Implemented a controller coordinator (#63)

* Fixed stale demos

* Update package versions

* Fix obsolete tf2 header

* Added a coordinator to activate controllers/hardware

* Address pr comments

Author: evan-palmer

auv_control_demos/CHANGELOG.md

@@ -1,5 +1,7 @@
 # Changelog for package auv_control_demos
 
+## 0.3.0 (2025-06-07)
+
 ## 0.2.1 (2025-06-03)
 
 - Updates the individual_controller and chained_controllers demos to use the

auv_control_demos/package.xml

@@ -3,7 +3,7 @@
 <package format="3">
 
   <name>auv_control_demos</name>
-  <version>0.2.1</version>
+  <version>0.3.0</version>
   <description>Example package that includes demos for using auv_controllers in individual and chained modes</description>
 
   <maintainer email="[email protected]">Colin Mitchell</maintainer>

auv_control_msgs/CHANGELOG.md

@@ -1,5 +1,7 @@
 # Changelog for package auv_control_msgs
 
+## 0.3.0 (2025-06-07)
+
 ## 0.2.1 (2025-06-03)
 
 ## 0.2.0 (2025-05-03)

auv_control_msgs/package.xml

@@ -1,8 +1,9 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
+
   <name>auv_control_msgs</name>
-  <version>0.2.1</version>
+  <version>0.3.0</version>
   <description>Custom messages for AUV controllers</description>
 
   <maintainer email="[email protected]">Rakesh Vivekanandan</maintainer>

auv_controllers/CHANGELOG.md

@@ -1,5 +1,9 @@
 # Changelog for package auv_controllers
 
+## 0.3.0 (2025-06-07)
+
+- Implements the controller coordinator
+
 ## 0.2.1 (2025-06-03)
 
 - Fixes the auv_control_demos configurations

auv_controllers/package.xml

@@ -3,7 +3,7 @@
 <package format="3">
 
   <name>auv_controllers</name>
-  <version>0.2.1</version>
+  <version>0.3.0</version>
   <description>Meta package for auv_controllers</description>
 
   <maintainer email="[email protected]">Evan Palmer</maintainer>

controller_common/CHANGELOG.md

@@ -1,5 +1,7 @@
 # Changelog for package controller_common
 
+## 0.3.0 (2025-06-07)
+
 ## 0.2.1 (2025-06-03)
 
 ## 0.2.0 (2025-05-03)

controller_common/package.xml

@@ -3,7 +3,7 @@
 <package format="3">
 
   <name>controller_common</name>
-  <version>0.2.1</version>
+  <version>0.3.0</version>
   <description>Common interfaces for controllers used in this project</description>
 
   <maintainer email="[email protected]">Evan Palmer</maintainer>

controller_coordinator/CHANGELOG.md

@@ -0,0 +1,6 @@
+# Changelog for package controller_coordinator
+
+## 0.3.0 (2025-06-07)
+
+- Implements a simple service endpoint for activating and deactivating a
+  control system.

controller_coordinator/CMakeLists.txt

@@ -0,0 +1,39 @@
+cmake_minimum_required(VERSION 3.23)
+project(controller_coordinator)
+
+if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
+    add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+include(GNUInstallDirs)
+
+find_package(rclcpp REQUIRED)
+find_package(controller_manager_msgs REQUIRED)
+find_package(ament_cmake REQUIRED)
+find_package(generate_parameter_library REQUIRED)
+find_package(std_srvs REQUIRED)
+
+generate_parameter_library(controller_coordinator_parameters src/coordinator_parameters.yaml)
+
+add_executable(controller_coordinator)
+target_sources(controller_coordinator PRIVATE src/coordinator.cpp)
+
+target_compile_features(controller_coordinator PUBLIC cxx_std_20)
+target_link_libraries(
+    controller_coordinator
+    PUBLIC
+        controller_coordinator_parameters
+        rclcpp::rclcpp
+        ${controller_manager_msgs_TARGETS}
+        ${std_srvs_TARGETS}
+)
+
+install(
+    TARGETS
+        controller_coordinator
+        controller_coordinator_parameters
+        DESTINATION
+        lib/controller_coordinator
+)
+
+ament_package()