Merge branch 'master' into unused_header_cleanup

ros-controls · Jul 15, 2024 · d3d88e7 · d3d88e7
2 parents cee7a48 + 12b5310
commit d3d88e7
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Showing 33 changed files with 1,174 additions and 24 deletions.
diff --git a/ackermann_steering_controller/test/test_load_ackermann_steering_controller.cpp b/ackermann_steering_controller/test/test_load_ackermann_steering_controller.cpp
@@ -28,7 +28,7 @@ TEST(TestLoadAckermannSteeringController, load_controller)
     std::make_shared<rclcpp::executors::SingleThreadedExecutor>();
 
   controller_manager::ControllerManager cm(
-    executor, ros2_control_test_assets::minimal_robot_urdf, "test_controller_manager");
+    executor, ros2_control_test_assets::minimal_robot_urdf, true, "test_controller_manager");
 
   ASSERT_NE(
     cm.load_controller(

diff --git a/admittance_controller/test/test_load_admittance_controller.cpp b/admittance_controller/test/test_load_admittance_controller.cpp
@@ -29,7 +29,7 @@ TEST(TestLoadAdmittanceController, load_controller)
     std::make_shared<rclcpp::executors::SingleThreadedExecutor>();
 
   controller_manager::ControllerManager cm(
-    executor, ros2_control_test_assets::minimal_robot_urdf, "test_controller_manager");
+    executor, ros2_control_test_assets::minimal_robot_urdf, true, "test_controller_manager");
 
   ASSERT_EQ(
     cm.load_controller("load_admittance_controller", "admittance_controller/AdmittanceController"),

diff --git a/bicycle_steering_controller/test/test_load_bicycle_steering_controller.cpp b/bicycle_steering_controller/test/test_load_bicycle_steering_controller.cpp
@@ -28,7 +28,7 @@ TEST(TestLoadBicycleSteeringController, load_controller)
     std::make_shared<rclcpp::executors::SingleThreadedExecutor>();
 
   controller_manager::ControllerManager cm(
-    executor, ros2_control_test_assets::minimal_robot_urdf, "test_controller_manager");
+    executor, ros2_control_test_assets::minimal_robot_urdf, true, "test_controller_manager");
 
   ASSERT_NE(
     cm.load_controller(

diff --git a/diff_drive_controller/test/test_load_diff_drive_controller.cpp b/diff_drive_controller/test/test_load_diff_drive_controller.cpp
@@ -28,7 +28,7 @@ TEST(TestLoadDiffDriveController, load_controller)
     std::make_shared<rclcpp::executors::SingleThreadedExecutor>();
 
   controller_manager::ControllerManager cm(
-    executor, ros2_control_test_assets::diffbot_urdf, "test_controller_manager");
+    executor, ros2_control_test_assets::diffbot_urdf, true, "test_controller_manager");
 
   ASSERT_NE(
     cm.load_controller("test_diff_drive_controller", "diff_drive_controller/DiffDriveController"),

diff --git a/doc/controllers_index.rst b/doc/controllers_index.rst
@@ -16,9 +16,9 @@ Guidelines and Best Practices
 
 .. toctree::
    :titlesonly:
-   :glob:
 
-   *
+   mobile_robot_kinematics.rst
+   writing_new_controller.rst
 
 
 Controllers for Wheeled Mobile Robots
@@ -52,6 +52,7 @@ The controllers are using `common hardware interface definitions`_, and may use
    Forward Command Controller <../forward_command_controller/doc/userdoc.rst>
    Gripper Controller <../gripper_controllers/doc/userdoc.rst>
    Joint Trajectory Controller <../joint_trajectory_controller/doc/userdoc.rst>
+   Parallel Gripper Controller <../parallel_gripper_controller/doc/userdoc.rst>
    PID Controller <../pid_controller/doc/userdoc.rst>
    Position Controllers <../position_controllers/doc/userdoc.rst>
    Velocity Controllers <../velocity_controllers/doc/userdoc.rst>

diff --git a/doc/migration/Jazzy.rst → doc/migration.rst b/doc/migration/Jazzy.rst → doc/migration.rst
@@ -1,6 +1,6 @@
-:github_url: https://github.com/ros-controls/ros2_controllers/blob/{REPOS_FILE_BRANCH}/doc/migration/Jazzy.rst
+:github_url: https://github.com/ros-controls/ros2_controllers/blob/{REPOS_FILE_BRANCH}/doc/migration.rst
 
-Iron to Jazzy
+Migration Guides: Iron to Jazzy
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 This list summarizes important changes between Iron (previous) and Jazzy (current) releases, where changes to user code might be necessary.
 

diff --git a/doc/release_notes/Jazzy.rst → doc/release_notes.rst b/doc/release_notes/Jazzy.rst → doc/release_notes.rst
@@ -1,6 +1,6 @@
-:github_url: https://github.com/ros-controls/ros2_controllers/blob/{REPOS_FILE_BRANCH}/doc/release_notes/Jazzy.rst
+:github_url: https://github.com/ros-controls/ros2_controllers/blob/{REPOS_FILE_BRANCH}/doc/release_notes.rst
 
-Iron to Jazzy
+Release Notes: Iron to Jazzy
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 This list summarizes the changes between Iron (previous) and Jazzy (current) releases.
 

diff --git a/effort_controllers/test/test_load_joint_group_effort_controller.cpp b/effort_controllers/test/test_load_joint_group_effort_controller.cpp
@@ -30,7 +30,7 @@ TEST(TestLoadJointGroupVelocityController, load_controller)
     std::make_shared<rclcpp::executors::SingleThreadedExecutor>();
 
   controller_manager::ControllerManager cm(
-    executor, ros2_control_test_assets::minimal_robot_urdf, "test_controller_manager");
+    executor, ros2_control_test_assets::minimal_robot_urdf, true, "test_controller_manager");
 
   ASSERT_NE(
     cm.load_controller(

diff --git a/force_torque_sensor_broadcaster/test/test_load_force_torque_sensor_broadcaster.cpp b/force_torque_sensor_broadcaster/test/test_load_force_torque_sensor_broadcaster.cpp
@@ -32,7 +32,7 @@ TEST(TestLoadForceTorqueSensorBroadcaster, load_controller)
     std::make_shared<rclcpp::executors::SingleThreadedExecutor>();
 
   controller_manager::ControllerManager cm(
-    executor, ros2_control_test_assets::minimal_robot_urdf, "test_controller_manager");
+    executor, ros2_control_test_assets::minimal_robot_urdf, true, "test_controller_manager");
 
   ASSERT_NE(
     cm.load_controller(

diff --git a/forward_command_controller/test/test_load_multi_interface_forward_command_controller.cpp b/forward_command_controller/test/test_load_multi_interface_forward_command_controller.cpp
@@ -31,7 +31,7 @@ TEST(TestLoadMultiInterfaceForwardController, load_controller)
     std::make_shared<rclcpp::executors::SingleThreadedExecutor>();
 
   controller_manager::ControllerManager cm(
-    executor, ros2_control_test_assets::minimal_robot_urdf, "test_controller_manager");
+    executor, ros2_control_test_assets::minimal_robot_urdf, true, "test_controller_manager");
 
   ASSERT_NE(
     cm.load_controller(

diff --git a/gripper_controllers/include/gripper_controllers/gripper_action_controller_impl.hpp b/gripper_controllers/include/gripper_controllers/gripper_action_controller_impl.hpp
@@ -40,6 +40,11 @@ void GripperActionController<HardwareInterface>::preempt_active_goal()
 template <const char * HardwareInterface>
 controller_interface::CallbackReturn GripperActionController<HardwareInterface>::on_init()
 {
+  RCLCPP_WARN(
+    get_node()->get_logger(),
+    "[Deprecated]: the `position_controllers/GripperActionController` and "
+    "`effort_controllers::GripperActionController` controllers are replaced by "
+    "'parallel_gripper_controllers/GripperActionController' controller");
   try
   {
     param_listener_ = std::make_shared<ParamListener>(get_node());

diff --git a/gripper_controllers/test/test_load_gripper_action_controllers.cpp b/gripper_controllers/test/test_load_gripper_action_controllers.cpp
@@ -30,7 +30,7 @@ TEST(TestLoadGripperActionControllers, load_controller)
     std::make_shared<rclcpp::executors::SingleThreadedExecutor>();
 
   controller_manager::ControllerManager cm(
-    executor, ros2_control_test_assets::minimal_robot_urdf, "test_controller_manager");
+    executor, ros2_control_test_assets::minimal_robot_urdf, true, "test_controller_manager");
 
   ASSERT_NE(
     cm.load_controller(

diff --git a/imu_sensor_broadcaster/test/test_load_imu_sensor_broadcaster.cpp b/imu_sensor_broadcaster/test/test_load_imu_sensor_broadcaster.cpp
@@ -32,7 +32,7 @@ TEST(TestLoadIMUSensorBroadcaster, load_controller)
     std::make_shared<rclcpp::executors::SingleThreadedExecutor>();
 
   controller_manager::ControllerManager cm(
-    executor, ros2_control_test_assets::minimal_robot_urdf, "test_controller_manager");
+    executor, ros2_control_test_assets::minimal_robot_urdf, true, "test_controller_manager");
 
   ASSERT_NE(
     cm.load_controller(

diff --git a/joint_state_broadcaster/test/test_load_joint_state_broadcaster.cpp b/joint_state_broadcaster/test/test_load_joint_state_broadcaster.cpp
@@ -30,7 +30,7 @@ TEST(TestLoadJointStateBroadcaster, load_controller)
     std::make_shared<rclcpp::executors::SingleThreadedExecutor>();
 
   controller_manager::ControllerManager cm(
-    executor, ros2_control_test_assets::minimal_robot_urdf, "test_controller_manager");
+    executor, ros2_control_test_assets::minimal_robot_urdf, true, "test_controller_manager");
 
   ASSERT_NE(
     cm.load_controller(

diff --git a/joint_trajectory_controller/test/test_load_joint_trajectory_controller.cpp b/joint_trajectory_controller/test/test_load_joint_trajectory_controller.cpp
@@ -31,7 +31,7 @@ TEST(TestLoadJointStateController, load_controller)
     std::make_shared<rclcpp::executors::SingleThreadedExecutor>();
 
   controller_manager::ControllerManager cm(
-    executor, ros2_control_test_assets::minimal_robot_urdf, "test_controller_manager");
+    executor, ros2_control_test_assets::minimal_robot_urdf, true, "test_controller_manager");
 
   ASSERT_NE(
     cm.load_controller(

diff --git a/parallel_gripper_controller/CMakeLists.txt b/parallel_gripper_controller/CMakeLists.txt
@@ -0,0 +1,84 @@
+cmake_minimum_required(VERSION 3.16)
+project(parallel_gripper_controller LANGUAGES CXX)
+
+if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
+  add_compile_options(-Wall -Wextra -Wpedantic -Werror=conversion -Werror=unused-but-set-variable
+          -Werror=return-type -Werror=shadow -Werror=format)
+endif()
+
+set(THIS_PACKAGE_INCLUDE_DEPENDS
+  control_msgs
+  control_toolbox
+  controller_interface
+  generate_parameter_library
+  hardware_interface
+  pluginlib
+  rclcpp
+  rclcpp_action
+  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(parallel_gripper_action_controller_parameters
+  src/gripper_action_controller_parameters.yaml
+)
+
+add_library(parallel_gripper_action_controller SHARED
+        src/parallel_gripper_action_controller.cpp
+)
+target_compile_features(parallel_gripper_action_controller PUBLIC cxx_std_17)
+target_include_directories(parallel_gripper_action_controller PUBLIC
+  $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include/parallel_gripper_action_controller>
+)
+target_link_libraries(parallel_gripper_action_controller PUBLIC
+        parallel_gripper_action_controller_parameters
+)
+ament_target_dependencies(parallel_gripper_action_controller PUBLIC ${THIS_PACKAGE_INCLUDE_DEPENDS})
+
+pluginlib_export_plugin_description_file(controller_interface ros_control_plugins.xml)
+
+if(BUILD_TESTING)
+  find_package(ament_cmake_gmock REQUIRED)
+  find_package(controller_manager REQUIRED)
+  find_package(ros2_control_test_assets REQUIRED)
+
+  ament_add_gmock(test_load_parallel_gripper_action_controllers
+          test/test_load_parallel_gripper_action_controller.cpp
+  )
+  ament_target_dependencies(test_load_parallel_gripper_action_controllers
+    controller_manager
+    ros2_control_test_assets
+  )
+
+  ament_add_gmock(test_parallel_gripper_controller
+    test/test_parallel_gripper_controller.cpp
+  )
+  target_link_libraries(test_parallel_gripper_controller
+          parallel_gripper_action_controller
+  )
+endif()
+
+install(
+  DIRECTORY include/
+  DESTINATION include/parallel_gripper_action_controller
+)
+install(
+  TARGETS
+        parallel_gripper_action_controller
+        parallel_gripper_action_controller_parameters
+  EXPORT export_parallel_gripper_action_controller
+  RUNTIME DESTINATION bin
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  INCLUDES DESTINATION include
+)
+
+ament_export_targets(export_parallel_gripper_action_controller HAS_LIBRARY_TARGET)
+ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS})
+ament_package()
diff --git a/parallel_gripper_controller/doc/userdoc.rst b/parallel_gripper_controller/doc/userdoc.rst
@@ -0,0 +1,19 @@
+:github_url: https://github.com/ros-controls/ros2_controllers/blob/{REPOS_FILE_BRANCH}/parallel_gripper_controller/doc/userdoc.rst
+
+.. _parallel_gripper_controller_userdoc:
+
+Parallel Gripper Action Controller
+-----------------------------------
+
+Controller for executing a ``ParallelGripperCommand`` action for simple parallel grippers.
+This controller supports grippers that offer position only control as well as grippers that allow configuring the velocity and effort.
+By default, the controller will only claim the ``{joint}/position`` interface for control.
+The velocity and effort interfaces can be optionally claimed by setting the ``max_velocity_interface`` and ``max_effort_interface`` parameter, respectively.
+By default, the controller will try to claim position and velocity state interfaces.
+The claimed state interfaces can be configured by setting the ``state_interfaces`` parameter.
+
+Parameters
+^^^^^^^^^^^
+This controller uses the `generate_parameter_library <https://github.com/PickNikRobotics/generate_parameter_library>`_ to handle its parameters.
+
+.. generate_parameter_library_details:: ../src/gripper_action_controller_parameters.yaml