Merge remote-tracking branch 'upstream/master'

Author: wittenator

.github/workflows/humble-check-docs.yml

@@ -8,7 +8,14 @@ on:
     paths:
       - '**.rst'
       - '**.md'
+      - '**.jpg'
+      - '**.jpeg'
+      - '**.png'
+      - '**.svg'
+      - '**.yml'
       - '**.yaml'
+      - '!.github/**' # exclude yaml files in .github directory
+      - '.github/workflows/humble-check-docs.yml'
 
 concurrency:
   group: ${{ github.workflow }}-${{ github.ref }}

.github/workflows/humble-pre-commit.yml

@@ -5,6 +5,9 @@ on:
   pull_request:
     branches:
       - humble
+  push:
+    branches:
+      - humble
 
 concurrency:
   group: ${{ github.workflow }}-${{ github.ref }}

.github/workflows/jazzy-check-docs.yml

@@ -8,7 +8,14 @@ on:
     paths:
       - '**.rst'
       - '**.md'
+      - '**.jpg'
+      - '**.jpeg'
+      - '**.png'
+      - '**.svg'
+      - '**.yml'
       - '**.yaml'
+      - '!.github/**' # exclude yaml files in .github directory
+      - '.github/workflows/jazzy-check-docs.yml'
 
 concurrency:
   group: ${{ github.workflow }}-${{ github.ref }}

.github/workflows/jazzy-pre-commit.yml

@@ -5,6 +5,9 @@ on:
   pull_request:
     branches:
       - jazzy
+  push:
+    branches:
+      - jazzy
 
 concurrency:
   group: ${{ github.workflow }}-${{ github.ref }}

.github/workflows/rolling-check-docs.yml

@@ -8,7 +8,13 @@ on:
     paths:
       - '**.rst'
       - '**.md'
+      - '**.jpg'
+      - '**.jpeg'
+      - '**.png'
+      - '**.svg'
+      - '**.yml'
       - '**.yaml'
+      - '!.github/**' # exclude yaml files in .github directory
       - '.github/workflows/rolling-check-docs.yml'
 
 concurrency:

.github/workflows/rolling-pre-commit.yml

@@ -5,6 +5,9 @@ on:
   pull_request:
     branches:
       - master
+  push:
+    branches:
+      - master
 
 concurrency:
   group: ${{ github.workflow }}-${{ github.ref }}

.pre-commit-config.yaml

@@ -29,6 +29,7 @@ repos:
         args: ["--allow-multiple-documents"]
       - id: debug-statements
       - id: end-of-file-fixer
+        exclude_types: [svg]
       - id: mixed-line-ending
       - id: trailing-whitespace
         exclude_types: [rst]
@@ -56,14 +57,14 @@ repos:
         args: ["--line-length=99"]
 
   - repo: https://github.com/pycqa/flake8
-    rev: 7.2.0
+    rev: 7.3.0
     hooks:
     - id: flake8
       args: ["--extend-ignore=E501"]
 
   # CPP hooks
   - repo: https://github.com/pre-commit/mirrors-clang-format
-    rev: v20.1.5
+    rev: v20.1.8
     hooks:
       - id: clang-format
         args: ['-fallback-style=none', '-i']
@@ -109,7 +110,7 @@ repos:
 
   # Docs - RestructuredText hooks
   - repo: https://github.com/PyCQA/doc8
-    rev: v1.1.2
+    rev: v2.0.0
     hooks:
       - id: doc8
         args: ['--max-line-length=100', '--ignore=D001']
@@ -133,7 +134,7 @@ repos:
         exclude: CHANGELOG\.rst|\.(svg|pyc|drawio)$
 
   - repo: https://github.com/python-jsonschema/check-jsonschema
-    rev: 0.33.0
+    rev: 0.33.2
     hooks:
       - id: check-github-workflows
         args: ["--verbose"]

ackermann_steering_controller/CHANGELOG.rst

@@ -2,6 +2,22 @@
 Changelog for package ackermann_steering_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+5.5.0 (2025-07-31)
+------------------
+
+5.4.0 (2025-07-23)
+------------------
+* Use new handles API in ros2_controllers to fix deprecation warnings (`#1566 <https://github.com/ros-controls/ros2_controllers/issues/1566>`_)
+* Contributors: Sanjeev Kumar
+
+5.3.0 (2025-07-14)
+------------------
+* Update realtime containers (`#1721 <https://github.com/ros-controls/ros2_controllers/issues/1721>`_)
+* Contributors: Christoph Fröhlich
+
+5.2.0 (2025-06-23)
+------------------
+
 5.1.0 (2025-06-11)
 ------------------
 * Remove deprecated parameters from steering_controllers_library (`#1684 <https://github.com/ros-controls/ros2_controllers/issues/1684>`_)

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>5.1.0</version>
+  <version>5.5.0</version>
   <description>Steering controller for Ackermann kinematics. Rear fixed wheels are powering the vehicle and front wheels are steering it.</description>
 
   <maintainer email="[email protected]">Bence Magyar</maintainer>

ackermann_steering_controller/src/ackermann_steering_controller.cpp

@@ -55,19 +55,40 @@ controller_interface::CallbackReturn AckermannSteeringController::configure_odom
 
 bool AckermannSteeringController::update_odometry(const rclcpp::Duration & period)
 {
+  auto logger = get_node()->get_logger();
+
   if (params_.open_loop)
   {
     odometry_.update_open_loop(
       last_linear_velocity_, last_angular_velocity_, period.seconds(), params_.use_twist_input);
   }
   else
   {
-    const double traction_right_wheel_value =
-      state_interfaces_[STATE_TRACTION_RIGHT_WHEEL].get_value();
-    const double traction_left_wheel_value =
-      state_interfaces_[STATE_TRACTION_LEFT_WHEEL].get_value();
-    const double steering_right_position = state_interfaces_[STATE_STEER_RIGHT_WHEEL].get_value();
-    const double steering_left_position = state_interfaces_[STATE_STEER_LEFT_WHEEL].get_value();
+    const auto traction_right_wheel_value_op =
+      state_interfaces_[STATE_TRACTION_RIGHT_WHEEL].get_optional();
+    const auto traction_left_wheel_value_op =
+      state_interfaces_[STATE_TRACTION_LEFT_WHEEL].get_optional();
+    const auto steering_right_position_op =
+      state_interfaces_[STATE_STEER_RIGHT_WHEEL].get_optional();
+    const auto steering_left_position_op = state_interfaces_[STATE_STEER_LEFT_WHEEL].get_optional();
+
+    if (
+      !traction_right_wheel_value_op.has_value() || !traction_left_wheel_value_op.has_value() ||
+      !steering_right_position_op.has_value() || !steering_left_position_op.has_value())
+    {
+      RCLCPP_DEBUG(
+        logger,
+        "Unable to retrieve the data from right wheel or left wheel or right steering position or "
+        "left steering position!");
+
+      return true;
+    }
+
+    const double traction_right_wheel_value = traction_right_wheel_value_op.value();
+    const double traction_left_wheel_value = traction_left_wheel_value_op.value();
+    const double steering_right_position = steering_right_position_op.value();
+    const double steering_left_position = steering_left_position_op.value();
+
     if (
       std::isfinite(traction_right_wheel_value) && std::isfinite(traction_left_wheel_value) &&
       std::isfinite(steering_right_position) && std::isfinite(steering_left_position))