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Add state_interfaces_broadcaster (#2006)
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‎doc/controllers_index.rst‎

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Range Sensor Broadcaster <../range_sensor_broadcaster/doc/userdoc.rst>
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Pose Broadcaster <../pose_broadcaster/doc/userdoc.rst>
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GPS Sensor Broadcaster <../gps_sensor_broadcaster/doc/userdoc.rst>
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State Interfaces Broadcaster <../state_interfaces_broadcaster/doc/userdoc.rst>
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Filters
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**********************

‎doc/release_notes.rst‎

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This list summarizes important changes between Kilted Kaiju (previous) and Lyrical Luth (current) releases.
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state_interfaces_broadcaster
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*********************************
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* 🚀 The state_interfaces_broadcaster was added 🎉 (`#2006 <https://github.com/ros-controls/ros2_controllers/pull/2006>`_).
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force_torque_sensor_broadcaster
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*******************************
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* Added support for transforming Wrench messages to a given list of target frames. This is useful when applications need force/torque data in their preferred coordinate frames. (`#2021 <https://github.com/ros-controls/ros2_controllers/pull/2021/files>`__).

‎ros2_controllers/doc/index.rst‎

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- `Documentation <https://control.ros.org/master/doc/ros2_controllers/range_sensor_broadcaster/doc/userdoc.html>`__
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- `API <http://docs.ros.org/en/rolling/p/range_sensor_broadcaster/>`__
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- `ROS Index <https://index.ros.org/p/range_sensor_broadcaster/>`__
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* - state_interfaces_broadcaster
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- `Documentation <https://control.ros.org/master/doc/ros2_controllers/state_interfaces_broadcaster/doc/userdoc.html>`__
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- `API <http://docs.ros.org/en/rolling/p/state_interfaces_broadcaster/>`__
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- `ROS Index <https://index.ros.org/p/state_interfaces_broadcaster/>`__
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* - steering_controllers_library
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- `Documentation <https://control.ros.org/master/doc/ros2_controllers/steering_controllers_library/doc/userdoc.html>`__
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- `API <http://docs.ros.org/en/rolling/p/steering_controllers_library/>`__

‎ros2_controllers/package.xml‎

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<exec_depend>pose_broadcaster</exec_depend>
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<exec_depend>position_controllers</exec_depend>
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<exec_depend>range_sensor_broadcaster</exec_depend>
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<exec_depend>state_interfaces_broadcaster</exec_depend>
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<exec_depend>steering_controllers_library</exec_depend>
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<exec_depend>tricycle_controller</exec_depend>
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<exec_depend>tricycle_steering_controller</exec_depend>

‎state_interfaces_broadcaster/CMakeLists.txt‎

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cmake_minimum_required(VERSION 3.16)
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project(state_interfaces_broadcaster)
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find_package(ros2_control_cmake REQUIRED)
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set_compiler_options()
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export_windows_symbols()
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set(THIS_PACKAGE_INCLUDE_DEPENDS
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control_msgs
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controller_interface
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generate_parameter_library
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pluginlib
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rclcpp_lifecycle
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realtime_tools
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)
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find_package(ament_cmake REQUIRED)
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find_package(backward_ros REQUIRED)
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foreach(Dependency IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS})
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find_package(${Dependency} REQUIRED)
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endforeach()
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generate_parameter_library(state_interfaces_broadcaster_parameters
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src/state_interfaces_broadcaster_parameters.yaml
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)
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add_library(state_interfaces_broadcaster SHARED
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src/state_interfaces_broadcaster.cpp
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)
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target_compile_features(state_interfaces_broadcaster PUBLIC cxx_std_17)
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target_include_directories(state_interfaces_broadcaster PUBLIC
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$<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>
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$<INSTALL_INTERFACE:include/state_interfaces_broadcaster>
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)
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target_link_libraries(state_interfaces_broadcaster PUBLIC
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state_interfaces_broadcaster_parameters
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controller_interface::controller_interface
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pluginlib::pluginlib
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rclcpp::rclcpp
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rclcpp_lifecycle::rclcpp_lifecycle
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realtime_tools::realtime_tools
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${control_msgs_TARGETS}
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)
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pluginlib_export_plugin_description_file(controller_interface state_interfaces_broadcaster_plugin.xml)
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if(BUILD_TESTING)
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find_package(ament_cmake_gmock REQUIRED)
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find_package(controller_manager REQUIRED)
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find_package(hardware_interface REQUIRED)
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find_package(rclcpp REQUIRED)
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find_package(ros2_control_test_assets REQUIRED)
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ament_add_gmock(test_load_state_interfaces_broadcaster
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test/test_load_state_interfaces_broadcaster.cpp
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)
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target_link_libraries(test_load_state_interfaces_broadcaster
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state_interfaces_broadcaster
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controller_manager::controller_manager
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hardware_interface::hardware_interface
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rclcpp::rclcpp
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ros2_control_test_assets::ros2_control_test_assets)
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target_compile_definitions(
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test_load_state_interfaces_broadcaster
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PRIVATE PARAMETERS_FILE_PATH="${CMAKE_CURRENT_LIST_DIR}/test/test_state_interfaces_broadcaster_params.yaml")
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ament_add_gmock(test_state_interfaces_broadcaster
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test/test_state_interfaces_broadcaster.cpp
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)
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target_link_libraries(test_state_interfaces_broadcaster
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state_interfaces_broadcaster
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ros2_control_test_assets::ros2_control_test_assets
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rclcpp::rclcpp
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${control_msgs_TARGETS})
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endif()
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install(
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DIRECTORY include/
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DESTINATION include/state_interfaces_broadcaster
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)
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install(
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TARGETS
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state_interfaces_broadcaster
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state_interfaces_broadcaster_parameters
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EXPORT export_state_interfaces_broadcaster
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RUNTIME DESTINATION bin
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ARCHIVE DESTINATION lib
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LIBRARY DESTINATION lib
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)
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ament_export_targets(export_state_interfaces_broadcaster HAS_LIBRARY_TARGET)
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ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS})
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ament_package()

‎state_interfaces_broadcaster/doc/userdoc.rst‎

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:github_url: https://github.com/ros-controls/ros2_controllers/blob/{REPOS_FILE_BRANCH}/state_interfaces_broadcaster/doc/userdoc.rst
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.. _state_interfaces_broadcaster_userdoc:
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State Interfaces Broadcaster
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--------------------------------
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The State Interfaces Broadcaster publishes the state of specified hardware interfaces of double data type.
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The broadcaster publishes two topics:
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- ``/state_interfaces_broadcaster/names``: Publishes the names of the hardware interfaces being monitored with a message type of ``control_msgs/msg/Keys``.
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- ``/state_interfaces_broadcaster/values``: Publishes the current state values of the specified hardware interfaces with a message type of ``control_msgs/msg/Float64Values``.
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Parameters
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^^^^^^^^^^^
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This controller uses the `generate_parameter_library <https://github.com/PickNikRobotics/generate_parameter_library>`_ to handle its parameters. The parameter `definition file located in the src folder <https://github.com/ros-controls/ros2_controllers/blob/{REPOS_FILE_BRANCH}/state_interfaces_broadcaster/src/state_interfaces_broadcaster_parameters.yaml>`_ contains descriptions for all the parameters used by the controller.
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List of parameters
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=========================
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.. generate_parameter_library_details:: ../src/state_interfaces_broadcaster_parameters.yaml
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An example parameter file
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=========================
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An example parameter file for this controller can be found in `the test directory <https://github.com/ros-controls/ros2_controllers/blob/{REPOS_FILE_BRANCH}/state_interfaces_broadcaster/test/test_state_interfaces_broadcaster_params.yaml>`_:
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.. literalinclude:: ../test/test_state_interfaces_broadcaster_params.yaml
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:language: yaml

‎state_interfaces_broadcaster/include/state_interfaces_broadcaster/state_interfaces_broadcaster.hpp‎

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// Copyright (c) 2025, PAL Robotics
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#ifndef STATE_INTERFACES_BROADCASTER__STATE_INTERFACES_BROADCASTER_HPP_
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#define STATE_INTERFACES_BROADCASTER__STATE_INTERFACES_BROADCASTER_HPP_
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#include <memory>
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#include <string>
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#include <vector>
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#include "control_msgs/msg/float64_values.hpp"
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#include "control_msgs/msg/keys.hpp"
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#include "controller_interface/controller_interface.hpp"
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#include "realtime_tools/realtime_publisher.hpp"
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// auto-generated by generate_parameter_library
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#include "state_interfaces_broadcaster/state_interfaces_broadcaster_parameters.hpp"
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namespace state_interfaces_broadcaster
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{
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/**
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* \brief State Interfaces Broadcaster for selected state interfaces in a ros2_control system.
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*
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* StateInterfacesBroadcaster publishes the selected state interfaces from ros2_control as ROS
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* messages.
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*
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* Publishes to:
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* - \b ~/names (control_msgs::msg::Keys): The list of the interface names that are selected
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* to be published by the interfaces state broadcaster. This is published with transient local
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* durability.
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* - \b ~/values (control_msgs::msg::Float64Values): The list of the values corresponding to the
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* interface names that are selected to be published by the interfaces state broadcaster.
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*
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* \note The values are published at the same rate as the controller update rate.
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*/
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class StateInterfacesBroadcaster : public controller_interface::ControllerInterface
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{
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public:
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StateInterfacesBroadcaster();
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controller_interface::InterfaceConfiguration command_interface_configuration() const override;
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controller_interface::InterfaceConfiguration state_interface_configuration() const override;
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controller_interface::return_type update(
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const rclcpp::Time & time, const rclcpp::Duration & period) override;
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controller_interface::CallbackReturn on_init() override;
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controller_interface::CallbackReturn on_configure(
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const rclcpp_lifecycle::State & previous_state) override;
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controller_interface::CallbackReturn on_activate(
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const rclcpp_lifecycle::State & previous_state) override;
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protected:
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// Optional parameters
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std::shared_ptr<ParamListener> param_listener_;
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Params params_;
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// publishers and messages
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std::shared_ptr<rclcpp::Publisher<control_msgs::msg::Keys>> names_publisher_;
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std::shared_ptr<rclcpp::Publisher<control_msgs::msg::Float64Values>> values_publisher_;
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std::shared_ptr<realtime_tools::RealtimePublisher<control_msgs::msg::Float64Values>>
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realtime_values_publisher_;
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control_msgs::msg::Keys names_msg_;
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control_msgs::msg::Float64Values values_msg_;
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};
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} // namespace state_interfaces_broadcaster
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#endif // STATE_INTERFACES_BROADCASTER__STATE_INTERFACES_BROADCASTER_HPP_

‎state_interfaces_broadcaster/package.xml‎

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<?xml version="1.0"?>
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<package format="3">
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<name>state_interfaces_broadcaster</name>
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<version>6.1.0</version>
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<description>Broadcaster to publish the requested hardware interface states</description>
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<maintainer email="[email protected]">Bence Magyar</maintainer>
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<maintainer email="[email protected]">Denis Štogl</maintainer>
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<maintainer email="[email protected]">Christoph Froehlich</maintainer>
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<maintainer email="[email protected]">Sai Kishor Kothakota</maintainer>
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<author email="[email protected]">Sai Kishor Kothakota</author>
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<license>Apache License 2.0</license>
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<url type="website">https://control.ros.org</url>
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<url type="bugtracker">https://github.com/ros-controls/ros2_controllers/issues</url>
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<url type="repository">https://github.com/ros-controls/ros2_controllers/</url>
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<buildtool_depend>ament_cmake</buildtool_depend>
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<build_depend>ros2_control_cmake</build_depend>
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<depend>backward_ros</depend>
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<depend>control_msgs</depend>
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<depend>controller_interface</depend>
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<depend>generate_parameter_library</depend>
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<depend>pluginlib</depend>
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<depend>rclcpp_lifecycle</depend>
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<depend>rclcpp</depend>
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<depend>realtime_tools</depend>
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<test_depend>ament_cmake_gmock</test_depend>
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<test_depend>controller_manager</test_depend>
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<test_depend>hardware_interface</test_depend>
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<test_depend>ros2_control_test_assets</test_depend>
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<export>
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<build_type>ament_cmake</build_type>
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</export>
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</package>

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