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Merge pull request #103 from ros-controls/ahcorde/galactic_to_main_25_11_2022
Galactic to master
2 parents 4546cb7 + 0ab4e97 commit b296ff2

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‎.github/workflows/ci-format.yaml‎

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# This is a format job. Pre-commit has a first-party GitHub action, so we use
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# that: https://github.com/pre-commit/action
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name: Format
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on:
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workflow_dispatch:
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pull_request:
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jobs:
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pre-commit:
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name: Format
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runs-on: ubuntu-22.04
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steps:
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- uses: actions/checkout@v3
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- uses: actions/setup-python@v2
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with:
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python-version: 3.10.6
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- name: Install system hooks
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run: sudo apt install -qq cppcheck ament-cmake-uncrustify ament-cmake-pep257
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- uses: pre-commit/[email protected]
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with:
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extra_args: --all-files --hook-stage manual

‎.github/workflows/triage.yml‎

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COLUMN: Inbox
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GITHUB_TOKEN: ${{ secrets.TRIAGE_TOKEN }}
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CHECK_ORG_PROJECT: true
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‎.pre-commit-config.yaml‎

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# To use:
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#
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# pre-commit run -a
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#
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# Or:
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#
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# pre-commit install # (runs every time you commit in git)
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#
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# To update this file:
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#
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# pre-commit autoupdate
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#
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# See https://github.com/pre-commit/pre-commit
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repos:
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# Standard hooks
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- repo: https://github.com/pre-commit/pre-commit-hooks
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rev: v4.1.0
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hooks:
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- id: check-added-large-files
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- id: check-ast
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- id: check-case-conflict
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- id: check-docstring-first
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- id: check-merge-conflict
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- id: check-symlinks
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- id: check-xml
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- id: check-yaml
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- id: debug-statements
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- id: end-of-file-fixer
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- id: mixed-line-ending
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- id: trailing-whitespace
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exclude_types: [rst]
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- id: fix-byte-order-marker
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# Python hooks
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- repo: https://github.com/asottile/pyupgrade
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rev: v2.31.1
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hooks:
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- id: pyupgrade
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args: [--py36-plus]
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# # PEP 257
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- repo: local
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hooks:
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- id: ament_pep257
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name: ament_pep257
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description: Format files with pep257.
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entry: ament_pep257
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language: system
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args: ["--ignore=D100,D101,D102,D103,D104,D105,D106,D107,D203,D212,D404"]
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- repo: https://github.com/pycqa/flake8
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rev: 4.0.1
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hooks:
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- id: flake8
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args: ["--extend-ignore=E501"]
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# CPP hooks
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- repo: local
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hooks:
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- id: ament_uncrustify
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name: ament_uncrustify
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description: Format files with uncrustify.
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entry: ament_uncrustify
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language: system
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files: \.(c|cc|cxx|cpp|frag|glsl|h|hpp|hxx|ih|ispc|ipp|java|js|m|proto|vert)$
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args: ["--reformat"]
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- repo: local
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hooks:
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- id: ament_cppcheck
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name: ament_cppcheck
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description: Static code analysis of C/C++ files.
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stages: [commit]
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entry: ament_cppcheck
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language: system
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files: \.(h\+\+|h|hh|hxx|hpp|cuh|c|cc|cpp|cu|c\+\+|cxx|tpp|txx)$
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# Maybe use https://github.com/cpplint/cpplint instead
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- repo: local
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hooks:
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- id: ament_cpplint
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name: ament_cpplint
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description: Static code analysis of C/C++ files.
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stages: [commit]
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entry: ament_cpplint
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language: system
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files: \.(h\+\+|h|hh|hxx|hpp|cuh|c|cc|cpp|cu|c\+\+|cxx|tpp|txx)$
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args: ["--linelength=100", "--filter=-whitespace/newline"]
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# Cmake hooks
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- repo: local
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hooks:
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- id: ament_lint_cmake
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name: ament_lint_cmake
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description: Check format of CMakeLists.txt files.
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stages: [commit]
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entry: ament_lint_cmake
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language: system
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files: CMakeLists\.txt$
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# Copyright
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- repo: local
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hooks:
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- id: ament_copyright
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name: ament_copyright
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description: Check if copyright notice is available in all files.
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stages: [commit]
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entry: ament_copyright
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language: system
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# Docs - RestructuredText hooks
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- repo: https://github.com/PyCQA/doc8
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rev: 0.10.1
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hooks:
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- id: doc8
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args: ['--max-line-length=100', '--ignore=D001']
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exclude: CHANGELOG\.rst$
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- repo: https://github.com/pre-commit/pygrep-hooks
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rev: v1.9.0
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hooks:
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- id: rst-backticks
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exclude: CHANGELOG\.rst$
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- id: rst-directive-colons
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- id: rst-inline-touching-normal
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# Spellcheck in comments and docs
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# skipping of *.svg files is not working...
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- repo: https://github.com/codespell-project/codespell
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rev: v2.1.0
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hooks:
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- id: codespell
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args: ['--write-changes']
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exclude: CHANGELOG\.rst|\.(svg|pyc)$

‎README.md‎

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# ign_ros2_control
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ROS2 Distro | Build Status | Package build |
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:---------: | :----: | :----------: |
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[![Licence](https://img.shields.io/badge/License-Apache%202.0-blue.svg)](https://opensource.org/licenses/Apache-2.0) | [![Build Status](http://build.ros2.org/buildStatus/icon?job=Gdev__ign_ros2_control__ubuntu_focal_amd64)](http://build.ros2.org/job/Gdev__ign_ros2_control__ubuntu_focal_amd64) | [![Build Status](http://build.ros2.org/buildStatus/icon?job=Gbin_uF64__ign_ros2_control__ubuntu_focal_amd64__binary)](http://build.ros2.org/job/Gbin_uF64__ign_ros2_control__ubuntu_focal_amd64__binary) |
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This is a ROS 2 package for integrating the `ros2_control` controller architecture with the [Ignition Gazebo](http://ignitionrobotics.org/) simulator.
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More information about `ros2_control` can be found here: https://control.ros.org/
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This package provides an Ignition Gazebo system plugin which instantiates a `ros2_control` controller manager and connects it to a Gazebo model.
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Tested on:
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[![Build Status](https://github.com/ros-controls/gz_ros2_control/actions/workflows/ci.yaml/badge.svg?branch=galactic)](https://github.com/ros-controls/gz_ros2_control/actions/workflows/ci.yaml)
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- Debs:
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- [Ignition Edifice](https://ignitionrobotics.org/docs/edifice) + [ROS 2 Galactic](https://docs.ros.org/en/galactic/Installation.html)
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- From source:
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- [Ignition Citadel](https://ignitionrobotics.org/docs/citadel) + [ROS 2 Galactic](https://docs.ros.org/en/galactic/Installation.html)
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- [Ignition Fortress](https://ignitionrobotics.org/docs/fortress) + [ROS 2 Galactic](https://docs.ros.org/en/galactic/Installation.html)
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ROS version | Ignition version | Branch | Binaries hosted at
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-- | -- | -- | --
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Foxy | Citadel | [foxy](https://github.com/ros-controls/gz_ros2_control/tree/foxy) | https://packages.ros.org
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Foxy | Edifice | [foxy](https://github.com/ros-controls/gz_ros2_control/tree/foxy) | only from source
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Galactic | Edifice | [galactic](https://github.com/ros-controls/gz_ros2_control/tree/galactic) | https://packages.ros.org
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Galactic | Fortress | [galactic](https://github.com/ros-controls/gz_ros2_control/tree/galactic) | only from source
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Humble | Fortress | [ros2](https://github.com/ros-controls/gz_ros2_control/tree/master) | https://packages.ros.org
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Rolling | Edifice | [ros2](https://github.com/ros-controls/gz_ros2_control/tree/master) | only from source
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Rolling | Fortress | [ros2](https://github.com/ros-controls/gz_ros2_control/tree/master) | https://packages.ros.org
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Rolling | Garden (not released) | [ros2](https://github.com/ros-controls/gz_ros2_control/tree/master) | only from source
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If you want to run this with `ROS 2 Foxy` please check the branch `foxy`.
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# Compile from source
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‎ign_ros2_control/CHANGELOG.rst‎

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* Add support for initial_values for hardware interfaces when starting simulation. (`#27 <https://github.com/ros-controls/gz_ros2_control/issues/27>`_)
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* Contributors: Alejandro Hernández Cordero, Denis Štogl, Guillaume Beuzeboc, Tianyu Li
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0.4.1 (2022-06-06)
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------------------
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* Remove URDF dependency (`#56 <https://github.com/ignitionrobotics/ign_ros2_control/issues/56>`_)
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* typo in citadel name (`#54 <https://github.com/ignitionrobotics/ign_ros2_control/issues/54>`_)
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* Contributors: Alejandro Hernández Cordero, Guillaume Beuzeboc, ahcorde
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0.4.0 (2022-03-18)
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------------------
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* Fix default ign gazebo version Galactic (`#44 <https://github.com/ignitionrobotics/ign_ros2_control/issues/44>`_)

‎ign_ros2_control/src/ign_ros2_control_plugin.cpp‎

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return;
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}
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std::vector<std::string> arguments = {"--ros-args"};
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auto sdfPtr = const_cast<sdf::Element *>(_sdf.get());
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sdf::ElementPtr argument_sdf = sdfPtr->GetElement("parameters");
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while (argument_sdf) {
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std::string argument = argument_sdf->Get<std::string>();
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arguments.push_back(RCL_PARAM_FILE_FLAG);
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arguments.push_back(argument);
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argument_sdf = argument_sdf->GetNextElement("parameters");
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}
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// Get controller manager node name
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std::string controllerManagerNodeName{"controller_manager"};
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controllerManagerNodeName = controllerManagerPrefixNodeName + "_" + controllerManagerNodeName;
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}
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std::vector<std::string> arguments = {"--ros-args", "--params-file", paramFileName};
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auto sdfPtr = const_cast<sdf::Element *>(_sdf.get());
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if (sdfPtr->HasElement("ros")) {
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sdf::ElementPtr sdfRos = sdfPtr->GetElement("ros");
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‎ign_ros2_control_demos/CHANGELOG.rst‎

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* Add support for initial_values for hardware interfaces when starting simulation. (`#27 <https://github.com/ros-controls/gz_ros2_control/issues/27>`_)
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* Contributors: Alejandro Hernández Cordero, Andrej Orsula, Bence Magyar, Denis Štogl, Maciej Bednarczyk, ahcorde
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0.4.1 (2022-06-06)
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------------------
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* ign_ros2_control_demos: Install urdf dir (`#61 <https://github.com/ignitionrobotics/ign_ros2_control/issues/61>`_)
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* Remove URDF dependency (`#56 <https://github.com/ignitionrobotics/ign_ros2_control/issues/56>`_)
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* Contributors: Alejandro Hernández Cordero, Andrej Orsula
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0.4.0 (2022-03-18)
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------------------
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‎ign_ros2_control_demos/config/tricycle_drive_controller.yaml‎

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ros__parameters:
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extra_joints: ["right_wheel_joint", "left_wheel_joint"]
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tricycle_controller:
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tricycle_controller:
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ros__parameters:
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# Model
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traction_joint_name: traction_joint # Name of traction joint in URDF
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pose_covariance_diagonal: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] # Need to be set if fusing odom with other localization source
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twist_covariance_diagonal: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] # Need to be set if fusing odom with other localization source
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velocity_rolling_window_size: 10 # Rolling window size of rcppmath::RollingMeanAccumulator applied on linear and angular speeds published on odom
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# Rate Limiting
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traction: # All values should be positive
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# min_velocity: 0.0

‎ign_ros2_control_demos/package.xml‎

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<license>Apache License 2.0</license>
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<url type="website">https://github.com/ros-controls/gz_ros2_control/blob/main/README.md</url>
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<url type="website">https://github.com/ros-controls/gz_ros2_control/blob/master/README.md</url>
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<url type="bugtracker">https://github.com/ros-controls/gz_ros2_control/issues</url>
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<url type="repository">https://github.com/ros-controls/gz_ros2_control</url>
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