Merge branch 'master' into refactor/jtc-interpolation-methods

Author: christophfroehlich

.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: 25.11.0
+    rev: 25.12.0
     hooks:
       - id: black
         args: ["--line-length=99"]
@@ -64,7 +64,7 @@ repos:
 
   # CPP hooks
   - repo: https://github.com/pre-commit/mirrors-clang-format
-    rev: v21.1.6
+    rev: v21.1.8
     hooks:
       - id: clang-format
         args: ['-fallback-style=none', '-i']
@@ -138,7 +138,7 @@ repos:
         exclude: CHANGELOG\.rst|\.(svg|pyc|drawio)$
 
   - repo: https://github.com/python-jsonschema/check-jsonschema
-    rev: 0.35.0
+    rev: 0.36.0
     hooks:
       - id: check-github-workflows
         args: ["--verbose"]

ackermann_steering_controller/CHANGELOG.rst

@@ -2,6 +2,9 @@
 Changelog for package ackermann_steering_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+6.2.0 (2025-12-31)
+------------------
+
 6.1.0 (2025-12-01)
 ------------------
 * Rename Odometry Class to SteeringKinematics (`#1996 <https://github.com/ros-controls/ros2_controllers/issues/1996>`_)

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>6.1.0</version>
+  <version>6.2.0</version>
   <description>Steering controller for Ackermann kinematics. Rear fixed wheels are powering the vehicle and front wheels are steering it.</description>
 
   <maintainer email="bence.magyar.robotics@gmail.com">Bence Magyar</maintainer>

admittance_controller/CHANGELOG.rst

@@ -2,6 +2,9 @@
 Changelog for package admittance_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+6.2.0 (2025-12-31)
+------------------
+
 6.1.0 (2025-12-01)
 ------------------
 

admittance_controller/CMakeLists.txt

@@ -23,6 +23,7 @@ set(THIS_PACKAGE_INCLUDE_DEPENDS
   tf2_geometry_msgs
   tf2_kdl
   tf2_ros
+  TinyXML2
   trajectory_msgs
 )
 
@@ -65,7 +66,8 @@ target_link_libraries(admittance_controller PUBLIC
                       ${geometry_msgs_TARGETS}
                       ${trajectory_msgs_TARGETS}
                       ${control_msgs_TARGETS}
-                      ${tf2_geometry_msgs_TARGETS})
+                      ${tf2_geometry_msgs_TARGETS}
+                      ${TinyXML2_LIBRARIES})
 
 pluginlib_export_plugin_description_file(controller_interface admittance_controller.xml)
 

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>6.1.0</version>
+  <version>6.2.0</version>
   <description>Implementation of admittance controllers for different input and output interface.</description>
 
   <maintainer email="bence.magyar.robotics@gmail.com">Bence Magyar</maintainer>
@@ -42,6 +42,7 @@
   <depend>tf2_kdl</depend>
   <depend>tf2_ros</depend>
   <depend>tf2</depend>
+  <depend>tinyxml2</depend>
   <depend>trajectory_msgs</depend>
 
   <test_depend>ament_cmake_gmock</test_depend>

admittance_controller/src/admittance_controller.cpp

@@ -16,6 +16,7 @@
 
 #include "admittance_controller/admittance_controller.hpp"
 
+#include <tinyxml2.h>
 #include <cmath>
 #include <memory>
 #include <string>
@@ -92,6 +93,33 @@ controller_interface::CallbackReturn AdmittanceController::on_init()
   reference_admittance_ = last_reference_;
   joint_state_ = last_reference_;
 
+  std::string robot_description = this->get_robot_description();
+
+  if (robot_description.empty())
+  {
+    RCLCPP_ERROR(get_node()->get_logger(), "'robot_description' parameter is empty.");
+    return controller_interface::CallbackReturn::ERROR;
+  }
+
+  tinyxml2::XMLDocument doc;
+  if (!doc.Parse(robot_description.c_str()) && doc.Error())
+  {
+    RCLCPP_ERROR(
+      get_node()->get_logger(),
+      "Failed to parse robot description XML from parameter "
+      "'robot_description': %s",
+      doc.ErrorStr());
+    return controller_interface::CallbackReturn::ERROR;
+  }
+  if (doc.Error())
+  {
+    RCLCPP_ERROR(
+      get_node()->get_logger(),
+      "Error parsing robot description XML from parameter "
+      "'robot_description': %s",
+      doc.ErrorStr());
+    return controller_interface::CallbackReturn::ERROR;
+  }
   return controller_interface::CallbackReturn::SUCCESS;
 }
 

admittance_controller/test/test_admittance_controller.cpp

@@ -62,12 +62,10 @@ INSTANTIATE_TEST_SUITE_P(
     // wrong length selected axes
     std::make_tuple(
       std::string("admittance.selected_axes"),
-      rclcpp::ParameterValue(std::vector<double>() = {1, 2, 3}))
+      rclcpp::ParameterValue(std::vector<double>() = {1, 2, 3})),
     // invalid robot description.
-    // TODO(anyone): deactivated, because SetUpController returns SUCCESS here?
-    // ,std::make_tuple(
-    //   std::string("robot_description"), rclcpp::ParameterValue(std::string() = "bad_robot")))
-    ));
+    std::make_tuple(
+      std::string("robot_description"), rclcpp::ParameterValue(std::string() = "bad_robot"))));
 
 // Test on_init returns ERROR when a parameter is invalid
 TEST_P(AdmittanceControllerTestParameterizedInvalidParameters, invalid_parameters)

admittance_controller/test/test_admittance_controller.hpp

@@ -77,10 +77,7 @@ class TestableAdmittanceController : public admittance_controller::AdmittanceCon
   CallbackReturn on_init() override
   {
     get_node()->declare_parameter("robot_description", rclcpp::ParameterType::PARAMETER_STRING);
-    get_node()->declare_parameter(
-      "robot_description_semantic", rclcpp::ParameterType::PARAMETER_STRING);
     get_node()->set_parameter({"robot_description", robot_description_});
-    get_node()->set_parameter({"robot_description_semantic", robot_description_semantic_});
 
     return admittance_controller::AdmittanceController::on_init();
   }
@@ -107,8 +104,7 @@ class TestableAdmittanceController : public admittance_controller::AdmittanceCon
     }
   }
 
-  const std::string robot_description_ = ros2_control_test_assets::valid_6d_robot_urdf;
-  const std::string robot_description_semantic_ = ros2_control_test_assets::valid_6d_robot_srdf;
+  std::string robot_description_ = ros2_control_test_assets::valid_6d_robot_urdf;
 };
 
 class AdmittanceControllerTest : public ::testing::Test
@@ -166,6 +162,15 @@ class AdmittanceControllerTest : public ::testing::Test
   {
     controller_interface::ControllerInterfaceParams params;
     params.controller_name = controller_name;
+    // Extract robot_description from parameter overrides
+    auto it = std::find_if(
+      options.parameter_overrides().begin(), options.parameter_overrides().end(),
+      [](const rclcpp::Parameter & p) { return p.get_name() == "robot_description"; });
+
+    if (it != options.parameter_overrides().end())
+    {
+      controller_->robot_description_ = it->as_string();
+    }
     params.robot_description = controller_->robot_description_;
     params.update_rate = 0;
     params.node_namespace = "";
@@ -384,8 +389,6 @@ class AdmittanceControllerTest : public ::testing::Test
   const std::string ik_base_frame_ = "base_link";
   const std::string ik_tip_frame_ = "tool0";
   const std::string ik_group_name_ = "arm";
-  //  const std::string robot_description_ = ros2_control_test_assets::valid_6d_robot_urdf;
-  //  const std::string robot_description_semantic_ = ros2_control_test_assets::valid_6d_robot_srdf;
 
   const std::string control_frame_ = "tool0";
   const std::string endeffector_frame_ = "endeffector_frame";

bicycle_steering_controller/CHANGELOG.rst

@@ -2,6 +2,9 @@
 Changelog for package bicycle_steering_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+6.2.0 (2025-12-31)
+------------------
+
 6.1.0 (2025-12-01)
 ------------------
 * Rename Odometry Class to SteeringKinematics (`#1996 <https://github.com/ros-controls/ros2_controllers/issues/1996>`_)