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Merge branch 'master' into scaled_jtc
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‎.pre-commit-config.yaml‎

Lines changed: 3 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -29,6 +29,7 @@ repos:
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args: ["--allow-multiple-documents"]
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- id: debug-statements
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- id: end-of-file-fixer
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exclude_types: [svg]
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- id: mixed-line-ending
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- id: trailing-whitespace
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exclude_types: [rst]
@@ -37,7 +38,7 @@ repos:
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# Python hooks
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- repo: https://github.com/asottile/pyupgrade
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rev: v3.19.1
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rev: v3.20.0
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hooks:
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- id: pyupgrade
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args: [--py36-plus]
@@ -63,7 +64,7 @@ repos:
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# CPP hooks
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- repo: https://github.com/pre-commit/mirrors-clang-format
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rev: v20.1.3
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rev: v20.1.5
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hooks:
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- id: clang-format
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args: ['-fallback-style=none', '-i']

‎ackermann_steering_controller/CHANGELOG.rst‎

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@@ -2,6 +2,15 @@
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Changelog for package ackermann_steering_controller
33
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
44

5+
5.2.0 (2025-06-23)
6+
------------------
7+
8+
5.1.0 (2025-06-11)
9+
------------------
10+
* Remove deprecated parameters from steering_controllers_library (`#1684 <https://github.com/ros-controls/ros2_controllers/issues/1684>`_)
11+
* Fix steering_controllers_library docs and msg field (`#1733 <https://github.com/ros-controls/ros2_controllers/issues/1733>`_)
12+
* Contributors: Christoph Fröhlich
13+
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5.0.2 (2025-05-26)
615
------------------
716

‎ackermann_steering_controller/package.xml‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -2,7 +2,7 @@
22
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
33
<package format="3">
44
<name>ackermann_steering_controller</name>
5-
<version>5.0.2</version>
5+
<version>5.2.0</version>
66
<description>Steering controller for Ackermann kinematics. Rear fixed wheels are powering the vehicle and front wheels are steering it.</description>
77

88
<maintainer email="[email protected]">Bence Magyar</maintainer>

‎ackermann_steering_controller/src/ackermann_steering_controller.cpp‎

Lines changed: 0 additions & 59 deletions
Original file line numberDiff line numberDiff line change
@@ -33,65 +33,6 @@ controller_interface::CallbackReturn AckermannSteeringController::configure_odom
3333
{
3434
ackermann_params_ = ackermann_param_listener_->get_params();
3535

36-
// TODO(anyone): Remove deprecated parameters
37-
// START OF DEPRECATED
38-
if (ackermann_params_.front_wheels_radius > 0.0)
39-
{
40-
RCLCPP_WARN(
41-
get_node()->get_logger(),
42-
"DEPRECATED parameter 'front_wheel_radius', set 'traction_wheels_radius' instead");
43-
ackermann_params_.traction_wheels_radius = ackermann_params_.front_wheels_radius;
44-
}
45-
46-
if (ackermann_params_.rear_wheels_radius > 0.0)
47-
{
48-
RCLCPP_WARN(
49-
get_node()->get_logger(),
50-
"DEPRECATED parameter 'rear_wheel_radius', set 'traction_wheels_radius' instead");
51-
ackermann_params_.traction_wheels_radius = ackermann_params_.rear_wheels_radius;
52-
}
53-
54-
if (ackermann_params_.front_wheel_track > 0.0)
55-
{
56-
RCLCPP_WARN(
57-
get_node()->get_logger(),
58-
"DEPRECATED parameter 'front_wheel_track', set 'traction_track_width' or "
59-
"'steering_track_width' instead");
60-
if (params_.front_steering)
61-
{
62-
ackermann_params_.steering_track_width = ackermann_params_.front_wheel_track;
63-
}
64-
else
65-
{
66-
ackermann_params_.traction_track_width = ackermann_params_.front_wheel_track;
67-
}
68-
}
69-
70-
if (ackermann_params_.rear_wheel_track > 0.0)
71-
{
72-
RCLCPP_WARN(
73-
get_node()->get_logger(),
74-
"DEPRECATED parameter 'rear_wheel_track', set 'traction_track_width' or "
75-
"'steering_track_width' instead");
76-
if (params_.front_steering)
77-
{
78-
ackermann_params_.traction_track_width = ackermann_params_.rear_wheel_track;
79-
}
80-
else
81-
{
82-
ackermann_params_.steering_track_width = ackermann_params_.rear_wheel_track;
83-
}
84-
}
85-
86-
if (ackermann_params_.traction_wheels_radius <= std::numeric_limits<double>::epsilon())
87-
{
88-
RCLCPP_FATAL(
89-
get_node()->get_logger(),
90-
"parameter 'traction_wheels_radius' is not set, cannot configure odometry");
91-
return controller_interface::CallbackReturn::ERROR;
92-
}
93-
// END OF DEPRECATED
94-
9536
if (ackermann_params_.steering_track_width <= std::numeric_limits<double>::epsilon())
9637
{
9738
ackermann_params_.steering_track_width = ackermann_params_.traction_track_width;

‎ackermann_steering_controller/src/ackermann_steering_controller.yaml‎

Lines changed: 6 additions & 40 deletions
Original file line numberDiff line numberDiff line change
@@ -1,13 +1,5 @@
11
ackermann_steering_controller:
22

3-
front_wheel_track:
4-
{
5-
type: double,
6-
default_value: 0.0,
7-
description: "DEPRECATED: use 'traction_track_width' or 'steering_track_width'",
8-
read_only: false,
9-
}
10-
113
steering_track_width:
124
{
135
type: double,
@@ -16,24 +8,15 @@ ackermann_steering_controller:
168
read_only: false,
179
}
1810

19-
rear_wheel_track:
20-
{
21-
type: double,
22-
default_value: 0.0,
23-
description: "DEPRECATED: use 'traction_track_width' or 'steering_track_width'",
24-
read_only: false,
25-
}
26-
2711
traction_track_width:
2812
{
2913
type: double,
3014
default_value: 0.0,
3115
description: "Traction wheel track length. For details see: https://en.wikipedia.org/wiki/Wheelbase",
3216
read_only: false,
33-
# TODO(anyone): activate validation if front/rear wheel track is removed
34-
# validation: {
35-
# gt<>: [0.0]
36-
# }
17+
validation: {
18+
gt<>: [0.0]
19+
}
3720
}
3821

3922
wheelbase:
@@ -53,24 +36,7 @@ ackermann_steering_controller:
5336
default_value: 0.0,
5437
description: "Traction wheels radius.",
5538
read_only: false,
56-
# TODO(anyone): activate validation if front/rear wheel radius is removed
57-
# validation: {
58-
# gt<>: [0.0]
59-
# }
60-
}
61-
62-
front_wheels_radius:
63-
{
64-
type: double,
65-
default_value: 0.0,
66-
description: "DEPRECATED: use 'traction_wheels_radius'",
67-
read_only: false,
68-
}
69-
70-
rear_wheels_radius:
71-
{
72-
type: double,
73-
default_value: 0.0,
74-
description: "DEPRECATED: use 'traction_wheels_radius'",
75-
read_only: false,
39+
validation: {
40+
gt<>: [0.0]
41+
}
7642
}

‎ackermann_steering_controller/test/test_ackermann_steering_controller.cpp‎

Lines changed: 4 additions & 5 deletions
Original file line numberDiff line numberDiff line change
@@ -249,8 +249,8 @@ TEST_F(AckermannSteeringControllerTest, receive_message_and_publish_updated_stat
249249
ControllerStateMsg msg;
250250
subscribe_and_get_messages(msg);
251251

252-
EXPECT_EQ(msg.linear_velocity_command[STATE_TRACTION_RIGHT_WHEEL], 1.1);
253-
EXPECT_EQ(msg.linear_velocity_command[STATE_TRACTION_LEFT_WHEEL], 3.3);
252+
EXPECT_EQ(msg.traction_command[STATE_TRACTION_RIGHT_WHEEL], 1.1);
253+
EXPECT_EQ(msg.traction_command[STATE_TRACTION_LEFT_WHEEL], 3.3);
254254
EXPECT_EQ(msg.steering_angle_command[0], 2.2);
255255
EXPECT_EQ(msg.steering_angle_command[1], 4.4);
256256

@@ -279,9 +279,8 @@ TEST_F(AckermannSteeringControllerTest, receive_message_and_publish_updated_stat
279279

280280
// we test with open_loop=false, but steering angle was not updated (is zero) -> same commands
281281
EXPECT_NEAR(
282-
msg.linear_velocity_command[CMD_TRACTION_RIGHT_WHEEL], 0.22222222222222224, COMMON_THRESHOLD);
283-
EXPECT_NEAR(
284-
msg.linear_velocity_command[CMD_TRACTION_LEFT_WHEEL], 0.22222222222222224, COMMON_THRESHOLD);
282+
msg.traction_command[CMD_TRACTION_RIGHT_WHEEL], 0.22222222222222224, COMMON_THRESHOLD);
283+
EXPECT_NEAR(msg.traction_command[CMD_TRACTION_LEFT_WHEEL], 0.22222222222222224, COMMON_THRESHOLD);
285284
EXPECT_NEAR(msg.steering_angle_command[0], 1.4179821977774734, COMMON_THRESHOLD);
286285
EXPECT_NEAR(msg.steering_angle_command[1], 1.4179821977774734, COMMON_THRESHOLD);
287286
}

‎admittance_controller/CHANGELOG.rst‎

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Original file line numberDiff line numberDiff line change
@@ -2,6 +2,12 @@
22
Changelog for package admittance_controller
33
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
44

5+
5.2.0 (2025-06-23)
6+
------------------
7+
8+
5.1.0 (2025-06-11)
9+
------------------
10+
511
5.0.2 (2025-05-26)
612
------------------
713

‎admittance_controller/package.xml‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -2,7 +2,7 @@
22
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
33
<package format="3">
44
<name>admittance_controller</name>
5-
<version>5.0.2</version>
5+
<version>5.2.0</version>
66
<description>Implementation of admittance controllers for different input and output interface.</description>
77

88
<maintainer email="[email protected]">Bence Magyar</maintainer>

‎bicycle_steering_controller/CHANGELOG.rst‎

Lines changed: 9 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -2,6 +2,15 @@
22
Changelog for package bicycle_steering_controller
33
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
44

5+
5.2.0 (2025-06-23)
6+
------------------
7+
8+
5.1.0 (2025-06-11)
9+
------------------
10+
* Remove deprecated parameters from steering_controllers_library (`#1684 <https://github.com/ros-controls/ros2_controllers/issues/1684>`_)
11+
* Fix steering_controllers_library docs and msg field (`#1733 <https://github.com/ros-controls/ros2_controllers/issues/1733>`_)
12+
* Contributors: Christoph Fröhlich
13+
514
5.0.2 (2025-05-26)
615
------------------
716

‎bicycle_steering_controller/package.xml‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -2,7 +2,7 @@
22
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
33
<package format="3">
44
<name>bicycle_steering_controller</name>
5-
<version>5.0.2</version>
5+
<version>5.2.0</version>
66
<description>Steering controller with bicycle kinematics. Rear fixed wheel is powering the vehicle and front wheel is steering.</description>
77

88
<maintainer email="[email protected]">Bence Magyar</maintainer>

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