Merge branch 'master' into master

Author: rafal-gorecki

.github/workflows/rolling-check-docs.yml

@@ -9,10 +9,11 @@ on:
       - '**.rst'
       - '**.md'
       - '**.yaml'
+      - '.github/workflows/rolling-check-docs.yml'
 
 jobs:
   check-docs:
     name: Check Docs
-    uses: ros-controls/control.ros.org/.github/workflows/reusable-sphinx-check-single-version.yml@master
+    uses: ros-controls/control.ros.org/.github/workflows/reusable-sphinx-check-single-version.yml@rolling
     with:
       ROS2_CONTROLLERS_PR: ${{ github.ref }}

.github/workflows/rosdoc2.yml

@@ -0,0 +1,14 @@
+name: rosdoc2
+
+on:
+  workflow_dispatch:
+  pull_request:
+    paths:
+      - ros2_controllers/doc/**
+      - ros2_controllers/rosdoc2.yaml
+      - ros2_controllers/package.xml
+
+
+jobs:
+  check:
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-rosdoc2.yml@master

.pre-commit-config.yaml

@@ -26,6 +26,7 @@ repos:
       - id: check-symlinks
       - id: check-xml
       - id: check-yaml
+        args: ["--allow-multiple-documents"]
       - id: debug-statements
       - id: end-of-file-fixer
       - id: mixed-line-ending
@@ -36,7 +37,7 @@ repos:
 
   # Python hooks
   - repo: https://github.com/asottile/pyupgrade
-    rev: v3.15.2
+    rev: v3.17.0
     hooks:
     -   id: pyupgrade
         args: [--py36-plus]
@@ -55,14 +56,14 @@ repos:
         args: ["--line-length=99"]
 
   - repo: https://github.com/pycqa/flake8
-    rev: 7.0.0
+    rev: 7.1.0
     hooks:
     - id: flake8
       args: ["--extend-ignore=E501"]
 
   # CPP hooks
   - repo: https://github.com/pre-commit/mirrors-clang-format
-    rev: v18.1.4
+    rev: v18.1.8
     hooks:
       - id: clang-format
         args: ['-fallback-style=none', '-i']
@@ -104,6 +105,7 @@ repos:
         description: Check if copyright notice is available in all files.
         entry: ament_copyright
         language: system
+        exclude: .*/conf\.py$
 
   # Docs - RestructuredText hooks
   - repo: https://github.com/PyCQA/doc8
@@ -124,14 +126,14 @@ repos:
   # Spellcheck in comments and docs
   # skipping of *.svg files is not working...
   - repo: https://github.com/codespell-project/codespell
-    rev: v2.2.6
+    rev: v2.3.0
     hooks:
       - id: codespell
         args: ['--write-changes', '--uri-ignore-words-list=ist', '-L manuel']
         exclude: CHANGELOG\.rst|\.(svg|pyc|drawio)$
 
   - repo: https://github.com/python-jsonschema/check-jsonschema
-    rev: 0.28.2
+    rev: 0.29.1
     hooks:
       - id: check-github-workflows
         args: ["--verbose"]

ackermann_steering_controller/CHANGELOG.rst

@@ -2,6 +2,37 @@
 Changelog for package ackermann_steering_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.12.0 (2024-07-23)
+-------------------
+* Add missing includes (`#1226 <https://github.com/ros-controls/ros2_controllers/issues/1226>`_)
+* Change the subscription timeout in the tests to 5ms (`#1219 <https://github.com/ros-controls/ros2_controllers/issues/1219>`_)
+* Unused header cleanup (`#1199 <https://github.com/ros-controls/ros2_controllers/issues/1199>`_)
+* Fix WaitSet issue in tests  (`#1206 <https://github.com/ros-controls/ros2_controllers/issues/1206>`_)
+* Fix parallel gripper controller CI (`#1202 <https://github.com/ros-controls/ros2_controllers/issues/1202>`_)
+* Contributors: Christoph Fröhlich, Henry Moore, Sai Kishor Kothakota
+
+4.11.0 (2024-07-09)
+-------------------
+* added changes corresponding to the logger and clock propagation in ResourceManager (`#1184 <https://github.com/ros-controls/ros2_controllers/issues/1184>`_)
+* Fix steering controllers library kinematics (`#1150 <https://github.com/ros-controls/ros2_controllers/issues/1150>`_)
+* Contributors: Christoph Fröhlich, Sai Kishor Kothakota
+
+4.10.0 (2024-07-01)
+-------------------
+* [Steering controllers library] Reference interfaces are body twist (`#1168 <https://github.com/ros-controls/ros2_controllers/issues/1168>`_)
+* Fix steering controllers library code documentation and naming (`#1149 <https://github.com/ros-controls/ros2_controllers/issues/1149>`_)
+* Remove unstamped twist subscribers + parameters (`#1151 <https://github.com/ros-controls/ros2_controllers/issues/1151>`_)
+* Contributors: Christoph Fröhlich, Sai Kishor Kothakota, Quique Llorente
+
+4.9.0 (2024-06-05)
+------------------
+
+4.8.0 (2024-05-14)
+------------------
+* Add parameter check for geometric values (`#1120 <https://github.com/ros-controls/ros2_controllers/issues/1120>`_)
+* add missing compiler definitions of RCPPUTILS_VERSION (`#1089 <https://github.com/ros-controls/ros2_controllers/issues/1089>`_)
+* Contributors: Christoph Fröhlich, Sai Kishor Kothakota
+
 4.7.0 (2024-03-22)
 ------------------
 * Fix pid_controller build on ROS 2 Rolling on Ubuntu 24.04 (`#1084 <https://github.com/ros-controls/ros2_controllers/issues/1084>`_)

ackermann_steering_controller/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>ackermann_steering_controller</name>
-  <version>4.7.0</version>
+  <version>4.12.0</version>
   <description>Steering controller for Ackermann kinematics. Rear fixed wheels are powering the vehicle and front wheels are steering it.</description>
   <license>Apache License 2.0</license>
   <maintainer email="[email protected]">Bence Magyar</maintainer>

ackermann_steering_controller/src/ackermann_steering_controller.cpp

@@ -62,28 +62,29 @@ bool AckermannSteeringController::update_odometry(const rclcpp::Duration & perio
   }
   else
   {
-    const double rear_right_wheel_value = state_interfaces_[STATE_TRACTION_RIGHT_WHEEL].get_value();
-    const double rear_left_wheel_value = state_interfaces_[STATE_TRACTION_LEFT_WHEEL].get_value();
-    const double front_right_steer_position =
-      state_interfaces_[STATE_STEER_RIGHT_WHEEL].get_value();
-    const double front_left_steer_position = state_interfaces_[STATE_STEER_LEFT_WHEEL].get_value();
+    const double traction_right_wheel_value =
+      state_interfaces_[STATE_TRACTION_RIGHT_WHEEL].get_value();
+    const double traction_left_wheel_value =
+      state_interfaces_[STATE_TRACTION_LEFT_WHEEL].get_value();
+    const double steering_right_position = state_interfaces_[STATE_STEER_RIGHT_WHEEL].get_value();
+    const double steering_left_position = state_interfaces_[STATE_STEER_LEFT_WHEEL].get_value();
     if (
-      !std::isnan(rear_right_wheel_value) && !std::isnan(rear_left_wheel_value) &&
-      !std::isnan(front_right_steer_position) && !std::isnan(front_left_steer_position))
+      std::isfinite(traction_right_wheel_value) && std::isfinite(traction_left_wheel_value) &&
+      std::isfinite(steering_right_position) && std::isfinite(steering_left_position))
     {
       if (params_.position_feedback)
       {
         // Estimate linear and angular velocity using joint information
         odometry_.update_from_position(
-          rear_right_wheel_value, rear_left_wheel_value, front_right_steer_position,
-          front_left_steer_position, period.seconds());
+          traction_right_wheel_value, traction_left_wheel_value, steering_right_position,
+          steering_left_position, period.seconds());
       }
       else
       {
         // Estimate linear and angular velocity using joint information
         odometry_.update_from_velocity(
-          rear_right_wheel_value, rear_left_wheel_value, front_right_steer_position,
-          front_left_steer_position, period.seconds());
+          traction_right_wheel_value, traction_left_wheel_value, steering_right_position,
+          steering_left_position, period.seconds());
       }
     }
   }

ackermann_steering_controller/test/ackermann_steering_controller_params.yaml

@@ -6,7 +6,6 @@ test_ackermann_steering_controller:
     open_loop: false
     velocity_rolling_window_size: 10
     position_feedback: false
-    use_stamped_vel: true
     rear_wheels_names: [rear_right_wheel_joint, rear_left_wheel_joint]
     front_wheels_names: [front_right_steering_joint, front_left_steering_joint]
 

ackermann_steering_controller/test/ackermann_steering_controller_preceeding_params.yaml

@@ -5,7 +5,6 @@ test_ackermann_steering_controller:
     open_loop: false
     velocity_rolling_window_size: 10
     position_feedback: false
-    use_stamped_vel: true
     rear_wheels_names: [pid_controller/rear_right_wheel_joint, pid_controller/rear_left_wheel_joint]
     front_wheels_names: [pid_controller/front_right_steering_joint, pid_controller/front_left_steering_joint]
     rear_wheels_state_names: [rear_right_wheel_joint, rear_left_wheel_joint]

ackermann_steering_controller/test/test_ackermann_steering_controller.cpp

@@ -14,10 +14,8 @@
 
 #include "test_ackermann_steering_controller.hpp"
 
-#include <limits>
 #include <memory>
 #include <string>
-#include <utility>
 #include <vector>
 
 class AckermannSteeringControllerTest
@@ -84,7 +82,7 @@ TEST_F(AckermannSteeringControllerTest, check_exported_interfaces)
     controller_->front_wheels_state_names_[1] + "/" + steering_interface_name_);
   EXPECT_EQ(state_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL);
 
-  // check ref itfsTIME
+  // check ref itfs
   auto reference_interfaces = controller_->export_reference_interfaces();
   ASSERT_EQ(reference_interfaces.size(), joint_reference_interfaces_.size());
   for (size_t i = 0; i < joint_reference_interfaces_.size(); ++i)
@@ -173,6 +171,7 @@ TEST_F(AckermannSteeringControllerTest, test_update_logic)
     controller_->update(rclcpp::Time(0, 0, RCL_ROS_TIME), rclcpp::Duration::from_seconds(0.01)),
     controller_interface::return_type::OK);
 
+  // we test with open_loop=false, but steering angle was not updated (is zero) -> same commands
   EXPECT_NEAR(
     controller_->command_interfaces_[CMD_TRACTION_RIGHT_WHEEL].get_value(), 0.22222222222222224,
     COMMON_THRESHOLD);
@@ -211,8 +210,9 @@ TEST_F(AckermannSteeringControllerTest, test_update_logic_chained)
   ASSERT_EQ(
     controller_->update(rclcpp::Time(0, 0, RCL_ROS_TIME), rclcpp::Duration::from_seconds(0.01)),
     controller_interface::return_type::OK);
-  EXPECT_NEAR(
 
+  // we test with open_loop=false, but steering angle was not updated (is zero) -> same commands
+  EXPECT_NEAR(
     controller_->command_interfaces_[STATE_TRACTION_RIGHT_WHEEL].get_value(), 0.22222222222222224,
     COMMON_THRESHOLD);
   EXPECT_NEAR(
@@ -255,12 +255,13 @@ TEST_F(AckermannSteeringControllerTest, receive_message_and_publish_updated_stat
   EXPECT_EQ(msg.steering_angle_command[1], 4.4);
 
   publish_commands();
-  ASSERT_TRUE(controller_->wait_for_commands(executor));
+  controller_->wait_for_commands(executor);
 
   ASSERT_EQ(
     controller_->update(rclcpp::Time(0, 0, RCL_ROS_TIME), rclcpp::Duration::from_seconds(0.01)),
     controller_interface::return_type::OK);
 
+  // we test with open_loop=false, but steering angle was not updated (is zero) -> same commands
   EXPECT_NEAR(
     controller_->command_interfaces_[CMD_TRACTION_RIGHT_WHEEL].get_value(), 0.22222222222222224,
     COMMON_THRESHOLD);
@@ -276,6 +277,7 @@ TEST_F(AckermannSteeringControllerTest, receive_message_and_publish_updated_stat
 
   subscribe_and_get_messages(msg);
 
+  // we test with open_loop=false, but steering angle was not updated (is zero) -> same commands
   EXPECT_NEAR(
     msg.linear_velocity_command[CMD_TRACTION_RIGHT_WHEEL], 0.22222222222222224, COMMON_THRESHOLD);
   EXPECT_NEAR(