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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 (cherry picked from commit 289f6e0) # Conflicts: # auv_control_demos/CHANGELOG.md # auv_control_demos/package.xml # auv_control_msgs/CHANGELOG.md # auv_control_msgs/package.xml # auv_controllers/CHANGELOG.md # auv_controllers/package.xml # controller_common/CHANGELOG.md # controller_common/package.xml # end_effector_trajectory_controller/CHANGELOG.md # end_effector_trajectory_controller/package.xml # ik_solvers/CHANGELOG.md # ik_solvers/package.xml # thruster_allocation_matrix_controller/CHANGELOG.md # thruster_allocation_matrix_controller/package.xml # thruster_controllers/CHANGELOG.md # thruster_controllers/package.xml # topic_sensors/CHANGELOG.md # topic_sensors/package.xml # velocity_controllers/CHANGELOG.md # velocity_controllers/package.xml # whole_body_controllers/CHANGELOG.md # whole_body_controllers/package.xml
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‎auv_control_demos/CHANGELOG.md‎

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# Changelog for package auv_control_demos
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## 0.3.0 (2025-06-07)
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## 0.2.1 (2025-06-03)
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- Updates the individual_controller and chained_controllers demos to use the
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current `hydrodynamics` API and the new adaptive integral terminal sliding mode
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controller.
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## 0.2.0 (2025-05-03)
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## 0.1.0 (2025-04-27)
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- Updates the individual_controller and chained_controllers demos to use the
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correct topic names

‎auv_control_demos/package.xml‎

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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>auv_control_demos</name>
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<<<<<<< HEAD
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<version>0.0.1</version>
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<description>Example package that includes demos for using auv_controllers in individual and
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chained modes</description>
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=======
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<version>0.3.0</version>
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<description>Example package that includes demos for using auv_controllers in individual and chained modes</description>
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>>>>>>> 289f6e0 (Implemented a controller coordinator (#63))
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<maintainer email="[email protected]">Colin Mitchell</maintainer>
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<maintainer email="[email protected]">Everardo Gonzalez</maintainer>

‎auv_control_msgs/CHANGELOG.md‎

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# Changelog for package auv_control_msgs
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## 0.3.0 (2025-06-07)
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## 0.2.1 (2025-06-03)
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## 0.2.0 (2025-05-03)
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- Implements the EndEffectorTrajectory message
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- Implements the EndEffectorTrajectoryPoint message
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- Implements the EndEffectorTrajectoryControllerState message
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- Adds the FollowEndEffectorTrajectory action
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## 0.1.0 (2025-04-27)
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- Implements the IKControllerStateStamped message to support the new IK
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controller

‎auv_control_msgs/package.xml‎

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<?xml version="1.0"?>
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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>auv_control_msgs</name>
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<<<<<<< HEAD
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<version>0.0.1</version>
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=======
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<version>0.3.0</version>
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>>>>>>> 289f6e0 (Implemented a controller coordinator (#63))
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<description>Custom messages for AUV controllers</description>
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<maintainer email="[email protected]">Rakesh Vivekanandan</maintainer>

‎auv_controllers/CHANGELOG.md‎

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# Changelog for package auv_controllers
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## 0.3.0 (2025-06-07)
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- Implements the controller coordinator
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## 0.2.1 (2025-06-03)
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- Fixes the auv_control_demos configurations
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## 0.2.0 (2025-05-03)
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- Adds the end effector trajectory controller
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## 0.1.0 (2025-04-27)
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- Adds the adaptive integral terminal sliding mode controller
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- Adds the task priority IK solver
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- Adds the IK whole-body controller
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- Adds the odom topic sensor
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- Adds the controller_common package
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- Adds the Gazebo passthrough thruster controller
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- Adds the thruster rotation rate controller

‎auv_controllers/package.xml‎

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<package format="3">
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<name>auv_controllers</name>
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<version>0.0.1</version>
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=======
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<version>0.3.0</version>
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<description>Meta package for auv_controllers</description>
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<maintainer email="[email protected]">Evan Palmer</maintainer>

‎controller_common/CHANGELOG.md‎

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# Changelog for package controller_common
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## 0.3.0 (2025-06-07)
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## 0.2.1 (2025-06-03)
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## 0.2.0 (2025-05-03)
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- Adds the common::math::isclose method for comparing doubles
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## 0.1.0 (2025-04-27)
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- Ports reset message functions and error calculation to a common API

‎controller_common/package.xml‎

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<?xml version="1.0"?>
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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>controller_common</name>
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<version>0.3.0</version>
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<description>Common interfaces for controllers used in this project</description>
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<maintainer email="[email protected]">Evan Palmer</maintainer>
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<license>MIT</license>
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<url type="repository">https://github.com/Robotic-Decision-Making-Lab/auv_controllers.git</url>
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<url type="bugtracker">https://github.com/Robotic-Decision-Making-Lab/auv_controllers/issues</url>
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<author>Evan Palmer</author>
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<buildtool_depend>ament_cmake</buildtool_depend>
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<depend>rclcpp</depend>
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<depend>geometry_msgs</depend>
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<depend>nav_msgs</depend>
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<export>
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<build_type>ament_cmake</build_type>
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</export>
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</package>

‎controller_coordinator/CHANGELOG.md‎

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# Changelog for package controller_coordinator
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## 0.3.0 (2025-06-07)
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- Implements a simple service endpoint for activating and deactivating a
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control system.

‎controller_coordinator/CMakeLists.txt‎

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

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