Release Version 2.1.0

Version 2.1.0 contains several smaller improvements to the Modulo project, such as more consistency with parameter
naming, declaring and removing of signals, and cleaner exception handling and logging. Another new feature is the
ability to provide a user-defined callback for input signals.

There have also been some changes to support both galactic and humble releases of ROS.

.github/actions/build-test-galactic-devel/action.yml

@@ -0,0 +1,6 @@
+name: 'Build and Test (galactic-devel)'
+description: 'Build the source packages and run all unit tests'
+runs:
+  using: 'docker'
+  image: 'ghcr.io/aica-technology/ros2-control-libraries:galactic-devel'
+  entrypoint: '/github/workspace/.github/common/entrypoint.sh'

.github/actions/build-test-galactic/action.yml

@@ -1,5 +1,6 @@
-name: 'Build and Test (Galactic)'
+name: 'Build and Test (galactic)'
 description: 'Build the source packages and run all unit tests'
 runs:
   using: 'docker'
-  image: 'Dockerfile'
+  image: 'ghcr.io/aica-technology/ros2-control-libraries:galactic'
+  entrypoint: '/github/workspace/.github/common/entrypoint.sh'

.github/actions/build-test-humble-devel/action.yml

@@ -0,0 +1,6 @@
+name: 'Build and Test (humble-devel)'
+description: 'Build the source packages and run all unit tests'
+runs:
+  using: 'docker'
+  image: 'ghcr.io/aica-technology/ros2-control-libraries:humble-devel'
+  entrypoint: '/github/workspace/.github/common/entrypoint.sh'

.github/common/entrypoint.sh

@@ -0,0 +1,3 @@
+#!/bin/bash
+
+sudo su - ros2 -c /bin/bash -c /github/workspace/.github/common/build-test.sh

.github/workflows/build-test.yml

@@ -60,4 +60,30 @@ jobs:
         uses: actions/checkout@v2
       # Load the repository build-test action
       - name: Build and Test
-        uses: ./.github/actions/build-test-galactic
+        uses: ./.github/actions/build-test-galactic
+
+  build-test-galactic-devel:
+    needs: check-skippable-changes
+    if: ${{ needs.check-skippable-changes.outputs.skip != 'true' }}
+    runs-on: ubuntu-latest
+    name: Galactic development build and test
+    steps:
+      # First check out the repository
+      - name: Checkout
+        uses: actions/checkout@v2
+      # Load the repository build-test action
+      - name: Build and Test
+        uses: ./.github/actions/build-test-galactic-devel
+
+  build-test-humble-devel:
+    needs: check-skippable-changes
+    if: ${{ needs.check-skippable-changes.outputs.skip != 'true' }}
+    runs-on: ubuntu-latest
+    name: Humble development build and test
+    steps:
+      # First check out the repository
+      - name: Checkout
+        uses: actions/checkout@v2
+      # Load the repository build-test action
+      - name: Build and Test
+        uses: ./.github/actions/build-test-humble-devel

.gitignore

@@ -4,5 +4,6 @@
 
 .idea
 cmake-build-*
+./fileList.txt
 
 doxygen/docs/html

CHANGELOG.md

@@ -1,11 +1,41 @@
 # CHANGELOG
 
 Release Versions:
+- [2.1.0](#210)
 - [2.0.0](#200)
 - [1.1.0](#110)
 - [1.0.0](#100)
 - [Pre-release versions](#pre-release-versions)
 
+## 2.1.0
+### October 21, 2022
+
+Version 2.1.0 contains several smaller improvements to the Modulo project, such as more consistency with parameter
+naming, declaring and removing of signals, and cleaner exception handling and logging. Another new feature is the
+ability to provide a user-defined callback for input signals.
+
+There have also been some changes to support both galactic and humble releases of ROS.
+
+### Changes
+
+- Support multiple build test actions (#117)
+- Manually export modulo_core dependencies (#118)
+- Ensure compatibility with humble (#119)
+- Add static tf broadcaster (#120)
+- Use prefix for all exceptions (#121)
+- Accept list of transforms in send_transform (#122)
+- Rename all frame_name parameters to frame (#123)
+- Check that the data pointer is not null when adding a signal (#128)
+- Rename validate parameter callback and validate period value (#126)
+- Add double underscore to private function (#127)
+- Improve error messages and logs further (#131)
+- User-defined callback for inputs (#124, #132, #133)
+- Add humble-devel build and test workflow (#135)
+- Correctly list rclcpp_components as build dependency (#137)
+- Add option to declare signals (#136)
+- Correct default value for user callback on add_input (#138)
+- Add option to remove signals (#139)
+
 ## 2.0.0
 ### August 05, 2022
 

VERSION

@@ -1 +1 @@
-2.0.0
+2.1.0

doxygen/doxygen.conf

@@ -38,7 +38,7 @@ PROJECT_NAME           = "Modulo"
 # could be handy for archiving the generated documentation or if some version
 # control system is used.
 
-PROJECT_NUMBER = 2.0.0
+PROJECT_NUMBER = 2.1.0
 
 # Using the PROJECT_BRIEF tag one can provide an optional one line description
 # for a project that appears at the top of each page and should give viewer a

source/modulo_component_interfaces/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>modulo_component_interfaces</name>
-  <version>2.0.0</version>
+  <version>2.1.0</version>
   <description>Interface package for communicating with modulo components through the ROS framework</description>
   <maintainer email="[email protected]">Enrico Eberhard</maintainer>
   <license>TODO: License declaration</license>

source/modulo_components/README.md

@@ -13,8 +13,9 @@ externally triggered operations. Examples of triggered behavior include providin
 or publishing outputs on a periodic timer. One-shot behaviors may include interacting with the filesystem or
 publishing a predefined sequence of outputs.
 
-Developers should override `validate_parameter()` if any parameters are added and `on_execute_callback()` to implement
-any one-shot behavior. In the latter case, `execute()` should be invoked at the end of the derived constructor.
+Developers should override `on_validate_parameter_callback()` if any parameters are added and `on_execute_callback()`
+to implement any one-shot behavior. In the latter case, `execute()` should be invoked at the end of the derived
+constructor.
 
 ## LifecycleComponent
 
@@ -26,8 +27,8 @@ different behaviors based on their state and on state transitions. An example of
 signal component that requires configuration steps to determine which inputs to register and subsequently should 
 publish outputs only when the component is activated. 
 
-Developers should override `validate_parameter()` if any parameters are added. In addition, the following state 
-transition callbacks should be overridden whenever custom transition behavior is needed:
+Developers should override `on_validate_parameter_callback()` if any parameters are added. In addition, the following
+state transition callbacks should be overridden whenever custom transition behavior is needed:
 - `on_configure_callback()`
 - `on_activate_callback()`
 - `on_deactivate_callback()`

source/modulo_components/include/modulo_components/Component.hpp

@@ -18,8 +18,9 @@ namespace modulo_components {
  * externally triggered operations. Examples of triggered behavior include providing a service, processing signals
  * or publishing outputs on a periodic timer. One-shot behaviors may include interacting with the filesystem or
  * publishing a predefined sequence of outputs.
- * Developers should override validate_parameter() if any parameters are added and on_execute_callback() to implement
- * any one-shot behavior. In the latter case, execute() should be invoked at the end of the derived constructor.
+ * Developers should override on_validate_parameter_callback() if any parameters are added and on_execute_callback()
+ * to implement any one-shot behavior. In the latter case, execute() should be invoked at the end of the derived
+ * constructor.
  * @see LifecycleComponent for a state-based composition alternative
  */
 class Component : public ComponentInterface<rclcpp::Node> {