Merge branch 'master' into feat/schema-description

Author: sachinkum0009

.github/workflows/docker.yml

@@ -22,7 +22,7 @@ jobs:
         uses: docker/setup-buildx-action@v3
 
       - name: Checkout repository
-        uses: actions/checkout@v5
+        uses: actions/checkout@v6
 
       - name: Log in to the Container registry
         uses: docker/login-action@v3
@@ -62,7 +62,7 @@ jobs:
         uses: docker/setup-buildx-action@v3
 
       - name: Checkout repository
-        uses: actions/checkout@v5
+        uses: actions/checkout@v6
 
       - name: Log in to the Container registry
         uses: docker/login-action@v3

.github/workflows/rolling-abi-compatibility.yml

@@ -14,7 +14,6 @@ on:
       - '**/package.xml'
       - '**/CMakeLists.txt'
       - 'ros2_control-not-released.rolling.repos'
-      - 'ros2_control-not-released.kilted.repos'
 
 concurrency:
   # cancel previous runs of the same workflow, except for pushes on given branches

.github/workflows/rolling-binary-build.yml

@@ -17,7 +17,6 @@ on:
       - '**/package.xml'
       - '**/CMakeLists.txt'
       - 'ros2_control-not-released.rolling.repos'
-      - 'ros2_control-not-released.kilted.repos'
   push: *event
   schedule:
     # Run every morning to detect flakiness and broken dependencies

.github/workflows/rolling-debian-build.yml

@@ -14,7 +14,6 @@ on:
       - '**/package.xml'
       - '**/CMakeLists.txt'
       - 'ros2_control.rolling.repos'
-      - 'ros2_control.kilted.repos'
   schedule:
     # Run every day to detect flakiness and broken dependencies
     - cron: '03 1 * * MON-FRI'

.github/workflows/rolling-rhel-binary-build.yml

@@ -14,7 +14,6 @@ on:
       - '**/package.xml'
       - '**/CMakeLists.txt'
       - 'ros2_control.rolling.repos'
-      - 'ros2_control.kilted.repos'
   schedule:
     # Run every day to detect flakiness and broken dependencies
     - cron: '03 1 * * MON-FRI'

.github/workflows/rolling-semi-binary-build.yml

@@ -17,7 +17,6 @@ on:
       - '**/package.xml'
       - '**/CMakeLists.txt'
       - 'ros2_control.rolling.repos'
-      - 'ros2_control.kilted.repos'
   push: *event
   schedule:
     # Run every morning to detect flakiness and broken dependencies

.github/workflows/rolling-semi-binary-downstream-build.yml

@@ -17,7 +17,6 @@ on:
       - '**/package.xml'
       - '**/CMakeLists.txt'
       - 'ros_controls.rolling.repos'
-      - 'ros_controls.kilted.repos'
 
 concurrency:
   group: ${{ github.workflow }}-${{ github.ref }}

.github/workflows/rolling-source-build.yml

@@ -14,7 +14,6 @@ on:
       - '**/package.xml'
       - '**/CMakeLists.txt'
       - 'ros2_control.rolling.repos'
-      - 'ros2_control.kilted.repos'
   pull_request:
     branches:
       - master

controller_interface/CHANGELOG.rst

@@ -2,6 +2,11 @@
 Changelog for package controller_interface
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+6.0.2 (2025-11-09)
+------------------
+* Extend the reasoning for the capacity mismatch (`#2723 <https://github.com/ros-controls/ros2_control/issues/2723>`_)
+* Contributors: Sai Kishor Kothakota
+
 6.0.1 (2025-11-03)
 ------------------
 

controller_interface/include/controller_interface/controller_interface_params.hpp

@@ -47,6 +47,7 @@ struct ControllerInterfaceParams
   std::string controller_name = "";
   std::string robot_description = "";
   unsigned int update_rate = 0;
+  unsigned int controller_manager_update_rate = 0;
 
   std::string node_namespace = "";
   rclcpp::NodeOptions node_options = rclcpp::NodeOptions();