gmock controller_manager - hardware_interface + hardware_interface_testing ros2_control_test_assets diff --git a/range_sensor_broadcaster/test/test_range_sensor_broadcaster.cpp b/range_sensor_broadcaster/test/test_range_sensor_broadcaster.cpp index e44fec4b0c..ed2aeadab1 100644 --- a/range_sensor_broadcaster/test/test_range_sensor_broadcaster.cpp +++ b/range_sensor_broadcaster/test/test_range_sensor_broadcaster.cpp @@ -154,8 +154,10 @@ TEST_F(RangeSensorBroadcasterTest, ActivateDeactivate_RangeBroadcaster_Success) // check interface configuration auto cmd_if_conf = range_broadcaster_->command_interface_configuration(); ASSERT_THAT(cmd_if_conf.names, IsEmpty()); + ASSERT_EQ(cmd_if_conf.type, controller_interface::interface_configuration_type::NONE); auto state_if_conf = range_broadcaster_->state_interface_configuration(); ASSERT_THAT(state_if_conf.names, SizeIs(1lu)); + ASSERT_EQ(state_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL); ASSERT_EQ( range_broadcaster_->on_deactivate(rclcpp_lifecycle::State()), @@ -164,8 +166,10 @@ TEST_F(RangeSensorBroadcasterTest, ActivateDeactivate_RangeBroadcaster_Success) // check interface configuration cmd_if_conf = range_broadcaster_->command_interface_configuration(); ASSERT_THAT(cmd_if_conf.names, IsEmpty()); + ASSERT_EQ(cmd_if_conf.type, controller_interface::interface_configuration_type::NONE); state_if_conf = range_broadcaster_->state_interface_configuration(); ASSERT_THAT(state_if_conf.names, SizeIs(1lu)); // did not change + ASSERT_EQ(state_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL); } TEST_F(RangeSensorBroadcasterTest, Update_RangeBroadcaster_Success) diff --git a/ros2_controllers/CHANGELOG.rst b/ros2_controllers/CHANGELOG.rst index f6ca18a4e3..f735bfaba8 100644 --- a/ros2_controllers/CHANGELOG.rst +++ b/ros2_controllers/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package ros2_controllers ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +3.22.0 (2024-02-12) +------------------- + 3.21.0 (2024-01-20) ------------------- diff --git a/ros2_controllers/package.xml b/ros2_controllers/package.xml index c9af221587..5e77ad4c19 100644 --- a/ros2_controllers/package.xml +++ b/ros2_controllers/package.xml @@ -1,7 +1,7 @@ ros2_controllers - 3.21.0 + 3.22.0 Metapackage for ROS2 controllers related packages Bence Magyar Jordan Palacios diff --git a/ros2_controllers_test_nodes/CHANGELOG.rst b/ros2_controllers_test_nodes/CHANGELOG.rst index fbfd64e4d6..cc3bfe8aff 100644 --- 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 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +3.22.0 (2024-02-12) +------------------- + 3.21.0 (2024-01-20) ------------------- diff --git a/ros2_controllers_test_nodes/package.xml b/ros2_controllers_test_nodes/package.xml index afc889c54f..24b3dc2be4 100644 --- a/ros2_controllers_test_nodes/package.xml +++ b/ros2_controllers_test_nodes/package.xml @@ -2,7 +2,7 @@ ros2_controllers_test_nodes - 3.21.0 + 3.22.0 Demo nodes for showing and testing functionalities of the ros2_control framework. Denis Štogl diff --git a/ros2_controllers_test_nodes/setup.py b/ros2_controllers_test_nodes/setup.py index 0742eaf74b..a1fc16c95c 100644 --- a/ros2_controllers_test_nodes/setup.py +++ b/ros2_controllers_test_nodes/setup.py @@ -20,7 +20,7 @@ setup( name=package_name, - version="3.21.0", + version="3.22.0", 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 index 32f6180cae..2c2e8981a3 100644 --- a/rqt_joint_trajectory_controller/CHANGELOG.rst +++ b/rqt_joint_trajectory_controller/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package rqt_joint_trajectory_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +3.22.0 (2024-02-12) +------------------- + 3.21.0 (2024-01-20) ------------------- diff --git a/rqt_joint_trajectory_controller/package.xml b/rqt_joint_trajectory_controller/package.xml index d23c1dc9d5..38977527e7 100644 --- 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"?> rqt_joint_trajectory_controller - 3.21.0 + 3.22.0 Graphical frontend for interacting with joint_trajectory_controller instances. Bence Magyar diff --git a/rqt_joint_trajectory_controller/setup.py b/rqt_joint_trajectory_controller/setup.py index 96153dfafb..d72a13ad45 100644 --- a/rqt_joint_trajectory_controller/setup.py +++ b/rqt_joint_trajectory_controller/setup.py @@ -7,7 +7,7 @@ setup( name=package_name, - version="3.21.0", + version="3.22.0", 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 index e7d4256390..fb9a9b162a 100644 --- a/steering_controllers_library/CHANGELOG.rst +++ b/steering_controllers_library/CHANGELOG.rst @@ -2,6 +2,12 @@ Changelog for package steering_controllers_library ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +3.22.0 (2024-02-12) +------------------- +* Fix usage of M_PI on Windows (`#1036 `_) (`#1038 `_) +* Add tests for `interface_configuration_type` consistently (backport `#899 `_) (`#1007 `_) +* Contributors: mergify[bot] + 3.21.0 (2024-01-20) ------------------- diff --git a/steering_controllers_library/CMakeLists.txt b/steering_controllers_library/CMakeLists.txt index 63de42cf69..741577ef5e 100644 --- a/steering_controllers_library/CMakeLists.txt +++ b/steering_controllers_library/CMakeLists.txt @@ -50,7 +50,7 @@ ament_target_dependencies(steering_controllers_library PUBLIC ${THIS_PACKAGE_INC # Causes the visibility macros to use dllexport rather than dllimport, # which is appropriate when building the dll but not consuming it. -target_compile_definitions(steering_controllers_library PRIVATE "STEERING_CONTROLLERS_BUILDING_DLL") +target_compile_definitions(steering_controllers_library PRIVATE "STEERING_CONTROLLERS_BUILDING_DLL" "_USE_MATH_DEFINES") if(BUILD_TESTING) find_package(ament_cmake_gmock REQUIRED) diff --git a/steering_controllers_library/package.xml b/steering_controllers_library/package.xml index 6e86221e7c..be3c816a88 100644 --- a/steering_controllers_library/package.xml +++ b/steering_controllers_library/package.xml @@ -2,7 +2,7 @@ steering_controllers_library - 3.21.0 + 3.22.0 Package for steering robot configurations including odometry and interfaces. Apache License 2.0 Bence Magyar diff --git a/steering_controllers_library/test/test_steering_controllers_library.cpp b/steering_controllers_library/test/test_steering_controllers_library.cpp index 81075d1082..0217567a26 100644 --- a/steering_controllers_library/test/test_steering_controllers_library.cpp +++ b/steering_controllers_library/test/test_steering_controllers_library.cpp @@ -28,41 +28,43 @@ class SteeringControllersLibraryTest }; // checking if all interfaces, command, state and reference are exported as expected -TEST_F(SteeringControllersLibraryTest, check_exported_intefaces) +TEST_F(SteeringControllersLibraryTest, check_exported_interfaces) { SetUpController(); ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); - auto command_intefaces = controller_->command_interface_configuration(); - ASSERT_EQ(command_intefaces.names.size(), joint_command_values_.size()); + auto cmd_if_conf = controller_->command_interface_configuration(); + ASSERT_EQ(cmd_if_conf.names.size(), joint_command_values_.size()); EXPECT_EQ( - command_intefaces.names[CMD_TRACTION_RIGHT_WHEEL], + cmd_if_conf.names[CMD_TRACTION_RIGHT_WHEEL], rear_wheels_names_[0] + "/" + traction_interface_name_); EXPECT_EQ( - command_intefaces.names[CMD_TRACTION_LEFT_WHEEL], + cmd_if_conf.names[CMD_TRACTION_LEFT_WHEEL], rear_wheels_names_[1] + "/" + traction_interface_name_); EXPECT_EQ( - command_intefaces.names[CMD_STEER_RIGHT_WHEEL], + cmd_if_conf.names[CMD_STEER_RIGHT_WHEEL], front_wheels_names_[0] + "/" + steering_interface_name_); EXPECT_EQ( - command_intefaces.names[CMD_STEER_LEFT_WHEEL], + cmd_if_conf.names[CMD_STEER_LEFT_WHEEL], front_wheels_names_[1] + "/" + steering_interface_name_); + EXPECT_EQ(cmd_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL); - auto state_intefaces = controller_->state_interface_configuration(); - ASSERT_EQ(state_intefaces.names.size(), joint_state_values_.size()); + auto state_if_conf = controller_->state_interface_configuration(); + ASSERT_EQ(state_if_conf.names.size(), joint_state_values_.size()); EXPECT_EQ( - state_intefaces.names[STATE_TRACTION_RIGHT_WHEEL], + state_if_conf.names[STATE_TRACTION_RIGHT_WHEEL], controller_->rear_wheels_state_names_[0] + "/" + traction_interface_name_); EXPECT_EQ( - state_intefaces.names[STATE_TRACTION_LEFT_WHEEL], + state_if_conf.names[STATE_TRACTION_LEFT_WHEEL], controller_->rear_wheels_state_names_[1] + "/" + traction_interface_name_); EXPECT_EQ( - state_intefaces.names[STATE_STEER_RIGHT_WHEEL], + state_if_conf.names[STATE_STEER_RIGHT_WHEEL], controller_->front_wheels_state_names_[0] + "/" + steering_interface_name_); EXPECT_EQ( - state_intefaces.names[STATE_STEER_LEFT_WHEEL], + state_if_conf.names[STATE_STEER_LEFT_WHEEL], controller_->front_wheels_state_names_[1] + "/" + steering_interface_name_); + EXPECT_EQ(state_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL); // check ref itfsTIME auto reference_interfaces = controller_->export_reference_interfaces(); diff --git a/steering_controllers_library/test/test_steering_controllers_library.hpp b/steering_controllers_library/test/test_steering_controllers_library.hpp index c72c61257a..8a0d21cc6c 100644 --- a/steering_controllers_library/test/test_steering_controllers_library.hpp +++ b/steering_controllers_library/test/test_steering_controllers_library.hpp @@ -73,7 +73,7 @@ constexpr auto NODE_ERROR = controller_interface::CallbackReturn::ERROR; class TestableSteeringControllersLibrary : public steering_controllers_library::SteeringControllersLibrary { - FRIEND_TEST(SteeringControllersLibraryTest, check_exported_intefaces); + FRIEND_TEST(SteeringControllersLibraryTest, check_exported_interfaces); FRIEND_TEST(SteeringControllersLibraryTest, test_both_update_methods_for_ref_timeout); public: diff --git a/tricycle_controller/CHANGELOG.rst b/tricycle_controller/CHANGELOG.rst index 0abdc3a236..fc6f4ec246 100644 --- a/tricycle_controller/CHANGELOG.rst +++ b/tricycle_controller/CHANGELOG.rst @@ -2,6 +2,12 @@ Changelog for package tricycle_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +3.22.0 (2024-02-12) +------------------- +* Fix usage of M_PI on Windows (`#1036 `_) (`#1038 `_) +* Add test_depend on `hardware_interface_testing` (backport `#1018 `_) (`#1020 `_) +* Contributors: mergify[bot] + 3.21.0 (2024-01-20) ------------------- diff --git a/tricycle_controller/CMakeLists.txt b/tricycle_controller/CMakeLists.txt index ac9364a8d1..708c354636 100644 --- a/tricycle_controller/CMakeLists.txt +++ b/tricycle_controller/CMakeLists.txt @@ -46,6 +46,7 @@ target_include_directories(tricycle_controller PUBLIC ) target_link_libraries(tricycle_controller PUBLIC tricycle_controller_parameters) ament_target_dependencies(tricycle_controller PUBLIC ${THIS_PACKAGE_INCLUDE_DEPENDS}) +target_compile_definitions(tricycle_controller PRIVATE _USE_MATH_DEFINES) pluginlib_export_plugin_description_file(controller_interface tricycle_controller.xml) diff --git a/tricycle_controller/package.xml b/tricycle_controller/package.xml index 5235c59bdc..1ca306fc3b 100644 --- a/tricycle_controller/package.xml +++ b/tricycle_controller/package.xml @@ -2,7 +2,7 @@ tricycle_controller - 3.21.0 + 3.22.0 Controller for a tricycle drive mobile base Bence Magyar Tony Najjar @@ -30,6 +30,7 @@ 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 245523c844..bd54459780 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/CHANGELOG.rst b/tricycle_steering_controller/CHANGELOG.rst index 4749a27a37..6ef681432c 100644 --- a/tricycle_steering_controller/CHANGELOG.rst +++ b/tricycle_steering_controller/CHANGELOG.rst @@ -2,6 +2,12 @@ Changelog for package tricycle_steering_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +3.22.0 (2024-02-12) +------------------- +* Add test_depend on `hardware_interface_testing` (backport `#1018 `_) (`#1020 `_) +* Add tests for `interface_configuration_type` consistently (backport `#899 `_) (`#1007 `_) +* Contributors: mergify[bot] + 3.21.0 (2024-01-20) ------------------- diff --git a/tricycle_steering_controller/package.xml b/tricycle_steering_controller/package.xml index 7c8fd25241..4467967115 100644 --- a/tricycle_steering_controller/package.xml +++ b/tricycle_steering_controller/package.xml @@ -2,7 +2,7 @@ tricycle_steering_controller - 3.21.0 + 3.22.0 Steering controller with tricycle kinematics. Rear fixed wheels are powering the vehicle and front wheel is steering. Apache License 2.0 Bence Magyar @@ -29,7 +29,7 @@ ament_cmake_gmock controller_manager - hardware_interface + hardware_interface_testing ros2_control_test_assets diff --git a/tricycle_steering_controller/test/test_tricycle_steering_controller.cpp b/tricycle_steering_controller/test/test_tricycle_steering_controller.cpp index 82ba924305..c555de53de 100644 --- a/tricycle_steering_controller/test/test_tricycle_steering_controller.cpp +++ b/tricycle_steering_controller/test/test_tricycle_steering_controller.cpp @@ -45,46 +45,47 @@ TEST_F(TricycleSteeringControllerTest, all_parameters_set_configure_success) ASSERT_EQ(controller_->tricycle_params_.wheel_track, wheel_track_); } -TEST_F(TricycleSteeringControllerTest, check_exported_intefaces) +TEST_F(TricycleSteeringControllerTest, check_exported_interfaces) { SetUpController(); ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); - auto command_intefaces = controller_->command_interface_configuration(); - ASSERT_EQ(command_intefaces.names.size(), joint_command_values_.size()); + auto cmd_if_conf = controller_->command_interface_configuration(); + ASSERT_EQ(cmd_if_conf.names.size(), joint_command_values_.size()); EXPECT_EQ( - command_intefaces.names[CMD_TRACTION_RIGHT_WHEEL], + cmd_if_conf.names[CMD_TRACTION_RIGHT_WHEEL], rear_wheels_names_[0] + "/" + traction_interface_name_); EXPECT_EQ( - command_intefaces.names[CMD_TRACTION_LEFT_WHEEL], + cmd_if_conf.names[CMD_TRACTION_LEFT_WHEEL], rear_wheels_names_[1] + "/" + traction_interface_name_); EXPECT_EQ( - command_intefaces.names[CMD_STEER_WHEEL], - front_wheels_names_[0] + "/" + steering_interface_name_); + cmd_if_conf.names[CMD_STEER_WHEEL], front_wheels_names_[0] + "/" + steering_interface_name_); + EXPECT_EQ(cmd_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL); - auto state_intefaces = controller_->state_interface_configuration(); - ASSERT_EQ(state_intefaces.names.size(), joint_state_values_.size()); + auto state_if_conf = controller_->state_interface_configuration(); + ASSERT_EQ(state_if_conf.names.size(), joint_state_values_.size()); EXPECT_EQ( - state_intefaces.names[STATE_TRACTION_RIGHT_WHEEL], + state_if_conf.names[STATE_TRACTION_RIGHT_WHEEL], controller_->rear_wheels_state_names_[0] + "/" + traction_interface_name_); EXPECT_EQ( - state_intefaces.names[STATE_TRACTION_LEFT_WHEEL], + state_if_conf.names[STATE_TRACTION_LEFT_WHEEL], controller_->rear_wheels_state_names_[1] + "/" + traction_interface_name_); EXPECT_EQ( - state_intefaces.names[STATE_STEER_AXIS], + state_if_conf.names[STATE_STEER_AXIS], controller_->front_wheels_state_names_[0] + "/" + steering_interface_name_); + EXPECT_EQ(state_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL); - // check ref itfsTIME - auto reference_interfaces = controller_->export_reference_interfaces(); - ASSERT_EQ(reference_interfaces.size(), joint_reference_interfaces_.size()); + // check ref itfs + auto ref_if_conf = controller_->export_reference_interfaces(); + ASSERT_EQ(ref_if_conf.size(), joint_reference_interfaces_.size()); for (size_t i = 0; i < joint_reference_interfaces_.size(); ++i) { const std::string ref_itf_name = std::string(controller_->get_node()->get_name()) + "/" + joint_reference_interfaces_[i]; - EXPECT_EQ(reference_interfaces[i].get_name(), ref_itf_name); - EXPECT_EQ(reference_interfaces[i].get_prefix_name(), controller_->get_node()->get_name()); - EXPECT_EQ(reference_interfaces[i].get_interface_name(), joint_reference_interfaces_[i]); + EXPECT_EQ(ref_if_conf[i].get_name(), ref_itf_name); + EXPECT_EQ(ref_if_conf[i].get_prefix_name(), controller_->get_node()->get_name()); + EXPECT_EQ(ref_if_conf[i].get_interface_name(), joint_reference_interfaces_[i]); } } diff --git a/tricycle_steering_controller/test/test_tricycle_steering_controller.hpp b/tricycle_steering_controller/test/test_tricycle_steering_controller.hpp index 422f399ad4..c2528e1fc9 100644 --- a/tricycle_steering_controller/test/test_tricycle_steering_controller.hpp +++ b/tricycle_steering_controller/test/test_tricycle_steering_controller.hpp @@ -61,7 +61,7 @@ class TestableTricycleSteeringController : public tricycle_steering_controller::TricycleSteeringController { FRIEND_TEST(TricycleSteeringControllerTest, all_parameters_set_configure_success); - FRIEND_TEST(TricycleSteeringControllerTest, check_exported_intefaces); + FRIEND_TEST(TricycleSteeringControllerTest, check_exported_interfaces); FRIEND_TEST(TricycleSteeringControllerTest, activate_success); FRIEND_TEST(TricycleSteeringControllerTest, update_success); FRIEND_TEST(TricycleSteeringControllerTest, deactivate_success); diff --git a/tricycle_steering_controller/test/test_tricycle_steering_controller_preceeding.cpp b/tricycle_steering_controller/test/test_tricycle_steering_controller_preceeding.cpp index dd72332875..6f2913aeb8 100644 --- a/tricycle_steering_controller/test/test_tricycle_steering_controller_preceeding.cpp +++ b/tricycle_steering_controller/test/test_tricycle_steering_controller_preceeding.cpp @@ -47,46 +47,48 @@ TEST_F(TricycleSteeringControllerTest, all_parameters_set_configure_success) ASSERT_EQ(controller_->tricycle_params_.wheel_track, wheel_track_); } -TEST_F(TricycleSteeringControllerTest, check_exported_intefaces) +TEST_F(TricycleSteeringControllerTest, check_exported_interfaces) { SetUpController(); ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); - auto command_intefaces = controller_->command_interface_configuration(); - ASSERT_EQ(command_intefaces.names.size(), joint_command_values_.size()); + auto cmd_if_conf = controller_->command_interface_configuration(); + ASSERT_EQ(cmd_if_conf.names.size(), joint_command_values_.size()); EXPECT_EQ( - command_intefaces.names[CMD_TRACTION_RIGHT_WHEEL], + cmd_if_conf.names[CMD_TRACTION_RIGHT_WHEEL], preceeding_prefix_ + "/" + rear_wheels_names_[0] + "/" + traction_interface_name_); EXPECT_EQ( - command_intefaces.names[CMD_TRACTION_LEFT_WHEEL], + cmd_if_conf.names[CMD_TRACTION_LEFT_WHEEL], preceeding_prefix_ + "/" + rear_wheels_names_[1] + "/" + traction_interface_name_); EXPECT_EQ( - command_intefaces.names[CMD_STEER_WHEEL], + cmd_if_conf.names[CMD_STEER_WHEEL], preceeding_prefix_ + "/" + front_wheels_names_[0] + "/" + steering_interface_name_); + EXPECT_EQ(cmd_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL); - auto state_intefaces = controller_->state_interface_configuration(); - ASSERT_EQ(state_intefaces.names.size(), joint_state_values_.size()); + auto state_if_conf = controller_->state_interface_configuration(); + ASSERT_EQ(state_if_conf.names.size(), joint_state_values_.size()); EXPECT_EQ( - state_intefaces.names[STATE_TRACTION_RIGHT_WHEEL], + state_if_conf.names[STATE_TRACTION_RIGHT_WHEEL], controller_->rear_wheels_state_names_[0] + "/" + traction_interface_name_); EXPECT_EQ( - state_intefaces.names[STATE_TRACTION_LEFT_WHEEL], + state_if_conf.names[STATE_TRACTION_LEFT_WHEEL], controller_->rear_wheels_state_names_[1] + "/" + traction_interface_name_); EXPECT_EQ( - state_intefaces.names[STATE_STEER_AXIS], + state_if_conf.names[STATE_STEER_AXIS], controller_->front_wheels_state_names_[0] + "/" + steering_interface_name_); + EXPECT_EQ(state_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL); // check ref itfs - auto reference_interfaces = controller_->export_reference_interfaces(); - ASSERT_EQ(reference_interfaces.size(), joint_reference_interfaces_.size()); + auto ref_if_conf = controller_->export_reference_interfaces(); + ASSERT_EQ(ref_if_conf.size(), joint_reference_interfaces_.size()); for (size_t i = 0; i < joint_reference_interfaces_.size(); ++i) { const std::string ref_itf_name = std::string(controller_->get_node()->get_name()) + "/" + joint_reference_interfaces_[i]; - EXPECT_EQ(reference_interfaces[i].get_name(), ref_itf_name); - EXPECT_EQ(reference_interfaces[i].get_prefix_name(), controller_->get_node()->get_name()); - EXPECT_EQ(reference_interfaces[i].get_interface_name(), joint_reference_interfaces_[i]); + EXPECT_EQ(ref_if_conf[i].get_name(), ref_itf_name); + EXPECT_EQ(ref_if_conf[i].get_prefix_name(), controller_->get_node()->get_name()); + EXPECT_EQ(ref_if_conf[i].get_interface_name(), joint_reference_interfaces_[i]); } } diff --git a/velocity_controllers/CHANGELOG.rst b/velocity_controllers/CHANGELOG.rst index 0564aa7eed..fde0b85a91 100644 --- a/velocity_controllers/CHANGELOG.rst +++ b/velocity_controllers/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package velocity_controllers ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +3.22.0 (2024-02-12) +------------------- +* Add test_depend on `hardware_interface_testing` (backport `#1018 `_) (`#1020 `_) +* Contributors: mergify[bot] + 3.21.0 (2024-01-20) ------------------- diff --git a/velocity_controllers/package.xml b/velocity_controllers/package.xml index abda9b3a1b..9e1b806823 100644 --- a/velocity_controllers/package.xml +++ b/velocity_controllers/package.xml @@ -1,7 +1,7 @@ velocity_controllers - 3.21.0 + 3.22.0 Generic controller for forwarding commands. Bence Magyar Jordan Palacios @@ -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)