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Merge branch 'master' into diff-drive-chainable-1457
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‎ackermann_steering_controller/CHANGELOG.rst‎

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Changelog for package ackermann_steering_controller
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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4.19.0 (2025-01-13)
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-------------------
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* Fix typos in steering_controllers_lib (`#1464 <https://github.com/ros-controls/ros2_controllers/issues/1464>`_)
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* Remove visibility macros (`#1451 <https://github.com/ros-controls/ros2_controllers/issues/1451>`_)
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* Contributors: Bence Magyar, Christoph Fröhlich
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4.18.0 (2024-12-19)
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-------------------
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‎ackermann_steering_controller/package.xml‎

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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>ackermann_steering_controller</name>
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<version>4.18.0</version>
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<version>4.19.0</version>
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<description>Steering controller for Ackermann kinematics. Rear fixed wheels are powering the vehicle and front wheels are steering it.</description>
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<maintainer email="[email protected]">Bence Magyar</maintainer>

‎admittance_controller/CHANGELOG.rst‎

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Changelog for package admittance_controller
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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4.19.0 (2025-01-13)
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-------------------
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* Remove visibility macros (`#1451 <https://github.com/ros-controls/ros2_controllers/issues/1451>`_)
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* Contributors: Bence Magyar
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4.18.0 (2024-12-19)
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-------------------
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* [CI] Add clang job and setup concurrency (`#1407 <https://github.com/ros-controls/ros2_controllers/issues/1407>`_)

‎admittance_controller/package.xml‎

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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>admittance_controller</name>
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<version>4.18.0</version>
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<version>4.19.0</version>
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<description>Implementation of admittance controllers for different input and output interface.</description>
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<maintainer email="[email protected]">Bence Magyar</maintainer>

‎bicycle_steering_controller/CHANGELOG.rst‎

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Changelog for package bicycle_steering_controller
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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4.19.0 (2025-01-13)
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-------------------
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* Fix typos in steering_controllers_lib (`#1464 <https://github.com/ros-controls/ros2_controllers/issues/1464>`_)
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* Remove visibility macros (`#1451 <https://github.com/ros-controls/ros2_controllers/issues/1451>`_)
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* Contributors: Bence Magyar, Christoph Fröhlich
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4.18.0 (2024-12-19)
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-------------------
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‎bicycle_steering_controller/package.xml‎

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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>bicycle_steering_controller</name>
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<version>4.18.0</version>
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<version>4.19.0</version>
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<description>Steering controller with bicycle kinematics. Rear fixed wheel is powering the vehicle and front wheel is steering.</description>
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<maintainer email="[email protected]">Bence Magyar</maintainer>

‎diff_drive_controller/CHANGELOG.rst‎

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Changelog for package diff_drive_controller
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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4.19.0 (2025-01-13)
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-------------------
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* Check dt in updateFromVelocity (`#1481 <https://github.com/ros-controls/ros2_controllers/issues/1481>`_)
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* Remove empty on_shutdown() callbacks (`#1477 <https://github.com/ros-controls/ros2_controllers/issues/1477>`_)
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* Remove visibility macros (`#1451 <https://github.com/ros-controls/ros2_controllers/issues/1451>`_)
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* Contributors: Bence Magyar, Julia Jia, Tony Najjar
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4.18.0 (2024-12-19)
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* Update command limiter of diff_drive_controller (`#1315 <https://github.com/ros-controls/ros2_controllers/issues/1315>`_)

‎diff_drive_controller/include/diff_drive_controller/diff_drive_controller.hpp‎

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std::queue<std::array<double, 2>> previous_two_commands_;
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// speed limiters
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SpeedLimiter limiter_linear_;
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SpeedLimiter limiter_angular_;
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std::unique_ptr<SpeedLimiter> limiter_linear_;
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std::unique_ptr<SpeedLimiter> limiter_angular_;
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bool publish_limited_velocity_ = false;
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std::shared_ptr<rclcpp::Publisher<TwistStamped>> limited_velocity_publisher_ = nullptr;

‎diff_drive_controller/include/diff_drive_controller/speed_limiter.hpp‎

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* \param [in] min_jerk Minimum jerk [m/s^3], usually <= 0
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* \param [in] max_jerk Maximum jerk [m/s^3], usually >= 0
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*/
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[[deprecated]] SpeedLimiter(
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[[deprecated]] explicit SpeedLimiter(
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bool has_velocity_limits = true, bool has_acceleration_limits = true,
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bool has_jerk_limits = true, double min_velocity = std::numeric_limits<double>::quiet_NaN(),
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double max_velocity = std::numeric_limits<double>::quiet_NaN(),
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* >= 0
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* \param [in] min_jerk Minimum jerk [m/s^3], usually <= 0
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* \param [in] max_jerk Maximum jerk [m/s^3], usually >= 0
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*
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* \note
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* If max_* values are NAN, the respective limit is deactivated
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* If min_* values are NAN (unspecified), defaults to -max
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* If min_first_derivative_pos/max_first_derivative_neg values are NAN, symmetric limits are used
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*/
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SpeedLimiter(
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double min_velocity = std::numeric_limits<double>::quiet_NaN(),
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double max_velocity = std::numeric_limits<double>::quiet_NaN(),
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double max_acceleration_reverse = std::numeric_limits<double>::quiet_NaN(),
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double max_acceleration = std::numeric_limits<double>::quiet_NaN(),
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double max_deceleration = std::numeric_limits<double>::quiet_NaN(),
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double max_deceleration_reverse = std::numeric_limits<double>::quiet_NaN(),
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double min_jerk = std::numeric_limits<double>::quiet_NaN(),
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double max_jerk = std::numeric_limits<double>::quiet_NaN())
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explicit SpeedLimiter(
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double min_velocity, double max_velocity, double max_acceleration_reverse,
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double max_acceleration, double max_deceleration, double max_deceleration_reverse,
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double min_jerk, double max_jerk)
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{
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speed_limiter_ = control_toolbox::RateLimiter<double>(
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min_velocity, max_velocity, max_acceleration_reverse, max_acceleration, max_deceleration,

‎diff_drive_controller/package.xml‎

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<?xml version="1.0"?>
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<package format="3">
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<name>diff_drive_controller</name>
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<version>4.18.0</version>
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<version>4.19.0</version>
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<description>Controller for a differential-drive mobile base.</description>
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<maintainer email="[email protected]">Bence Magyar</maintainer>

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