Merge branch 'main' into update_control_toolbox_api

Author: urfeex

.github/workflows/coverage-build.yml

@@ -21,7 +21,7 @@ jobs:
           required-ros-distributions: ${{ env.ROS_DISTRO }}
           use-ros2-testing: true
       - uses: actions/checkout@v4
-      - uses: ros-tooling/action-ros-ci@v0.3
+      - uses: ros-tooling/action-ros-ci@v0.4
         with:
           target-ros2-distro: ${{ env.ROS_DISTRO }}
           # build all packages listed in the meta package

Universal_Robots_ROS2_Driver.jazzy.repos

@@ -34,7 +34,7 @@ repositories:
   realtime_tools:
     type: git
     url: https://github.com/ros-controls/realtime_tools.git
-    version: master
+    version: jazzy
   moveit2:
     type: git
     url: https://github.com/ros-planning/moveit2.git

ur_controllers/src/scaled_joint_trajectory_controller.cpp

@@ -128,14 +128,14 @@ controller_interface::return_type ScaledJointTrajectoryController::update(const
   const auto active_goal = *rt_active_goal_.readFromRT();
 
   // Check if a new external message has been received from nonRT threads
-  auto current_external_msg = traj_external_point_ptr_->get_trajectory_msg();
-  auto new_external_msg = traj_msg_external_point_ptr_.readFromRT();
+  auto current_external_msg = current_trajectory_->get_trajectory_msg();
+  auto new_external_msg = new_trajectory_msg_.readFromRT();
   // Discard, if a goal is pending but still not active (somewhere stuck in goal_handle_timer_)
   if (current_external_msg != *new_external_msg && (*(rt_has_pending_goal_.readFromRT()) && !active_goal) == false) {
     fill_partial_goal(*new_external_msg);
     sort_to_local_joint_order(*new_external_msg);
     // TODO(denis): Add here integration of position and velocity
-    traj_external_point_ptr_->update(*new_external_msg);
+    current_trajectory_->update(*new_external_msg);
   }
 
   // TODO(anyone): can I here also use const on joint_interface since the reference_wrapper is not
@@ -166,22 +166,22 @@ controller_interface::return_type ScaledJointTrajectoryController::update(const
 
     bool first_sample = false;
     // if sampling the first time, set the point before you sample
-    if (!traj_external_point_ptr_->is_sampled_already()) {
+    if (!current_trajectory_->is_sampled_already()) {
       first_sample = true;
       if (params_.open_loop_control) {
-        traj_external_point_ptr_->set_point_before_trajectory_msg(traj_time, last_commanded_state_);
+        current_trajectory_->set_point_before_trajectory_msg(traj_time, last_commanded_state_);
       } else {
-        traj_external_point_ptr_->set_point_before_trajectory_msg(traj_time, state_current_);
+        current_trajectory_->set_point_before_trajectory_msg(traj_time, state_current_);
       }
     }
 
     // find segment for current timestamp
     joint_trajectory_controller::TrajectoryPointConstIter start_segment_itr, end_segment_itr;
-    const bool valid_point = traj_external_point_ptr_->sample(traj_time, interpolation_method_, state_desired_,
-                                                              start_segment_itr, end_segment_itr);
+    const bool valid_point = current_trajectory_->sample(traj_time, interpolation_method_, state_desired_,
+                                                         start_segment_itr, end_segment_itr);
 
     if (valid_point) {
-      const rclcpp::Time traj_start = traj_external_point_ptr_->time_from_start();
+      const rclcpp::Time traj_start = current_trajectory_->time_from_start();
       // this is the time instance
       // - started with the first segment: when the first point will be reached (in the future)
       // - later: when the point of the current segment was reached
@@ -193,16 +193,16 @@ controller_interface::return_type ScaledJointTrajectoryController::update(const
       bool tolerance_violated_while_moving = false;
       bool outside_goal_tolerance = false;
       bool within_goal_time = true;
-      const bool before_last_point = end_segment_itr != traj_external_point_ptr_->end();
+      const bool before_last_point = end_segment_itr != current_trajectory_->end();
 
       // have we reached the end, are not holding position, and is a timeout configured?
       // Check independently of other tolerances
       if (!before_last_point && *(rt_is_holding_.readFromRT()) == false && cmd_timeout_ > 0.0 &&
           time_difference > cmd_timeout_) {
         RCLCPP_WARN(get_node()->get_logger(), "Aborted due to command timeout");
 
-        traj_msg_external_point_ptr_.reset();
-        traj_msg_external_point_ptr_.initRT(set_hold_position());
+        new_trajectory_msg_.reset();
+        new_trajectory_msg_.initRT(set_hold_position());
       }
 
       // Check state/goal tolerance
@@ -291,8 +291,8 @@ controller_interface::return_type ScaledJointTrajectoryController::update(const
 
           RCLCPP_WARN(get_node()->get_logger(), "Aborted due to state tolerance violation");
 
-          traj_msg_external_point_ptr_.reset();
-          traj_msg_external_point_ptr_.initRT(set_hold_position());
+          new_trajectory_msg_.reset();
+          new_trajectory_msg_.initRT(set_hold_position());
         } else if (!before_last_point) {  // check goal tolerance
           if (!outside_goal_tolerance) {
             auto res = std::make_shared<FollowJTrajAction::Result>();
@@ -305,8 +305,8 @@ controller_interface::return_type ScaledJointTrajectoryController::update(const
 
             RCLCPP_INFO(get_node()->get_logger(), "Goal reached, success!");
 
-            traj_msg_external_point_ptr_.reset();
-            traj_msg_external_point_ptr_.initRT(set_hold_position());
+            new_trajectory_msg_.reset();
+            new_trajectory_msg_.initRT(set_hold_position());
           } else if (!within_goal_time) {
             auto result = std::make_shared<FollowJTrajAction::Result>();
             result->set__error_code(FollowJTrajAction::Result::GOAL_TOLERANCE_VIOLATED);
@@ -319,21 +319,21 @@ controller_interface::return_type ScaledJointTrajectoryController::update(const
             RCLCPP_WARN(get_node()->get_logger(), "Aborted due goal_time_tolerance exceeding by %f seconds",
                         time_difference);
 
-            traj_msg_external_point_ptr_.reset();
-            traj_msg_external_point_ptr_.initRT(set_hold_position());
+            new_trajectory_msg_.reset();
+            new_trajectory_msg_.initRT(set_hold_position());
           }
         }
       } else if (tolerance_violated_while_moving && *(rt_has_pending_goal_.readFromRT()) == false) {
         // we need to ensure that there is no pending goal -> we get a race condition otherwise
         RCLCPP_ERROR(get_node()->get_logger(), "Holding position due to state tolerance violation");
 
-        traj_msg_external_point_ptr_.reset();
-        traj_msg_external_point_ptr_.initRT(set_hold_position());
+        new_trajectory_msg_.reset();
+        new_trajectory_msg_.initRT(set_hold_position());
       } else if (!before_last_point && !within_goal_time && *(rt_has_pending_goal_.readFromRT()) == false) {
         RCLCPP_ERROR(get_node()->get_logger(), "Exceeded goal_time_tolerance: holding position...");
 
-        traj_msg_external_point_ptr_.reset();
-        traj_msg_external_point_ptr_.initRT(set_hold_position());
+        new_trajectory_msg_.reset();
+        new_trajectory_msg_.initRT(set_hold_position());
       }
       // else, run another cycle while waiting for outside_goal_tolerance
       // to be satisfied (will stay in this state until new message arrives)

ur_robot_driver/include/ur_robot_driver/hardware_interface.hpp

@@ -124,6 +124,7 @@ class URPositionHardwareInterface : public hardware_interface::SystemInterface
   hardware_interface::CallbackReturn on_configure(const rclcpp_lifecycle::State& previous_state) final;
   hardware_interface::CallbackReturn on_activate(const rclcpp_lifecycle::State& previous_state) final;
   hardware_interface::CallbackReturn on_cleanup(const rclcpp_lifecycle::State& previous_state) final;
+  hardware_interface::CallbackReturn on_shutdown(const rclcpp_lifecycle::State& previous_state) final;
 
   hardware_interface::return_type read(const rclcpp::Time& time, const rclcpp::Duration& period) final;
   hardware_interface::return_type write(const rclcpp::Time& time, const rclcpp::Duration& period) final;
@@ -154,6 +155,9 @@ class URPositionHardwareInterface : public hardware_interface::SystemInterface
   void readBitsetData(const std::unique_ptr<urcl::rtde_interface::DataPackage>& data_pkg, const std::string& var_name,
                       std::bitset<N>& data);
 
+  // stop function used by on_shutdown and on_cleanup
+  hardware_interface::CallbackReturn stop();
+
   void initAsyncIO();
   void checkAsyncIO();
   void updateNonDoubleValues();

ur_robot_driver/src/hardware_interface.cpp

@@ -58,9 +58,6 @@ namespace ur_robot_driver
 
 URPositionHardwareInterface::~URPositionHardwareInterface()
 {
-  // If the controller manager is shutdown via Ctrl + C the on_deactivate methods won't be called.
-  // We therefore need to make sure to actually deactivate the communication
-  on_cleanup(rclcpp_lifecycle::State());
 }
 
 hardware_interface::CallbackReturn
@@ -592,6 +589,19 @@ URPositionHardwareInterface::on_activate(const rclcpp_lifecycle::State& previous
 
 hardware_interface::CallbackReturn
 URPositionHardwareInterface::on_cleanup(const rclcpp_lifecycle::State& previous_state)
+{
+  RCLCPP_DEBUG(rclcpp::get_logger("URPositionHardwareInterface"), "on_cleanup");
+  return stop();
+}
+
+hardware_interface::CallbackReturn
+URPositionHardwareInterface::on_shutdown(const rclcpp_lifecycle::State& previous_state)
+{
+  RCLCPP_DEBUG(rclcpp::get_logger("URPositionHardwareInterface"), "on_shutdown");
+  return stop();
+}
+
+hardware_interface::CallbackReturn URPositionHardwareInterface::stop()
 {
   RCLCPP_INFO(rclcpp::get_logger("URPositionHardwareInterface"), "Stopping ...please wait...");