Merge branch 'master' into jtc/controller_plugin

Author: christophfroehlich

.github/workflows/stale.yml

@@ -0,0 +1,26 @@
+name: 'Stale issues and PRs'
+on:
+  workflow_dispatch:
+  schedule:
+    # UTC noon every workday
+    - cron: '0 12 * * MON-FRI'
+
+jobs:
+  stale:
+    runs-on: ubuntu-latest
+    permissions:
+      issues: write
+      pull-requests: write
+    steps:
+      - uses: actions/stale@v9
+        with:
+          stale-issue-label: 'stale'
+          stale-pr-label: 'stale'
+          stale-issue-message: 'This issue is being labeled as stale because it has been open 45 days with no activity. It will be automatically closed after another 45 days without follow-ups.'
+          close-issue-message: 'This issue was closed because it has been stalled for 45 days with no activity.'
+          stale-pr-message: 'This PR is stale because it has been open for 45 days with no activity. Please tag a maintainer for help on completing this PR, or close it if you think it has become obsolete.'
+          days-before-stale: 45
+          days-before-close: 45
+          days-before-pr-close: -1
+          exempt-all-milestones: true
+          exempt-issue-labels: good first issue,good second issue,persistent,release,roadmap,Epic

README.md

@@ -1,6 +1,6 @@
 # ros2_controllers
 
-[![Licence](https://img.shields.io/badge/License-Apache%202.0-blue.svg)](https://opensource.org/licenses/Apache-2.0)
+[![License](https://img.shields.io/badge/License-Apache%202.0-blue.svg)](https://opensource.org/licenses/Apache-2.0)
 [![codecov](https://codecov.io/gh/ros-controls/ros2_controllers/graph/badge.svg?token=KSdY0tsHm6)](https://codecov.io/gh/ros-controls/ros2_controllers)
 
 Commonly used and generalized controllers for ros2-control framework that are ready to use with many robots, MoveIt2 and Nav2.

ackermann_steering_controller/CHANGELOG.rst

@@ -2,6 +2,9 @@
 Changelog for package ackermann_steering_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.22.0 (2025-03-17)
+-------------------
+
 4.21.0 (2025-03-01)
 -------------------
 * Fix the exported interface naming in the chainable controllers (`#1528 <https://github.com/ros-controls/ros2_controllers/issues/1528>`_)

ackermann_steering_controller/CMakeLists.txt

@@ -1,7 +1,7 @@
 cmake_minimum_required(VERSION 3.16)
 project(ackermann_steering_controller)
 
-include(../ros2_controllers.cmake)
+find_package(ros2_control_cmake REQUIRED)
 set_compiler_options()
 export_windows_symbols()
 

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>4.21.0</version>
+  <version>4.22.0</version>
   <description>Steering controller for Ackermann kinematics. Rear fixed wheels are powering the vehicle and front wheels are steering it.</description>
 
   <maintainer email="[email protected]">Bence Magyar</maintainer>
@@ -23,6 +23,8 @@
 
   <build_depend>generate_parameter_library</build_depend>
 
+  <build_depend>ros2_control_cmake</build_depend>
+
   <depend>backward_ros</depend>
   <depend>control_msgs</depend>
   <depend>controller_interface</depend>
@@ -36,7 +38,6 @@
   <test_depend>ament_cmake_gmock</test_depend>
   <test_depend>controller_manager</test_depend>
   <test_depend>hardware_interface_testing</test_depend>
-  <test_depend>hardware_interface</test_depend>
   <test_depend>ros2_control_test_assets</test_depend>
 
   <export>

admittance_controller/CHANGELOG.rst

@@ -2,6 +2,9 @@
 Changelog for package admittance_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.22.0 (2025-03-17)
+-------------------
+
 4.21.0 (2025-03-01)
 -------------------
 * Cleanup dependencies (add `angles`, rm `filters`) (`#1555 <https://github.com/ros-controls/ros2_controllers/issues/1555>`_)

admittance_controller/CMakeLists.txt

@@ -1,7 +1,7 @@
 cmake_minimum_required(VERSION 3.16)
 project(admittance_controller)
 
-include(../ros2_controllers.cmake)
+find_package(ros2_control_cmake REQUIRED)
 set_compiler_options()
 export_windows_symbols()
 

admittance_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>admittance_controller</name>
-  <version>4.21.0</version>
+  <version>4.22.0</version>
   <description>Implementation of admittance controllers for different input and output interface.</description>
 
   <maintainer email="[email protected]">Bence Magyar</maintainer>
@@ -22,6 +22,8 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
+  <build_depend>ros2_control_cmake</build_depend>
+
   <depend>angles</depend>
   <depend>backward_ros</depend>
   <depend>control_msgs</depend>

admittance_controller/src/admittance_controller.cpp

@@ -299,10 +299,11 @@ controller_interface::CallbackReturn AdmittanceController::on_configure(
           msg.header.frame_id != admittance_->parameters_.ft_sensor.frame.id &&
           !msg.header.frame_id.empty())
         {
-          RCLCPP_ERROR_STREAM(
-            get_node()->get_logger(), "Ignoring wrench reference as it is on the wrong frame: "
-                                        << msg.header.frame_id << ". Expected reference frame: "
-                                        << admittance_->parameters_.ft_sensor.frame.id);
+          RCLCPP_ERROR(
+            get_node()->get_logger(),
+            "Ignoring wrench reference as it is on the wrong frame: %s. Expected reference frame: "
+            "%s",
+            msg.header.frame_id.c_str(), admittance_->parameters_.ft_sensor.frame.id.c_str());
           return;
         }
         input_wrench_command_.writeFromNonRT(msg);

bicycle_steering_controller/CHANGELOG.rst

@@ -2,6 +2,9 @@
 Changelog for package bicycle_steering_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.22.0 (2025-03-17)
+-------------------
+
 4.21.0 (2025-03-01)
 -------------------
 * Fix the exported interface naming in the chainable controllers (`#1528 <https://github.com/ros-controls/ros2_controllers/issues/1528>`_)