fault_controller -> picknik_reset_fault_controller (#2)

* fault_controller -> picknik_reset_fault_controller

This commit does two things:

1) renames fault_controller to reset_fault_controller
2) prefixes with picknik_

The first change, is to be more specific what this controller is used
for.

The second change is because we want to move this controller into
ros2_controllers and when that is complete we can drop the picknik_ and
depricate this version allowing for a transition period.

---------

Signed-off-by: Alex Moriarty <[email protected]>
Co-authored-by: Anthony Baker <[email protected]>

Author: moriarty

.github/workflows/ci-coverage-build.yml

@@ -26,7 +26,7 @@ jobs:
           import-token: ${{ secrets.GITHUB_TOKEN }}
           # build all packages listed in the meta package
           package-name:
-            fault_controller
+            picknik_reset_fault_controller
 
           vcs-repo-file-url: |
             https://raw.githubusercontent.com/${{ github.repository }}/${{ github.sha }}/picknik_controllers-not-released.${{ env.ROS_DISTRO }}.repos?token=${{ secrets.GITHUB_TOKEN }}

.github/workflows/ci-ros-lint.yml

@@ -18,7 +18,7 @@ jobs:
         distribution: rolling
         linter: ${{ matrix.linter }}
         package-name:
-          fault_controller
+          picknik_reset_fault_controller
 
 
   ament_lint_100:
@@ -37,5 +37,5 @@ jobs:
         linter: cpplint
         arguments: "--linelength=100 --filter=-whitespace/newline"
         package-name:
-          fault_controller
+          picknik_reset_fault_controller
           picknik_controllers

.github/workflows/reusable-ros-tooling-source-build.yml

@@ -37,7 +37,7 @@ jobs:
           target-ros2-distro: ${{ inputs.ros_distro }}
           # build all packages listed in the meta package
           package-name:
-            fault_controller
+            picknik_reset_fault_controller
 
           vcs-repo-file-url: |
             https://raw.githubusercontent.com/ros2/ros2/${{ inputs.ros2_repo_branch }}/ros2.repos

README.md

@@ -1,16 +1,18 @@
+# picknik_controllers
 
+Package defining custom controllers that are generic and we want to contribute them into ros2_controllers.
+The controllers have been prefixed with `picknik_` so that when they eventually land upstream the prefix can be removed and the versions here will become deprecated.
 
-# kortex2_controllers
-Package defining custom controllers created for kinova robots.
-- `kortex2_controllers::TwistController`
-- `kortex2_controllers::FaultController`
+- `picknik_twist_controller::PicknikTwistController`
+- `picknik_reset_fault_controller::PicknikResetFaultController`
 
 
-## TwistController
-Cartesian twist controller created to use builtin controller on the kinova robot.
+## PicknikTwistController
+Generic ROS2 controller to forward cartesian twist commands.
+We plan to land this upstream in ros2_controllers: https://github.com/ros-controls/ros2_controllers/pull/300
 
 ### Usage
-Example of instance within `ros2_control` can be found in the [configuration file](../kortex2_bringup/config/kortex_controllers.yaml).
+Example of instance within `ros2_control` can be found in the [configuration file](https://github.com/PickNikRobotics/ros2_kortex/blob/main/kortex_description/arms/gen3/7dof/config/ros2_controllers.yaml).
 Defined interfaces have to exist within the `hardware_interface::SystemInterface` implemented for the robot (e.g. driver).
 Stop any commanding controller and then start `TwistController`to use kinova's builtin cartesian twist controller.
 
@@ -25,11 +27,11 @@ ros2 control switch_controllers --activate streaming_controller --deactivate joi
 By publishing `geometry_msgs::msg::TwistStamped` to `/streaming_controller/commands`, the commands will be piped to the driver
 and streamed to the robot controller.
 
-## FaultController
-Controller used to reset faults on the kinova arm.
+## PicknikResetFaultController
+ROS 2 controller that offers a service to clear faults in a hardware interface
 
 ### Usage
-Example of instance within `ros2_control` can be found in the [configuration file](../kortex2_bringup/config/kortex_controllers.yaml).
+Example of instance within `ros2_control` can be found in the [configuration file](https://github.com/PickNikRobotics/ros2_kortex/blob/main/kortex_description/arms/gen3/7dof/config/ros2_controllers.yaml).
 Interfaces are already hardcoded in the `hardware_interface::SystemInterface` implemented for the robot (e.g. driver)
 
 Spawn `FaultController` if it is not already spawned
@@ -60,7 +62,6 @@ ros2 control swithc_controllers --activate joint_trajectory_controller gripper_c
 ## Build status
 
 
-
 ROS2 Distro | Branch | Build status | Documentation | Released packages
 :---------: | :----: | :----------: | :-----------: | :---------------:
 **Rolling** | [`rolling`](https://github.com/PickNikRobotics/picknik_controllers/tree/rolling) | [![Rolling Binary Build](https://github.com/PickNikRobotics/picknik_controllers/actions/workflows/rolling-binary-build-main.yml/badge.svg?branch=main)](https://github.com/PickNikRobotics/picknik_controllers/actions/workflows/rolling-binary-build-main.yml?branch=main) <br /> [![Rolling Semi-Binary Build](https://github.com/PickNikRobotics/picknik_controllers/actions/workflows/rolling-semi-binary-build-main.yml/badge.svg?branch=main)](https://github.com/PickNikRobotics/picknik_controllers/actions/workflows/rolling-semi-binary-build-main.yml?branch=main) | [![Doxygen Doc Deployment](https://github.com/PickNikRobotics/picknik_controllers/actions/workflows/doxygen-deploy.yml/badge.svg)](https://github.com/PickNikRobotics/picknik_controllers/actions/workflows/doxygen-deploy.yml) <br /> [Generated Doc](https://PickNikRobotics.github.io/picknik_controllers_Documentation/rolling/html/index.html) | [picknik_controllers](https://index.ros.org/p/picknik_controllers/#rolling)

fault_controller/controller_plugins.xml

@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.8)
-project(fault_controller)
+project(picknik_reset_fault_controller)
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
@@ -23,7 +23,7 @@ set(THIS_PACKAGE_INCLUDE_DEPENDS
 
 include_directories(include)
 
-add_library(${PROJECT_NAME} SHARED src/fault_controller.cpp)
+add_library(${PROJECT_NAME} SHARED src/picknik_reset_fault_controller.cpp)
 target_include_directories(${PROJECT_NAME} PRIVATE
   include
 )
@@ -34,7 +34,7 @@ ament_target_dependencies(${PROJECT_NAME}
 
 # Causes the visibility macros to use dllexport rather than dllimport,
 # which is appropriate when building the dll but not consuming it.
-target_compile_definitions(${PROJECT_NAME} PRIVATE "FAULT_CONTROLLER_BUILDING_LIBRARY")
+target_compile_definitions(${PROJECT_NAME} PRIVATE "PICKNIK_RESET_FAULT_CONTROLLER_BUILDING_LIBRARY")
 pluginlib_export_plugin_description_file(controller_interface controller_plugins.xml)
 
 install(TARGETS ${PROJECT_NAME}

fault_controller/include/fault_controller/visibility_control.h

@@ -0,0 +1,7 @@
+<library path="picknik_reset_fault_controller">
+  <class name="picknik_reset_fault_controller/FaultController" type="picknik_reset_fault_controller::FaultController" base_class_type="controller_interface::ControllerInterface">
+    <description>
+      ROS 2 controller that offers a service to clear faults in a hardware interface
+    </description>
+  </class>
+</library>

fault_controller/CMakeLists.txt …ik_reset_fault_controller/CMakeLists.txtfault_controller/CMakeLists.txt renamed to picknik_reset_fault_controller/CMakeLists.txt fault_controller/CMakeLists.txt renamed to picknik_reset_fault_controller/CMakeLists.txt

@@ -21,19 +21,19 @@
  */
 //----------------------------------------------------------------------
 
-#ifndef FAULT_CONTROLLER__FAULT_CONTROLLER_HPP_
-#define FAULT_CONTROLLER__FAULT_CONTROLLER_HPP_
+#ifndef PICKNIK_RESET_FAULT_CONTROLLER__PICKNIK_RESET_FAULT_CONTROLLER_HPP_
+#define PICKNIK_RESET_FAULT_CONTROLLER__PICKNIK_RESET_FAULT_CONTROLLER_HPP_
 
 #include <limits>
 #include <memory>
 
 #include "controller_interface/controller_interface.hpp"
 #include "example_interfaces/msg/bool.hpp"
 #include "example_interfaces/srv/trigger.hpp"
-#include "fault_controller/visibility_control.h"
+#include "picknik_reset_fault_controller/visibility_control.h"
 #include "realtime_tools/realtime_publisher.h"
 
-namespace fault_controller
+namespace picknik_reset_fault_controller
 {
 enum CommandInterfaces
 {
@@ -48,31 +48,31 @@ using CmdType = example_interfaces::srv::Trigger;
 using FbkType = example_interfaces::msg::Bool;
 using CallbackReturn = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn;
 
-class FaultController : public controller_interface::ControllerInterface
+class PicknikResetFaultController : public controller_interface::ControllerInterface
 {
 public:
-  FAULT_CONTROLLER_PUBLIC
-  FaultController();
+  PICKNIK_RESET_FAULT_CONTROLLER_PUBLIC
+  PicknikResetFaultController();
 
-  FAULT_CONTROLLER_PUBLIC
+  PICKNIK_RESET_FAULT_CONTROLLER_PUBLIC
   controller_interface::InterfaceConfiguration command_interface_configuration() const override;
 
-  FAULT_CONTROLLER_PUBLIC
+  PICKNIK_RESET_FAULT_CONTROLLER_PUBLIC
   controller_interface::InterfaceConfiguration state_interface_configuration() const override;
 
-  FAULT_CONTROLLER_PUBLIC
+  PICKNIK_RESET_FAULT_CONTROLLER_PUBLIC
   CallbackReturn on_init() override;
 
-  FAULT_CONTROLLER_PUBLIC
+  PICKNIK_RESET_FAULT_CONTROLLER_PUBLIC
   CallbackReturn on_configure(const rclcpp_lifecycle::State & previous_state) override;
 
-  FAULT_CONTROLLER_PUBLIC
+  PICKNIK_RESET_FAULT_CONTROLLER_PUBLIC
   CallbackReturn on_activate(const rclcpp_lifecycle::State & previous_state) override;
 
-  FAULT_CONTROLLER_PUBLIC
+  PICKNIK_RESET_FAULT_CONTROLLER_PUBLIC
   CallbackReturn on_deactivate(const rclcpp_lifecycle::State & previous_state) override;
 
-  FAULT_CONTROLLER_PUBLIC
+  PICKNIK_RESET_FAULT_CONTROLLER_PUBLIC
   controller_interface::return_type update(
     const rclcpp::Time & time, const rclcpp::Duration & period) override;
 
@@ -90,6 +90,6 @@ class FaultController : public controller_interface::ControllerInterface
   static constexpr double NO_CMD = std::numeric_limits<double>::quiet_NaN();
 };
 
-}  // namespace fault_controller
+}  // namespace picknik_reset_fault_controller
 
-#endif  // FAULT_CONTROLLER__FAULT_CONTROLLER_HPP_
+#endif  // PICKNIK_RESET_FAULT_CONTROLLER__PICKNIK_RESET_FAULT_CONTROLLER_HPP_

picknik_reset_fault_controller/controller_plugins.xml

@@ -0,0 +1,49 @@
+// Copyright 2021, PickNik Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef PICKNIK_RESET_FAULT_CONTROLLER__VISIBILITY_CONTROL_H_
+#define PICKNIK_RESET_FAULT_CONTROLLER__VISIBILITY_CONTROL_H_
+
+// This logic was borrowed (then namespaced) from the examples on the gcc wiki:
+//     https://gcc.gnu.org/wiki/Visibility
+
+#if defined _WIN32 || defined __CYGWIN__
+#ifdef __GNUC__
+#define PICKNIK_RESET_FAULT_CONTROLLER_EXPORT __attribute__((dllexport))
+#define PICKNIK_RESET_FAULT_CONTROLLER_IMPORT __attribute__((dllimport))
+#else
+#define PICKNIK_RESET_FAULT_CONTROLLER_EXPORT __declspec(dllexport)
+#define PICKNIK_RESET_FAULT_CONTROLLER_IMPORT __declspec(dllimport)
+#endif
+#ifdef PICKNIK_RESET_FAULT_CONTROLLER_BUILDING_LIBRARY
+#define PICKNIK_RESET_FAULT_CONTROLLER_PUBLIC PICKNIK_RESET_FAULT_CONTROLLER_EXPORT
+#else
+#define PICKNIK_RESET_FAULT_CONTROLLER_PUBLIC PICKNIK_RESET_FAULT_CONTROLLER_IMPORT
+#endif
+#define PICKNIK_RESET_FAULT_CONTROLLER_PUBLIC_TYPE PICKNIK_RESET_FAULT_CONTROLLER_PUBLIC
+#define PICKNIK_RESET_FAULT_CONTROLLER_LOCAL
+#else
+#define PICKNIK_RESET_FAULT_CONTROLLER_EXPORT __attribute__((visibility("default")))
+#define PICKNIK_RESET_FAULT_CONTROLLER_IMPORT
+#if __GNUC__ >= 4
+#define PICKNIK_RESET_FAULT_CONTROLLER_PUBLIC __attribute__((visibility("default")))
+#define PICKNIK_RESET_FAULT_CONTROLLER_LOCAL __attribute__((visibility("hidden")))
+#else
+#define PICKNIK_RESET_FAULT_CONTROLLER_PUBLIC
+#define PICKNIK_RESET_FAULT_CONTROLLER_LOCAL
+#endif
+#define PICKNIK_RESET_FAULT_CONTROLLER_PUBLIC_TYPE
+#endif
+
+#endif  // PICKNIK_RESET_FAULT_CONTROLLER__VISIBILITY_CONTROL_H_