Merge branch 'master' into fix/gpio-issue-1970-clean

Author: Ishan1923

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

@@ -27,6 +27,6 @@ jobs:
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-ros-tooling-win-build.yml@master
     with:
       ros_distro: rolling
-      pixi_dependencies: typeguard jinja2 boost compilers
+      pixi_dependencies: typeguard jinja2 boost compilers octomap
       ninja_packages: rsl
       target_cmake_args: -DBUILD_TESTING=OFF

.pre-commit-config.yaml

@@ -51,7 +51,7 @@ repos:
       args: ["--ignore=D100,D101,D102,D103,D104,D105,D106,D107,D203,D212,D404"]
 
   - repo: https://github.com/psf/black
-    rev: 25.12.0
+    rev: 26.1.0
     hooks:
       - id: black
         args: ["--line-length=99"]
@@ -138,7 +138,7 @@ repos:
         exclude: CHANGELOG\.rst|\.(svg|pyc|drawio)$
 
   - repo: https://github.com/python-jsonschema/check-jsonschema
-    rev: 0.36.0
+    rev: 0.36.1
     hooks:
       - id: check-github-workflows
         args: ["--verbose"]

doc/migration.rst

@@ -4,6 +4,11 @@ Migration Guides: Kilted Kaiju to Lyrical Luth
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 This list summarizes important changes between Kilted Kaiju (previous) and Lyrical Luth (current) releases, where changes to user code might be necessary.
 
+joint_state_broadcaster
+*****************************
+* Removed interfaces with other data types than double for publishing to ``dynamic_joint_states``. (`#2115 <https://github.com/ros-controls/ros2_controllers/pull/2115>`_).
+  Use a custom controller for publishing non-double interfaces.
+
 effort_controllers
 *****************************
 * ``effort_controllers/JointGroupEffortController`` is deprecated. Use :ref:`forward_command_controller <forward_command_controller_userdoc>` instead by adding the ``interface_name`` parameter and set it to ``effort``. (`#1913 <https://github.com/ros-controls/ros2_controllers/pull/1913>`_).

doc/release_notes.rst

@@ -27,6 +27,7 @@ joint_state_broadcaster
 ************************
 * Make all parameters read-only (the never got re-evaluated after initialization anyways). (`#2064 <https://github.com/ros-controls/ros2_controllers/pull/2064>`_)
 * Added parameter ``publish_dynamic_joint_states`` to enable/disable publishing of dynamic joint states. (`#2064 <https://github.com/ros-controls/ros2_controllers/pull/2064>`_)
+* Removed interfaces with other data types than double for publishing to ``dynamic_joint_states``. (`#2115 <https://github.com/ros-controls/ros2_controllers/pull/2115>`_)
 
 omni_wheel_drive_controller
 *****************************

steering_controllers_library/src/steering_controllers_library.cpp

@@ -290,14 +290,15 @@ controller_interface::CallbackReturn SteeringControllersLibrary::on_configure(
   odom_state_msg_.child_frame_id = base_frame_id;
   odom_state_msg_.pose.pose.position.z = 0;
 
-  auto & covariance = odom_state_msg_.twist.covariance;
-  constexpr size_t NUM_DIMENSIONS = 6;
-  for (size_t index = 0; index < 6; ++index)
-  {
-    // 0, 7, 14, 21, 28, 35
-    const size_t diagonal_index = NUM_DIMENSIONS * index + index;
-    covariance[diagonal_index] = params_.pose_covariance_diagonal[index];
-    covariance[diagonal_index] = params_.twist_covariance_diagonal[index];
+  const size_t NUM_DIMENSIONS = 6;
+  auto & pose_cov = odom_state_msg_.pose.covariance;
+  auto & twist_cov = odom_state_msg_.twist.covariance;
+  for (size_t i = 0; i < NUM_DIMENSIONS; ++i)
+  {
+    // indices of the diagonal: 0, 7, 14, 21, 28, 35
+    const size_t index = (NUM_DIMENSIONS + 1) * i;
+    pose_cov[index] = params_.pose_covariance_diagonal[i];
+    twist_cov[index] = params_.twist_covariance_diagonal[i];
   }
 
   try