Add state_interfaces_broadcaster

doc/controllers_index.rst

@@ -65,6 +65,7 @@ In the sense of ros2_control, broadcasters are still controllers using the same
    Range Sensor Broadcaster <../range_sensor_broadcaster/doc/userdoc.rst>
    Pose Broadcaster <../pose_broadcaster/doc/userdoc.rst>
    GPS Sensor Broadcaster <../gps_sensor_broadcaster/doc/userdoc.rst>
+   State Interfaces Broadcaster <../state_interfaces_broadcaster/doc/userdoc.rst>
 
 Filters
 **********************

doc/release_notes.rst

@@ -5,6 +5,10 @@ Release Notes: Kilted Kaiju to Lyrical Luth
 
 This list summarizes important changes between Kilted Kaiju (previous) and Lyrical Luth (current) releases.
 
+state_interfaces_broadcaster
+*********************************
+* 🚀 The state_interfaces_broadcaster was added 🎉 (`#2006 <https://github.com/ros-controls/ros2_controllers/pull/2006>`_).
+
 force_torque_sensor_broadcaster
 *******************************
 * 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

@@ -66,6 +66,10 @@ For more information of the ros2_control framework see `control.ros.org <https:/
     - `Documentation <https://control.ros.org/master/doc/ros2_controllers/range_sensor_broadcaster/doc/userdoc.html>`__
     - `API <http://docs.ros.org/en/rolling/p/range_sensor_broadcaster/>`__
     - `ROS Index <https://index.ros.org/p/range_sensor_broadcaster/>`__
+  * - state_interfaces_broadcaster
+    - `Documentation <https://control.ros.org/master/doc/ros2_controllers/state_interfaces_broadcaster/doc/userdoc.html>`__
+    - `API <http://docs.ros.org/en/rolling/p/state_interfaces_broadcaster/>`__
+    - `ROS Index <https://index.ros.org/p/state_interfaces_broadcaster/>`__
   * - steering_controllers_library
     - `Documentation <https://control.ros.org/master/doc/ros2_controllers/steering_controllers_library/doc/userdoc.html>`__
     - `API <http://docs.ros.org/en/rolling/p/steering_controllers_library/>`__

ros2_controllers/package.xml

@@ -38,6 +38,7 @@
   <exec_depend>pose_broadcaster</exec_depend>
   <exec_depend>position_controllers</exec_depend>
   <exec_depend>range_sensor_broadcaster</exec_depend>
+  <exec_depend>state_interfaces_broadcaster</exec_depend>
   <exec_depend>steering_controllers_library</exec_depend>
   <exec_depend>tricycle_controller</exec_depend>
   <exec_depend>tricycle_steering_controller</exec_depend>

state_interfaces_broadcaster/CMakeLists.txt

@@ -0,0 +1,93 @@
+cmake_minimum_required(VERSION 3.16)
+project(state_interfaces_broadcaster)
+
+find_package(ros2_control_cmake REQUIRED)
+set_compiler_options()
+export_windows_symbols()
+
+set(THIS_PACKAGE_INCLUDE_DEPENDS
+  builtin_interfaces
+  control_msgs
+  controller_interface
+  generate_parameter_library
+  pluginlib
+  rclcpp_lifecycle
+  realtime_tools
+)
+
+find_package(ament_cmake REQUIRED)
+find_package(backward_ros REQUIRED)
+foreach(Dependency IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS})
+  find_package(${Dependency} REQUIRED)
+endforeach()
+
+generate_parameter_library(state_interfaces_broadcaster_parameters
+  src/state_interfaces_broadcaster_parameters.yaml
+)
+
+add_library(state_interfaces_broadcaster SHARED
+  src/state_interfaces_broadcaster.cpp
+)
+target_compile_features(state_interfaces_broadcaster PUBLIC cxx_std_17)
+target_include_directories(state_interfaces_broadcaster PUBLIC
+  $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include/state_interfaces_broadcaster>
+)
+target_link_libraries(state_interfaces_broadcaster PUBLIC
+                      state_interfaces_broadcaster_parameters
+                      controller_interface::controller_interface
+                      pluginlib::pluginlib
+                      rclcpp::rclcpp
+                      rclcpp_lifecycle::rclcpp_lifecycle
+                      realtime_tools::realtime_tools
+                      ${control_msgs_TARGETS}
+                      ${builtin_interfaces_TARGETS})
+pluginlib_export_plugin_description_file(controller_interface state_interfaces_broadcaster_plugin.xml)
+
+if(BUILD_TESTING)
+  find_package(ament_cmake_gmock REQUIRED)
+  find_package(controller_manager REQUIRED)
+  find_package(hardware_interface REQUIRED)
+  find_package(rclcpp REQUIRED)
+  find_package(ros2_control_test_assets REQUIRED)
+
+  ament_add_gmock(test_load_state_interfaces_broadcaster
+    test/test_load_state_interfaces_broadcaster.cpp
+  )
+  target_link_libraries(test_load_state_interfaces_broadcaster
+    state_interfaces_broadcaster
+    controller_manager::controller_manager
+    hardware_interface::hardware_interface
+    rclcpp::rclcpp
+    ros2_control_test_assets::ros2_control_test_assets)
+  target_compile_definitions(
+    test_load_state_interfaces_broadcaster
+    PRIVATE PARAMETERS_FILE_PATH="${CMAKE_CURRENT_LIST_DIR}/test/test_state_interfaces_broadcaster_params.yaml")
+
+  ament_add_gmock(test_state_interfaces_broadcaster
+    test/test_state_interfaces_broadcaster.cpp
+  )
+  target_link_libraries(test_state_interfaces_broadcaster
+    state_interfaces_broadcaster
+    ros2_control_test_assets::ros2_control_test_assets
+    rclcpp::rclcpp
+    ${control_msgs_TARGETS})
+endif()
+
+install(
+  DIRECTORY include/
+  DESTINATION include/state_interfaces_broadcaster
+)
+install(
+  TARGETS
+    state_interfaces_broadcaster
+    state_interfaces_broadcaster_parameters
+  EXPORT export_state_interfaces_broadcaster
+  RUNTIME DESTINATION bin
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+)
+
+ament_export_targets(export_state_interfaces_broadcaster HAS_LIBRARY_TARGET)
+ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS})
+ament_package()

state_interfaces_broadcaster/doc/userdoc.rst

@@ -0,0 +1,28 @@
+:github_url: https://github.com/ros-controls/ros2_controllers/blob/{REPOS_FILE_BRANCH}/state_interfaces_broadcaster/doc/userdoc.rst
+
+.. _state_interfaces_broadcaster_userdoc:
+
+State Interfaces Broadcaster
+--------------------------------
+The State Interfaces Broadcaster publishes the state of specified hardware interfaces that support double data type.
+The broadcaster publishes two topics:
+
+- ``/state_interfaces_broadcaster/names``: Publishes the names of the hardware interfaces being monitored with a message type of ``control_msgs/msg/Keys``.
+- ``/state_interfaces_broadcaster/values``: Publishes the current state values of the specified hardware interfaces with a message type of ``control_msgs/msg/Float64Values``.
+
+Parameters
+^^^^^^^^^^^
+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.
+
+List of parameters
+=========================
+.. generate_parameter_library_details:: ../src/state_interfaces_broadcaster_parameters.yaml
+
+
+An example parameter file
+=========================
+
+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>`_:
+
+.. literalinclude:: ../test/test_state_interfaces_broadcaster_params.yaml
+   :language: yaml

state_interfaces_broadcaster/include/state_interfaces_broadcaster/state_interfaces_broadcaster.hpp

@@ -0,0 +1,84 @@
+// Copyright (c) 2025, PAL Robotics
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef STATE_INTERFACES_BROADCASTER__STATE_INTERFACES_BROADCASTER_HPP_
+#define STATE_INTERFACES_BROADCASTER__STATE_INTERFACES_BROADCASTER_HPP_
+
+#include <memory>
+#include <string>
+#include <unordered_map>
+#include <vector>
+
+#include "control_msgs/msg/float64_values.hpp"
+#include "control_msgs/msg/keys.hpp"
+#include "controller_interface/controller_interface.hpp"
+#include "realtime_tools/realtime_publisher.hpp"
+
+// auto-generated by generate_parameter_library
+#include "state_interfaces_broadcaster/state_interfaces_broadcaster_parameters.hpp"
+
+namespace state_interfaces_broadcaster
+{
+/**
+ * \brief State Interfaces Broadcaster for selected state interfaces in a ros2_control system.
+ *
+ * StateInterfacesBroadcaster publishes the selected state interfaces from ros2_control as ROS
+ * messages.
+ *
+ * Publishes to:
+ * - \b ~/names (control_msgs::msg::Keys): The list of the interface names that are selected
+ * to be published by the interfaces state broadcaster. This is published with transient local
+ * durability.
+ * - \b ~/values (control_msgs::msg::Float64Values): The list of the values corresponding to the
+ * interface names that are selected to be published by the interfaces state broadcaster.
+ *
+ * \note The values are published at the same rate as the controller update rate.
+ */
+class StateInterfacesBroadcaster : public controller_interface::ControllerInterface
+{
+public:
+  StateInterfacesBroadcaster();
+
+  controller_interface::InterfaceConfiguration command_interface_configuration() const override;
+
+  controller_interface::InterfaceConfiguration state_interface_configuration() const override;
+
+  controller_interface::return_type update(
+    const rclcpp::Time & time, const rclcpp::Duration & period) override;
+
+  controller_interface::CallbackReturn on_init() override;
+
+  controller_interface::CallbackReturn on_configure(
+    const rclcpp_lifecycle::State & previous_state) override;
+
+  controller_interface::CallbackReturn on_activate(
+    const rclcpp_lifecycle::State & previous_state) override;
+
+protected:
+  // Optional parameters
+  std::shared_ptr<ParamListener> param_listener_;
+  Params params_;
+
+  // publishers and messages
+  std::shared_ptr<rclcpp::Publisher<control_msgs::msg::Keys>> names_publisher_;
+  std::shared_ptr<rclcpp::Publisher<control_msgs::msg::Float64Values>> values_publisher_;
+  std::shared_ptr<realtime_tools::RealtimePublisher<control_msgs::msg::Float64Values>>
+    realtime_values_publisher_;
+  control_msgs::msg::Keys names_msg_;
+  control_msgs::msg::Float64Values values_msg_;
+};
+
+}  // namespace state_interfaces_broadcaster
+
+#endif  // STATE_INTERFACES_BROADCASTER__STATE_INTERFACES_BROADCASTER_HPP_

state_interfaces_broadcaster/package.xml

@@ -0,0 +1,43 @@
+<?xml version="1.0"?>
+<package format="3">
+  <name>state_interfaces_broadcaster</name>
+  <version>6.1.0</version>
+  <description>Broadcaster to publish the requested hardware interface states</description>
+
+  <maintainer email="bence.magyar.robotics@gmail.com">Bence Magyar</maintainer>
+  <maintainer email="denis@stoglrobotics.de">Denis Štogl</maintainer>
+  <maintainer email="christoph.froehlich@ait.ac.at">Christoph Froehlich</maintainer>
+  <maintainer email="sai.kishor@pal-robotics.com">Sai Kishor Kothakota</maintainer>
+
+  <author email="sai.kishor@pal-robotics.com">Sai Kishor Kothakota</author>
+
+  <license>Apache License 2.0</license>
+
+  <url type="website">https://control.ros.org</url>
+  <url type="bugtracker">https://github.com/ros-controls/ros2_controllers/issues</url>
+  <url type="repository">https://github.com/ros-controls/ros2_controllers/</url>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <build_depend>ros2_control_cmake</build_depend>
+
+  <depend>backward_ros</depend>
+  <depend>builtin_interfaces</depend>
+  <depend>control_msgs</depend>
+  <depend>controller_interface</depend>
+  <depend>generate_parameter_library</depend>
+  <depend>pluginlib</depend>
+  <depend>rclcpp_lifecycle</depend>
+  <depend>rclcpp</depend>
+  <depend>realtime_tools</depend>
+
+  <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>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>